Method and device for shaping workpieces

A device configured for forging workpieces, comprising:

• a) at least one forging machine;
• b) at least one handling device for handling one or more workpieces;
• c) at least one detection device;
• d) one or more predetermined reference surfaces on a shaping tool of the forging machine, wherein the at least one of the one or more predetermined reference surfaces is positioned to be scanned or recognized by the at least one detection device;
• and
• e) an evaluating means configured to determine a position and/or orientation of the shaping tool from information transmitted by the detection device;
• wherein the at least one detection device further comprises the at least one handling device being equipped with at least one sensor, wherein the at least one sensor is any one or more of a contacting sensor, a non-contacting sensor, a proximity switch or sensor, an ultrasound sensor, a short-circuiting switch, or a contact switch.

A method for shaping or forging workpieces using a shaping machine having at least one shaping tool, comprising:

• a) handling one or more workpieces during a machining process with at least one handling device;
• b) prior to machining the workpiece on a shaping machine, determining a position and/or orientation of at least one shaping tool of the shaping machine by:
• b1) approaching one or more predetermined reference surfaces on the at least one shaping tool with a detection device, thereby detecting at least one position of one or more of the one or more predetermined reference surfaces;
• b2) transmitting to an evaluating means information from the detection device corresponding to the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• b3) the evaluating means determining the position and/or orientation of the at least one shaping tool from the transmitted information regarding the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• b4) the evaluating means calculating a position of a coordinate system or reference system of each at least one handling device from the detected at least one position by use of translation imaging and/or rotary imaging;
• and
• c) using the determined position and/or orientation of the at least one shaping tool as a basis for handling the one or more workpieces by the at least one handling device.

A method for shaping or forging workpieces using a shaping machine having at least one shaping tool, comprising:

• a) handling one or more workpieces during a machining process with at least one handling device;
• b) prior to machining the workpiece on a shaping machine, determining a position and/or orientation of at least one shaping tool of the shaping machine by:
• b1) approaching one or more predetermined reference surfaces on the at least one shaping tool with a detection device, thereby detecting at least one position of one or more of the one or more predetermined reference surfaces;
• b2) transmitting to an evaluating means information from the detection device corresponding to the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• b3) the evaluating means determining the position and/or orientation of the at least one shaping tool from the transmitted information regarding the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• b4) the evaluating means calculating a position of a coordinate system or reference system of each at least one handling device from the detected at least one position by use of translation imaging and/or rotary imaging;
• c) using the determined position and/or orientation of the at least one shaping tool as a basis for handling the one or more workpieces by the at least one handling device;
• and
• d) using the detected at least one position, performing at least one of:
• (d1) detecting at least three points in space;
• or
• (d2) for the coordinate system or reference system, detecting at least three points of the at least one handling device for handling the one or more workpieces.

A method for shaping or forging workpieces using a shaping machine having at least one shaping tool, comprising:

• a) handling one or more workpieces during a machining process with at least one handling device;
• b) prior to machining the workpiece on a shaping machine, determining a position and/or orientation of at least one shaping tool of the shaping machine by:
• b1) approaching one or more predetermined reference surfaces on the at least one shaping tool with a detection device, thereby detecting at least one position of one or more of the one or more predetermined reference surfaces;
• b2) transmitting to an evaluating means information from the detection device corresponding to the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• b3) the evaluating means determining the position and/or orientation of the at least one shaping tool from the transmitted information regarding the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• c) using the determined position and/or orientation of the at least one shaping tool as a basis for handling the one or more workpieces by the at least one handling device;
• wherein:
• the detection device comprises the at least one handling device equipped with at least one sensor;
• and
• the at least one handling device of the detection device is also used as a handling device for handling the one or more workpieces.

A method for shaping or forging workpieces using a shaping machine having at least one shaping tool, comprising:

• a) handling one or more workpieces during a machining process with at least one handling device;
• b) prior to machining the workpiece on a shaping machine, determining a position and/or orientation of at least one shaping tool of the shaping machine by:
• b1) approaching one or more predetermined reference surfaces on the at least one shaping tool with a detection device, thereby detecting at least one position of one or more of the one or more predetermined reference surfaces;
• b2) transmitting to an evaluating means information from the detection device corresponding to the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• b3) the evaluating means determining the position and/or orientation of the at least one shaping tool from the transmitted information regarding the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• c) using the determined position and/or orientation of the at least one shaping tool as a basis for handling the one or more workpieces by the at least one handling device;
• and
• d) using a plurality of detected positions of the one or more predetermined reference surfaces, performing at least one of:
• (d1) determining a reference plane in space;
• or
• (d2) for a coordinate system or reference system, determining a reference plane of at least one handling device for handling the workpiece;
• wherein the reference plane in space, or, for the coordinate system or reference system, the reference plane of at least one handling device for handling the workpieces, is determined from:
• two positions of the one or more predetermined surfaces;
• and
• predetermined, additional linearly-independent information about a plane that is parallel to the reference plane.

A method for shaping or forging workpieces using a shaping machine having at least one shaping tool, comprising:

• a) handling one or more workpieces during a machining process with at least one handling device;
• b) prior to machining the workpiece on a shaping machine, determining a position and/or orientation of at least one shaping tool of the shaping machine by:
• b1) approaching one or more predetermined reference surfaces on the at least one shaping tool with a detection device, thereby detecting at least one position of one or more of the one or more predetermined reference surfaces;
• b2) transmitting to an evaluating means information from the detection device corresponding to the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• b3) the evaluating means determining the position and/or orientation of the at least one shaping tool from the transmitted information regarding the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• c) using the determined position and/or orientation of the at least one shaping tool as a basis for handling the one or more workpieces by the at least one handling device;
• wherein the detection device approaches at least three reference surfaces on the at least one shaping tool in a predetermined sequence, and in each case precisely detects one position or one point on each of the one or more predetermined reference surfaces.

A method for shaping or forging workpieces using a shaping machine having at least one shaping tool, comprising:

• a) handling one or more workpieces during a machining process with at least one handling device;
• b) prior to machining the workpiece on a shaping machine, determining a position and/or orientation of at least one shaping tool of the shaping machine by:
• b1) approaching one or more predetermined reference surfaces on the at least one shaping tool with a detection device, thereby detecting at least one position of one or more of the one or more predetermined reference surfaces;
• b2) transmitting to an evaluating means information from the detection device corresponding to the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• b3) the evaluating means determining the position and/or orientation of the at least one shaping tool from the transmitted information regarding the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• c) using the determined position and/or orientation of the at least one shaping tool as a basis for handling the one or more workpieces by the at least one handling device;
• wherein the detection device or the at least one handling device for the detection device approaches a plurality of the predetermined reference surfaces on the at least one shaping tool from a plurality of predetermined starting points;
• wherein the plurality of predetermined starting points are located in the same configuration relative to one another as for the plurality of predetermined reference surfaces on the at least one shaping tool.

A method for shaping or forging workpieces using a shaping machine having at least one shaping tool, comprising:

• a) handling one or more workpieces during a machining process with at least one handling device;
• b) prior to machining the workpiece on a shaping machine, determining a position and/or orientation of at least one shaping tool of the shaping machine by:
• b1) approaching one or more predetermined reference surfaces on the at least one shaping tool with a detection device, thereby detecting at least one position of one or more of the one or more predetermined reference surfaces;
• b2) transmitting to an evaluating means information from the detection device corresponding to the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• b3) the evaluating means determining the position and/or orientation of the at least one shaping tool from the transmitted information regarding the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• c) using the determined position and/or orientation of the at least one shaping tool as a basis for handling the one or more workpieces by the at least one handling device;
• and
• d) after replacing the at least one shaping tool with a new shaping tool, performing the further steps of:
• d1) testing at least one detection device or one or more sensors thereof by approaching, with the detection device, a test surface on a tool mounting of the new shaping tool:
• d2) determining a position and/or orientation of the new shaping tool using the detection device and the evaluating means in a learning or calibration step;
• and
• d3) basing the handling of the one or more workpieces on the determined position and/or orientation of the new shaping tool.

A method for shaping or forging workpieces using a shaping machine having at least one shaping tool, comprising:

• a) handling one or more workpieces during a machining process with at least one handling device;
• b) prior to machining the workpiece on a shaping machine, determining a position and/or orientation of at least one shaping tool of the shaping machine by:
• b1) approaching one or more predetermined reference surfaces on the at least one shaping tool with a detection device, thereby detecting at least one position of one or more of the one or more predetermined reference surfaces;
• b2) transmitting to an evaluating means information from the detection device corresponding to the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• and
• b3) the evaluating means determining the position and/or orientation of the at least one shaping tool from the transmitted information regarding the detected at least one position of the one or more of the one or more predetermined reference surfaces;
• c) using the determined position and/or orientation of the at least one shaping tool as a basis for handling the one or more workpieces by the at least one handling device;
• and
• d) after replacing the at least one shaping tool with a new shaping tool, performing the further steps of:
• d1) testing at least one detection device or one or more sensors thereof by approaching, with the detection device, a test surface on a tool mounting of the new shaping tool;
• d2) determining a position and/or orientation of the new shaping tool using the detection device and the evaluating means in a learning or calibration step;
• d3) basing the handling of the one or more workpieces on the determined position and/or orientation of the new shaping tool
• wherein the step (d1) for testing further comprises:
• identifying an irregularity in the evaluating means when testing the at least one detection device;
• and
• issuing an alarm signal.

A device configured for forging workpieces, comprising:

• a) at least one forging machine;
• b) at least one handling device for handling one or more workpieces;
• c) at least one detection device;
• d) one or more predetermined reference surfaces on a shaping tool of the forging machine, wherein the at least one of the one or more predetermined reference surfaces is positioned to be scanned or recognized by the at least one detection device;
• and
• e) an evaluating means configured to determine a position and/or orientation of the shaping tool from information transmitted by the detection device;
• wherein the at least one detection device further comprises the at least one handling device being equipped with at least one sensor, the at least one sensor is any one or more of a contacting sensor, a non-contacting sensor, a proximity switch or sensor, an ultrasound sensor, a short-circuiting switch, or a contact switch;
• and
• wherein the at least one the handling device for the detection device further comprises a position measurement system for determining the position of the at least one sensor in space.

A device configured for forging workpieces, comprising:

• a) at least one forging machine;
• b) at least one handling device for handling one or more workpieces;
• c) at least one detection device;
• d) one or more predetermined reference surfaces on a shaping tool of the forging machine, wherein the at least one of the one or more predetermined reference surfaces is positioned to be scanned or recognized by the at least one detection device;
• and
• e) an evaluating means configured to determine a position and/or orientation of the shaping tool from information transmitted by the detection device;
• wherein the at least one detection device further comprises the at least one handling device being equipped with at least one sensor, wherein the at least one sensor is any one or more of a contacting sensor, a non-contacting sensor, a proximity switch or sensor, an ultrasound sensor, a short-circuiting switch, or a contact switch;
• and
• wherein the at least one handling device further comprises a gripper for gripping the one or more workpieces, and at least one sensor located in the vicinity of the gripper.

A device configured for forging workpieces, comprising:

• a) at least one forging machine;
• b) at least one handling device for handling one or more workpieces;
• c) at least one detection device;
• d) one or more predetermined reference surfaces on a shaping tool of the forging machine, wherein the at least one of the one or more predetermined reference surfaces is positioned to be scanned or recognized by the at least one detection device;
• and
• e) an evaluating means configured to determine a position and/or orientation of the shaping tool from information transmitted by the detection device;
• wherein the at least one detection device further comprises the at least one handling device being equipped with at least one sensor, wherein the at least one sensor is any one or more of a contacting sensor, a non-contacting sensor, a proximity switch or sensor, an ultrasound sensor, a short-circuiting switch, or a contact switch;
• and
• wherein:
• (i) the one or more predetermined reference surfaces on the at least one shaping tool are designed as flat surfaces;
• and
• (ii) at least two of the one or more predetermined reference surfaces are oriented substantially at right angles relative to one or more of:
• 1. one another;
• or
• 2. at least one test surface with which a function of the at least one handling device and/or at least one sensor can be tested.