[go: up one dir, main page]

EP2554291B1 - Working method and mechanical assembly for implementing the working method - Google Patents

Working method and mechanical assembly for implementing the working method Download PDF

Info

Publication number
EP2554291B1
EP2554291B1 EP11176071.6A EP11176071A EP2554291B1 EP 2554291 B1 EP2554291 B1 EP 2554291B1 EP 11176071 A EP11176071 A EP 11176071A EP 2554291 B1 EP2554291 B1 EP 2554291B1
Authority
EP
European Patent Office
Prior art keywords
handling
machine
control data
handling device
related control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP11176071.6A
Other languages
German (de)
French (fr)
Other versions
EP2554291A1 (en
Inventor
Walter Thiel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Trumpf Werkzeugmaschinen SE and Co KG
Original Assignee
Trumpf Werkzeugmaschinen SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trumpf Werkzeugmaschinen SE and Co KG filed Critical Trumpf Werkzeugmaschinen SE and Co KG
Priority to EP11176071.6A priority Critical patent/EP2554291B1/en
Publication of EP2554291A1 publication Critical patent/EP2554291A1/en
Application granted granted Critical
Publication of EP2554291B1 publication Critical patent/EP2554291B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/28—Associations of cutting devices therewith
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom

Definitions

  • Both the sheet metal working machine and the handling device are numerically controlled.
  • a computer control of the sheet metal working machine communicates with a computer control of the handling device.
  • the computer control of the sheet metal processing machine transmits information about the nature of the manufactured on the sheet metal working machine and by means of the handling device to be transported sheet metal blank to the computer control of the handling device.
  • the computer control of the handling device comprises control units which are each associated with a type of sheet metal blanks. The transmitted from the computer control of the sheet metal working machine to the computer control of the handling device Information is decisive for which of the control units of the computer control of the handling device is activated.
  • Each of the control units ensures that the movement units of the handling device receive the sheet metal blanks assigned to the respective control unit on the workpiece support of the sheet metal working machine and deposit it at the location of the collecting vehicle or the stationary storage space provided for this purpose.
  • the movement units with their suction frame and the suction cups provided thereon are always used for handling the sheet metal blanks. Therefore, depending on the type of sheet metal blank to be transported, different suckers of the moving units must be activated to produce a vacuum required for fixing the sheet metal blank to be transported.
  • WO 2010/144517 A2 Another working method and another mechanical arrangement are known from WO 2010/144517 A2 .
  • sheet metal parts are produced from a coil on a first processing device, which may for example be designed as a pair of scissors or as a punching machine.
  • a handling device embodied as a multi-axis industrial robot
  • the sheet metal parts produced are picked up at the first processing device and transferred to a second processing device, for example a welding machine.
  • the mechanical components of the previously known system are operated in a coordinated manner and are computer-controlled for this purpose. Details of the computer control are in WO 2010/144517 A2 not revealed.
  • control modules for the individual system components are integrated in a superordinate computer control of the overall system. Each of the control blocks is programmed separately.
  • the programming of the handling device is usually done by teach-in or offline.
  • the object of the present invention is based on the generic prior art is to simplify the application-specific self-configuration of handling devices of the type mentioned. This object is achieved according to the invention by the working method according to claim 1 and the mechanical arrangement according to claim 7.
  • the cutting process and the subsequent handling process as well as the mechanical devices provided for carrying out these method steps are therefore closely linked on the control side.
  • the numerical control of the handling device uses handling-relevant control data, which are available at the cutting machine. On the one hand, this reduces the effort for programming the numerical control unit of the handling device.
  • the computer control of the handling device is optimally adapted to the computer control of the cutting machine due to the use of the same database.
  • the data transfer between the cutting machine and the handling device can be done online, preferably in the running process, but also offline. Due to the control-related communication of the handling device with the cutting machine, the handling device can be prepared for the handling task to be solved at an early stage, in particular before the end of the cutting workpiece machining.
  • device-related control data On the basis of machine-related control data, device-related control data is generated, on the basis of which a handling unit which is particularly expedient for the relevant application is selected for the handling device.
  • the machine-related control data are used for programming the mechanical arrangement according to the invention, which has a handling device with a handling unit removably attached to a basic structure.
  • Particular embodiments of the working method according to claim 1 and the mechanical arrangement according to claim 7 emerge from the dependent claims 2 to 6 and 8 to 13.
  • control data of the computer control for the cutting machine are used for programming the computer control of the handling device, which relate to the location of male parts on the cutting machine.
  • the use of this machine-related control data enables the handling device to functionally locate and pick up workpieces that have been produced on the cutting machine.
  • control data for the handling device are generated on the basis of handling-related machine-related control data, for example on the basis of control data relating to the position of workpieces to be picked up on the cutting machine, on the basis of which the range of the handling device is set (claim 5).
  • the adjustment of the position of the handling unit relative to the basic structure of the handling device can be controlled by device-related data generated from those control data for the computer control of the cutting machine concerning the position of workpieces to be picked up at the cutting machine ( Claim 8).
  • handling-relevant control data of the computer control for the cutting machine machine-related control data are used according to the invention for programming the computer control of the handling device, which geometry and / or weight and / or the material and / or relate to the surface texture of male on the cutting machine workpieces (claims 3, 4).
  • the numerical control unit of the handling device in a preferred embodiment of the invention is programmed such that for the handling device from a plurality of handling units that handling unit is selected, which is responsible for the handling of workpieces with the relevant geometry and / or weight and / or material and / or surface texture. If, for example, a perforated plate is to be handled as the workpiece, then a handling unit is selected for the handling device, which due to its design can securely fix the workpiece irrespective of the perforation.
  • handling units for such applications are, for example, magnetic gripper or under consideration of the perforation configured suction structures in question.
  • a correspondingly load-bearing handling unit is selected from the available handling units.
  • the material and / or the surface finish of the workpieces to be handled may require particularly gentle workpiece handling and the use of a handling unit suitable for this purpose.
  • the numerical control unit of the handling device is programmed on the basis of machine-related control data in such a way that it configures the handling unit itself based on the application.
  • the handling unit may have a support structure that can be variably provided with retaining members, such as wearers.
  • the handling device independently selects, for example, the design and / or geometric arrangement of the holding members suitable for the respective application on the basis of the machine-related control data taken over by the numerical control unit of the cutting machine.
  • workpieces that have been picked up on the cutting machine are deposited by the computer-controlled handling device at a storage location and / or transferred to a downstream workstation (claim 6).
  • a workstation in particular a bending station, downstream (claim 13).
  • the mechanical arrangement according to the invention preferably has a laser flatbed machine and / or a combination machine with a punching device and with a laser cutting device (claim 12).
  • a correction device is provided in a further embodiment of the mechanical arrangement according to the invention for the numerical control unit of the handling device (claim 9).
  • the correction device comprises a receiving unit and an evaluation unit, wherein the handling-relevant properties of the workpieces to be received by the handling device on the cutting machine can be detected by means of the receiving unit and wherein the device-related control data stored in the numerical control unit of the handling device and attributed to machine-related control data by means of the evaluation unit Recording results are comparable.
  • the evaluation unit makes a discrepancy between the device-related control data stored in the numerical control unit of the handling device and based on machine-related control data, on the one hand, and the result On the other hand, the determination of the handling-relevant properties of the workpieces to be picked is fixed, the evaluation unit correspondingly corrects the device-related control data stored in the numerical control unit of the handling device.
  • the receiving unit of the correction device for the computer control of the handling device is arranged on a handling unit of the handling device and movable together with the handling unit in space (claim 10).
  • a camera is provided as a receiving unit of the correction device for the computer control of the handling device, which is attached to the handling unit of the handling device such that it assumes its functional position when the handling unit relative to a male on the cutting machine workpiece according to their Function position is aligned (claim 11).
  • a detection of the handling-relevant properties of the workpieces on the cutting machine made by the camera can be integrated directly into the handling process.
  • a passbauart such as a dual camera or a 3D camera allows extended position detection and in particular allows to detect a tilt of male workpieces and to distinguish the male workpieces from a surrounding skeleton.
  • FIG. 1 1 comprises a machine arrangement 1 for sheet metal working as cutting machines, a combination machine 2 and a laser flatbed machine 3. Further components of the machine arrangement 1 are a work station in the form of a bending machine 4 and a handling device 5.
  • the combination machine 2 has a punching device 6 and a laser cutting device 7.
  • a numerical control unit 8 of the combination machine 2 is in FIG. 1 indicated.
  • a workpiece support 9 of the combination machine 2 stores raw sheets during the cutting sheet metal processing.
  • the combination machine 2 produced by cutting of sheet metal workpieces of three different categories, namely workpieces I, II and workpieces IV. These differ in terms of their geometry, their weight and in terms of the position they on completion of the cutting sheet metal processing on take the workpiece support 9 of the combination machine 2.
  • Machine-related control data which inter alia relate to the three mentioned parameters, are stored in the numerical control unit 8 of the combination machine 2.
  • the laser flatbed machine 3 has in the usual way an enclosure 10 which limits a working space 11.
  • a laser cutting head 12 is movable along a gantry carrier 13, which in turn moves perpendicular to its longitudinal direction.
  • raw sheets are machined cutting inside the working space 11 of the laser flatbed machine.
  • the essential functions of the laser floating bed machine 3 are controlled by means of a numerical control unit 14.
  • workpieces I and workpieces II are cut free from raw sheets in the present example case also on the laser flatbed machine.
  • the laser flatbed machine produces 3 workpieces III.
  • the workpieces I, II, III differ in their geometry, their weight and in the position they occupy after the processing of the sheet metal on a pallet 15 of a laser flat bed machine 3 associated pallet changer 16.
  • Machine-related control data concerning the three mentioned parameters are stored in the numerical control unit 14 of the laser flatbed machine 3.
  • the handling device 5 is arranged.
  • the handling device 5 is a multi-axis industrial robot, which can move driven by guide rails 17.
  • the handling device 5 has a basic structure 18 with a bearing on the guide rails 17 base 19 and with pivot arms 20, 21, 22 which are relatively pivotable.
  • the pivot arm 22 is provided at its remote from the pivot arm 21 end with a handling unit 23.1.
  • the handling unit 23.1 is detachably fastened to the swivel arm 22 by means of a quick coupling.
  • FIG. 2 a handling unit 23.2 and a handling unit 23.3.
  • the handling units 23.1, 23.2, 23.3 have support frames 24.1, 24.2, 24.3. On the support frame 24.1 of the handling unit 23.1 support suckers 25,1 are mounted by means of detachable quick-release couplings. Accordingly, the handling unit 23.2 are provided with suction pads 25.2 and the handling unit 23.3 with suction pads 25.3.
  • the handling units 23.1, 23.2, 23.3 differ in their carrying capacity as well as in their holding geometry caused by the arrangement of the carrying suckers 25.1, 25.2, 25.3.
  • the functions of the handling device 5 are controlled by a numerical control unit 26 on the basis of device-related control data.
  • a numerical control unit 26 Integrated into the numerical control unit 26 of the handling device 5 is an evaluation unit 27 of a correction device 28.
  • the correction device 28 comprises a receiving unit 29, which is attached to the pivot arm 22 of the handling device 5 and connected via this with the provided on the pivot arm 22 handling unit 23.1.
  • the recording unit 29 is in the example shown to a camera with a in FIG. 2 dash-dotted line direction.
  • the handling device 5 access both the workpiece support 9 of the combination machine 2 and the pallet 15 of the pallet changer 16 of the laser flatbed machine 3.
  • FIG. 1 shows the machine assembly 1 after the handling device 5 has picked up a workpiece II from the pallet 15 of the pallet changer 16.
  • the workpiece II has been previously cut free from inside the working space 11 of the laser flatbed machine 3 from a blank sheet.
  • handling-related machine-related control data stored there by the numerical control unit 14 of the laser flatbed machine 3 have been transferred to the numerical control unit 26 of the handling device 5.
  • machine-related control data were transmitted which relate to the geometry, the weight and the position of the workpiece II to be picked up by the handling device 5 after the end of the cutting sheet metal processing on the flatbed laser machine 3 or the pallet changer 16.
  • device-related control data intended for the control thereof were generated by the numerical control unit 26 of the handling device 5. Due to the associated programming of the computer controller 26, the handling device 5 is first in the in FIG. 1 not shown change position according to FIG. 2 method. evidenced FIG.
  • the handling unit 23.1 was still mounted on the basic structure 18 of the handling device 5. This was then replaced with the more robust handling unit 23.2, which was adapted to the geometry of Category II workpieces. Subsequently, the handling device 5 moved from the change position to a receiving position in front of the pallet changer 16.
  • the handling unit was 23.2 by appropriately controlled movements of the pivot arms 20, 21, 22 of the handling device 5 with the carrier suckers 25.2 on the top of the on the Pallet 15 resting workpiece II placed.
  • the support suckers 25.2 By applying a negative pressure to the support suckers 25.2 these were activated and the workpiece II was fixed to the handling unit 23.2.
  • the pivot arms 20, 21, 22 of the handling device 5 were finally in the position according to FIG. 1 pivoted.
  • the handling device 5 was controlled on the basis of device-related control data.
  • This device-related control data had previously been generated from machine-related control data, which in turn concerned the position of the workpiece II on the pallet 15.
  • the recording of the ready on the pallet 15 workpiece II was monitored by the correction device 28.
  • the handling unit 23.2 was aligned with respect to the workpiece II to be picked so that the workpiece II faced the recording unit 29 or the respective camera in its recording direction
  • the actual position of the workpiece II was detected by the recording unit 29.
  • the position information obtained in this way was compared by means of the evaluation unit 27 of the correction device 28 against the stored in the numerical control unit 26 of the handling device 5 and back to machine-related control data of the laser flatbed machine 3 position information. In the present case, no deviation of the actual stored from the numerical control unit 26 of the handling device 5 workpiece position was detected.
  • the workpiece holder on the pallet 15 could therefore be performed directly on the basis of the stored in the numerical control unit 26 of the handling device 5 device-related control data. If a deviation of the actual workpiece position stored in the numerical control unit 26 of the handling device 5 had been detected, then the relevant device-related control data in the numerical control unit 26 of the handling device 5 would have had to be modified accordingly.
  • the handling device 5 can also receive workpieces I, III from the pallet 15 of the pallet changer 16 or workpieces I, II, IV from the workpiece support 9 of the combination machine 2.
  • the data transfer from the numerical control units 8, 14 to the numerical control unit 26 which precedes the workpiece handling on the combination machine 2 or the laser flatbed machine 3 is shown in FIG FIG. 1 shown schematically.
  • the numerical control unit 26 In addition to the device-related control data for the workpiece handling on the combination machine 2 and on the laser flatbed machine 3, the numerical control unit 26 generates the handling device 5 on the basis of the numerical control unit 8 of the combination machine 2 and the numerical control unit 14 of the laser flatbed machine 3 transferred machine-related control data further device-related control data. These further device-related control data are used to control the handling device 5 following the in FIG. 1 shown recording of the workpiece II.
  • Conceivable is the generation of device-related control data for a control of the handling device 5 such that the recorded workpiece II is transferred directly to the bending machine 4, where then a bending machining of the workpiece II takes place.
  • the data records taken over by the combination machine 2 or the laser flatbed machine 3 can be supplemented by control data relating to the handling of the workpiece II during and after the bending process.
  • bending parameters or process steps subsequent to the bending can be taken into account. Bending parameters to be taken into consideration are, for example, bending lengths or edge distances to bends to be created.
  • finished bent workpieces can be sorted, for example, stored at designated locations.
  • the numerical control unit 26 of the handling device 5 can be programmed such that the handling device 5, the recorded workpiece II at a storage location, in detail on one of a total of three for Workpieces of category II certain storage pallets 30, deposits.
  • the workpiece II remains on the storage pallet 30 and is removed from there, for example by means of a lift truck or the workpiece II is only temporarily stored on the storage pallet 30 in the course of the process and resumed at a later time by the handling device 5 and transported to the bending machine 4 for bending processing.
  • the workpieces II are deposited on the associated pallet 30 in the correct position. An orderly stacking of several workpieces II is possible.
  • the handling device 5 can move with workpieces of categories I, III and IV.
  • pallets 31 (workpieces I), pallets 32 (workpieces III) and pallets 33 (workpieces IV) are provided as storage locations.
  • the handling device 5 can also charge the combination machine 2 and the laser flatbed machine 3 with blank sheets and the replacement and replacement of punching tools and laser nozzles and laser cutting heads on the combination machine 2 and the laser Take over the flat bed machine 3.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Description

Die Erfindung betrifft ein Arbeitsverfahren, im Rahmen dessen

  • an einer rechnergesteuerten Schneidmaschine Werkstücke durch Schneiden erzeugt, insbesondere Blechteile aus einem Blech freigeschnitten werden und
  • erzeugte Werkstücke mittels einer rechnergesteuerten Handlingvorrichtung an der Schneidmaschine aufgenommen werden,
wobei die Schneidmaschine anhand maschinenbezogener Steuerdaten und die Handlingvorrichtung anhand vorrichtungsbezogener Steuerdaten rechnergesteuert werden und wobei vorrichtungsbezogene Steuerdaten der Rechnersteuerung der Handlingvorrichtung anhand handlingrelevanter maschinenbezogener Steuerdaten für die Rechnersteuerung der Schneidmaschine generiert werden.The invention relates to a working method, in the context of which
  • produced on a computer-controlled cutting machine workpieces by cutting, in particular sheet metal parts are cut from a sheet and
  • produced workpieces are recorded on the cutting machine by means of a computer-controlled handling device,
the cutting machine being computer-controlled on the basis of machine-related control data and the handling device on the basis of device-related control data, and device-related control data of the computer control of the handling device being generated on the basis of handling-relevant machine-related control data for the computer control of the cutting machine.

Die Erfindung betrifft des Weiteren eine maschinelle Anordnung zur Durchführung des vorstehenden Arbeitsverfahrens,

  • mit einer Schneidmaschine an welcher Werkstücke durch Schneiden erzeugt, insbesondere Blechteile aus einem Blech freigeschnitten werden und die eine numerische Steuereinheit aufweist, in welcher maschinenbezogene Steuerdaten zur Steuerung der Schneidmaschine hinterlegt sind sowie
  • mit einer Handlingvorrichtung, welche erzeugte Werkstücke an der Schneidmaschine aufnimmt und die eine Grundstruktur, eine mittels der Grundstruktur im Raum bewegbare Handlingeinheit sowie eine numerische Steuereinheit aufweist, in welcher vorrichtungsbezogene Steuerdaten zur Steuerung der Handlingvorrichtung hinterlegt sind
wobei mittels der Handlingeinheit an der Schneidmaschine erzeugte Werkstücke an der Handlingvorrichtung festlegbar sind und wobei in der numerischen Steuereinheit der Handlingvorrichtung vorrichtungsbezogene Steuerdaten hinterlegt sind, die anhand handlingrelevanter maschinenbezogener Steuerdaten für die numerische Steuereinheit der Schneidmaschine generiert worden sindThe invention further relates to a mechanical arrangement for carrying out the above working method,
  • with a cutting machine on which workpieces produced by cutting, in particular sheet metal parts are cut from a sheet and having a numerical control unit, in which machine-related control data for controlling the cutting machine are stored and
  • with a handling device, which receives workpieces produced at the cutting machine and which has a basic structure, a handling unit that can be moved by means of the basic structure in space and a numerical control unit in which device-related control data for controlling the handling device are stored
wherein workpieces produced by means of the handling unit on the cutting machine can be fixed to the handling device and wherein in the numerical control unit of the handling device device-related control data are stored, which have been generated on the basis of handling-relevant machine-related control data for the numerical control unit of the cutting machine

Gattungsgemäßer Stand der Technik ist offenbart in US 2008/0264221 A1 . Diese Druckschrift offenbart eine Anlage für die Blechbearbeitung mit einer Blechbearbeitungsmaschine, einer Handlingvorrichtung und einem Sammelfahrzeug für Blechzuschnitte. An der Blechbearbeitungsmaschine werden aus Rohblechen Blechzuschnitte unterschiedlicher Größe und Geometrie gefertigt. Die Handlingvorrichtung transportiert die Blechzuschnitte zu dem Sammelfahrzeug oder zu einem stationären Lagerplatz. Zu diesem Zweck weist die Handlingvorrichtung zwei Bewegungseinheiten auf, die zwischen einer Werkstückauflage der Blechbearbeitungsmaschine einerseits und dem Sammelfahrzeug sowie dem stationären Lagerplatz andererseits verfahrbar sind. Jede der Bewegungseinheiten ist mit einem Halter für Blechzuschnitte versehen, der im Wesentlichen aus zwei Saugerrahmen sowie daran angebrachten Saugern besteht. Die Sauger sind unabhängig voneinander ansteuerbar. Sowohl die Blechbearbeitungsmaschine als auch die Handlingvorrichtung sind numerisch gesteuert. Eine Rechnersteuerung der Blechbearbeitungsmaschine kommuniziert mit einer Rechnersteuerung der Handlingvorrichtung. Dabei übermittelt die Rechnersteuerung der Blechbearbeitungsmaschine Informationen über die Art des an der Blechbearbeitungsmaschine gefertigten und mittels der Handlingvorrichtung zu transportierenden Blechzuschnittes an die Rechnersteuerung der Handlingvorrichtung. Die Rechnersteuerung der Handlingvorrichtung umfasst Steuereinheiten die jeweils einer Art von Blechzuschnitten zugeordnet sind. Die von der Rechnersteuerung der Blechbearbeitungsmaschine an die Rechnersteuerung der Handlingvorrichtung übermittelte Information ist ausschlaggebend dafür, welche der Steuereinheiten der Rechnersteuerung der Handlingvorrichtung aktiviert wird. Jede der Steuereinheiten sorgt dafür, dass die Bewegungseinheiten der Handlingvorrichtung die der jeweiligen Steuereinheit zugeordneten Blechzuschnitte an der Werkstückauflage der Blechbearbeitungsmaschine aufnehmen und an der hierfür vorgesehenen Stelle des Sammelfahrzeuges oder des stationären Lagerplatzes ablegen. Unabhängig von der Art der zu transportierenden Blechzuschnitte werden für das Handling der Blechzuschnitte stets die Bewegungseinheiten mit ihren Saugerrahmen und den daran vorgesehenen Saugern verwendet. Daher müssen je nach Art des zu transportierenden Blechzuschnittes unterschiedliche Sauger der Bewegungseinheiten zur Erzeugung eines zum Fixieren des zu transportierenden Blechzuschnittes erforderlichen Vakuums aktiviert werden.The generic prior art is disclosed in US 2008/0264221 A1 , This document discloses a plant for sheet metal processing with a sheet metal working machine, a handling device and a collection vehicle for sheet metal blanks. Sheet metal blanks of different size and geometry are produced from sheet metal on the sheet metal working machine. The handling device transports the sheet metal blanks to the collection vehicle or to a stationary storage location. For this purpose, the handling device has two movement units which can be moved between a workpiece support of the sheet metal working machine on the one hand and the collecting vehicle and the stationary storage space on the other hand. Each of the moving units is provided with a holder for sheet metal blanks, which consists essentially of two sucker frame and suction cups attached thereto. The suckers can be controlled independently of each other. Both the sheet metal working machine and the handling device are numerically controlled. A computer control of the sheet metal working machine communicates with a computer control of the handling device. In this case, the computer control of the sheet metal processing machine transmits information about the nature of the manufactured on the sheet metal working machine and by means of the handling device to be transported sheet metal blank to the computer control of the handling device. The computer control of the handling device comprises control units which are each associated with a type of sheet metal blanks. The transmitted from the computer control of the sheet metal working machine to the computer control of the handling device Information is decisive for which of the control units of the computer control of the handling device is activated. Each of the control units ensures that the movement units of the handling device receive the sheet metal blanks assigned to the respective control unit on the workpiece support of the sheet metal working machine and deposit it at the location of the collecting vehicle or the stationary storage space provided for this purpose. Regardless of the type of sheet metal blanks to be transported, the movement units with their suction frame and the suction cups provided thereon are always used for handling the sheet metal blanks. Therefore, depending on the type of sheet metal blank to be transported, different suckers of the moving units must be activated to produce a vacuum required for fixing the sheet metal blank to be transported.

Ein weiteres Arbeitsverfahren sowie eine weitere maschinelle Anordnung sind bekannt aus WO 2010/144517 A2 . Dabei werden an einer ersten Bearbeitungseinrichtung, die beispielsweise als Schere oder als Stanzmaschine ausgeführt sein kann, Blechteile aus einem Coil erzeugt. Von einer als mehrachsiger Industrieroboter ausgebildeten Handlingvorrichtung werden die erzeugten Blechteile an der ersten Bearbeitungseinrichtung aufgenommen und zu einer zweiten Bearbeitungseinrichtung, beispielsweise einer Schweißmaschine, transferiert. Die maschinellen Komponenten der vorbekannten Anlage werden aufeinander abgestimmt betrieben und sind zu diesem Zweck rechnergesteuert. Details der Rechnersteuerung sind in WO 2010/144517 A2 nicht offenbart. In vergleichbaren, aus der Praxis bekannten Fällen sind in eine übergeordnete Rechnersteuerung der Gesamtanlage Steuerungsbausteine für die einzelnen Anlagenkomponenten integriert. Jeder der Steuerungsbausteine wird separat programmiert. Die Programmierung der Handlingvorrichtung erfolgt dabei überlicherweise durch Teach-in oder offline.Another working method and another mechanical arrangement are known from WO 2010/144517 A2 , In this case, sheet metal parts are produced from a coil on a first processing device, which may for example be designed as a pair of scissors or as a punching machine. From a handling device embodied as a multi-axis industrial robot, the sheet metal parts produced are picked up at the first processing device and transferred to a second processing device, for example a welding machine. The mechanical components of the previously known system are operated in a coordinated manner and are computer-controlled for this purpose. Details of the computer control are in WO 2010/144517 A2 not revealed. In comparable cases known from practice, control modules for the individual system components are integrated in a superordinate computer control of the overall system. Each of the control blocks is programmed separately. The programming of the handling device is usually done by teach-in or offline.

Die Aufgabe der vorliegenden Erfindung besteht ausgehend von dem gattungsgemäßen Stand der Technik darin, die anwendungsspezifische Selbstkonfigurierung von Handlingvorrichtungen der eingangs genannten Art zu vereinfachen. Erfindungsgemäß gelöst wird diese Aufgabe durch das Arbeitsverfahren nach Patentanspruch 1 sowie die maschinelle Anordnung nach Patentanspruch 7.The object of the present invention is based on the generic prior art is to simplify the application-specific self-configuration of handling devices of the type mentioned. This object is achieved according to the invention by the working method according to claim 1 and the mechanical arrangement according to claim 7.

Anspruchsgemäß sind demnach der Schneidprozess und der anschließende Handlingvorgang sowie die zur Durchführung dieser Verfahrensschritte vorgesehenen maschinellen Einrichtungen auf der Steuerungsseite eng miteinander verkettet. Die numerische Steuerung der Handlingvorrichtung nutzt handlingrelevante Steuerdaten, die an der Schneidmaschine zur Verfügung stehen. Zum einen reduziert sich dadurch der Aufwand für die Programmierung der numerischen Steuereinheit der Handlingvorrichtung. Gleichzeitig ist die Rechnersteuerung der Handlingvorrichtung aufgrund der Nutzung derselben Datenbasis optimal auf die Rechnersteuerung der Schneidmaschine abgestimmt. Der Datentransfer zwischen der Schneidmaschine und der Handlingvorrichtung kann online, vorzugsweise im laufenden Prozess, aber auch offline erfolgen. Aufgrund der steuerungsbezogenen Kommunikation der Handlingvorrichtung mit der Schneidmaschine kann die Handlingvorrichtung frühzeitig, insbesondere noch vor Beendigung der schneidenden Werkstückbearbeitung, auf die zu lösende Handlingaufgabe vorbereitet werden. Die enge Abstimmung der Handlingvorrichtung und des von dieser übernommenen Handlingvorganges auf die Schneidmaschine und den an dieser durchgeführten Schneidprozess bewirkt, dass sich die hohe Produktivität der schneidenden Werkstückbearbeitung, die an modernen Werkzeugmaschinen erzielt werden kann, auf den anschließenden Handlingvorgang überträgt. Daraus resultiert eine hohe Produktivität des gesamten Arbeitsverfahrens bzw. der gesamten maschinellen Anordnung.According to the claim, the cutting process and the subsequent handling process as well as the mechanical devices provided for carrying out these method steps are therefore closely linked on the control side. The numerical control of the handling device uses handling-relevant control data, which are available at the cutting machine. On the one hand, this reduces the effort for programming the numerical control unit of the handling device. At the same time, the computer control of the handling device is optimally adapted to the computer control of the cutting machine due to the use of the same database. The data transfer between the cutting machine and the handling device can be done online, preferably in the running process, but also offline. Due to the control-related communication of the handling device with the cutting machine, the handling device can be prepared for the handling task to be solved at an early stage, in particular before the end of the cutting workpiece machining. The close coordination of the handling device and the handling process adopted by the latter on the cutting machine and the cutting process carried out on it results in the high productivity of the cutting workpiece machining, which can be achieved on modern machine tools, being transferred to the subsequent handling process. This results in a high productivity of the entire work process or the entire mechanical arrangement.

Anhand maschinenbezogener Steuerdaten werden vorrichtungsbezogene Steuerdaten generiert, aufgrund derer für die Handlingvorrichtung eine für den betreffenden Anwendungsfall besonders zweckmäßige Handlingeinheit ausgewählt wird. Die maschinenbezogenen Steuerdaten werden zur Programmierung der erfindungsgemäßen maschinellen Anordnung genutzt, die eine Handlingvorrichtung mit einer an einer Grundstruktur lösbar angebrachten Handlingeinheit aufweist. Besondere Ausführungsarten des Arbeitsverfahrens nach Patentanspruch 1 sowie der maschinellen Anordnung nach Patentanspruch 7 ergeben sich aus den abhängigen Patentansprüchen 2 bis 6 und 8 bis 13.On the basis of machine-related control data, device-related control data is generated, on the basis of which a handling unit which is particularly expedient for the relevant application is selected for the handling device. The machine-related control data are used for programming the mechanical arrangement according to the invention, which has a handling device with a handling unit removably attached to a basic structure. Particular embodiments of the working method according to claim 1 and the mechanical arrangement according to claim 7 emerge from the dependent claims 2 to 6 and 8 to 13.

Im Falle des erfindungsgemäßen Arbeitsverfahrens nach Patentanspruch 2 werden für die Programmierung der Rechnersteuerung der Handlingvorrichtung Steuerdaten der Rechnersteuerung für die Schneidmaschine genutzt, welche die Lage von aufzunehmenden Werkstücken an der Schneidmaschine betreffen. Die Nutzung dieser maschinenbezogenen Steuerdaten versetzt die Handlingvorrichtung in die Lage, Werkstücke, die an der Schneidmaschine erzeugt worden sind, funktionssicher aufzufinden und aufzunehmen. In bevorzugter Ausgestaltung des erfindungsgemäßen Verfahrens werden anhand handlingrelevanter maschinenbezogener Steuerdaten, beispielsweise anhand von Steuerdaten, welche die Lage von aufzunehmenden Werkstücken an der Schneidmaschine betreffen, Steuerdaten für die Handlingvorrichtung generiert, aufgrund derer die Reichweite der Handlingvorrichtung eingestellt wird (Patentanspruch 5). Eine konstruktive Möglichkeit zur Einstellung der Reichweite der Handlingvorrichtung besteht beispielsweise an Handlingvorrichtungen, deren Handlingeinheit an einem teleskopierbaren Ausleger angebracht ist. In vorteilhafter Ausgestaltung der erfindungsgemäßen maschinellen Anordnung kann die Einstellung der Position der Handlingeinheit gegenüber der Grundstruktur der Handlingvorrichtung mithilfe von vorrichtungsbezogenen Daten gesteuert werden, die anhand derjenigen Steuerdaten für die Rechnersteuerung der Schneidmaschine erzeugt worden sind, welche die Lage von aufzunehmenden Werkstücken an der Schneidmaschine betreffen (Patentanspruch 8).In the case of the inventive method according to claim 2 control data of the computer control for the cutting machine are used for programming the computer control of the handling device, which relate to the location of male parts on the cutting machine. The use of this machine-related control data enables the handling device to functionally locate and pick up workpieces that have been produced on the cutting machine. In a preferred embodiment of the method according to the invention, control data for the handling device are generated on the basis of handling-related machine-related control data, for example on the basis of control data relating to the position of workpieces to be picked up on the cutting machine, on the basis of which the range of the handling device is set (claim 5). A constructive possibility for adjusting the range of the handling device, for example, to handling devices, the handling unit is mounted on a telescopic boom. In an advantageous embodiment of the machine arrangement according to the invention, the adjustment of the position of the handling unit relative to the basic structure of the handling device can be controlled by device-related data generated from those control data for the computer control of the cutting machine concerning the position of workpieces to be picked up at the cutting machine ( Claim 8).

Als weitere handlingrelevante Steuerdaten der Rechnersteuerung für die Schneidmaschine werden erfindungsgemäß für die Programmierung der Rechnersteuerung der Handlingvorrichtung maschinenbezogene Steuerdaten genutzt, welche die Geometrie und/oder das Gewicht und/oder den Werkstoff und/oder die Oberflächenbeschaffenheit von an der Schneidmaschine aufzunehmenden Werkstücken betreffen (Patentansprüche 3, 4).As a further handling-relevant control data of the computer control for the cutting machine machine-related control data are used according to the invention for programming the computer control of the handling device, which geometry and / or weight and / or the material and / or relate to the surface texture of male on the cutting machine workpieces (claims 3, 4).

Auf der Grundlage der maschinenbezogenen Steuerdaten wird die numerische Steuereinheit der Handlingvorrichtung in bevorzugter Ausgestaltung der Erfindung derart programmiert, dass für die Handlingvorrichtung aus einer Mehrzahl von Handlingeinheiten diejenige Handlingeinheit ausgewählt wird, die sich für die Handhabung von Werkstücken mit der betreffenden Geometrie und/oder mit dem betreffenden Gewicht und/oder aus dem betreffenden Werkstoff und/oder mit der betreffenden Oberflächenbeschaffenheit besonders eignet. Ist als Werkstück beispielsweise ein Lochblech zu handhaben, so wird für die Handlingvorrichtung eine Handlingeinheit ausgewählt, die aufgrund ihrer Bauweise das Werkstück ungeachtet der Lochung sicher fixieren kann. Als Handlingeinheiten für derartige Anwendungsfälle kommen beispielsweise Magnetgreifer oder unter Berücksichtigung der Lochung konfigurierte Saugerstrukturen in Frage. Besitzen die zu handhabenden Werkstücke ein hohes Gewicht, so wird aus den zur Verfügung stehenden Handlingeinheiten eine entsprechend tragfähige Handlingeinheit ausgewählt. Der Werkstoff und/oder die Oberflächenbeschaffenheit der zu handhabenden Werkstücke kann beispielsweise eine besonders schonende Werkstückhandhabung und den Einsatz einer hierfür geeigneten Handlingeinheit erforderlich machen.On the basis of the machine-related control data, the numerical control unit of the handling device in a preferred embodiment of the invention is programmed such that for the handling device from a plurality of handling units that handling unit is selected, which is responsible for the handling of workpieces with the relevant geometry and / or weight and / or material and / or surface texture. If, for example, a perforated plate is to be handled as the workpiece, then a handling unit is selected for the handling device, which due to its design can securely fix the workpiece irrespective of the perforation. As handling units for such applications are, for example, magnetic gripper or under consideration of the perforation configured suction structures in question. If the workpieces to be handled have a high weight, a correspondingly load-bearing handling unit is selected from the available handling units. For example, the material and / or the surface finish of the workpieces to be handled may require particularly gentle workpiece handling and the use of a handling unit suitable for this purpose.

In bevorzugter Ausgestaltung der Erfindung ist die numerische Steuereinheit der Handlingvorrichtung auf der Grundlage maschinenbezogener Steuerdaten derart programmiert, dass sie die Handlingeinheit anwendungsbezogen selbst konfiguriert. Beispielsweise kann die Handlingeinheit eine Tragstruktur aufweisen, die sich variabel mit Halteorganen, beispielsweise Tragsaugern, versehen lässt. Zur Selbstkonfigurierung wählt die Handlingvorrichtung auf der Grundlage der von der numerischen Steuereinheit der Schneidmaschine übernommenen maschinenbezogenen Steuerdaten eigenständig beispielsweise die für den jeweiligen Anwendungsfall geeignete Bauart und/oder geometrische Anordnung der Halteorgane. Besonders zweckmäßig sind in diesem Zusammenhang Handlingeinheiten mit Tragstrukturen, an denen die Halteorgane mittels Schnellkupplungen selbsttätig angebracht werden können.In a preferred embodiment of the invention, the numerical control unit of the handling device is programmed on the basis of machine-related control data in such a way that it configures the handling unit itself based on the application. For example, the handling unit may have a support structure that can be variably provided with retaining members, such as wearers. For self-configuration, the handling device independently selects, for example, the design and / or geometric arrangement of the holding members suitable for the respective application on the basis of the machine-related control data taken over by the numerical control unit of the cutting machine. Particularly useful in this context handling units with support structures on which the holding members can be attached automatically by means of quick couplings.

In weiterer bevorzugter Ausgestaltung des erfindungsgemäßen Arbeitsverfahrens werden von der rechnergesteuerten Handlingvorrichtung Werkstücke, die an der Schneidmaschine aufgenommen worden sind, an einer Lagerstelle abgelegt und/oder zu einer nachgeordnete Arbeitsstation transferiert (Patentanspruch 6). In diesem Fall können auch Verfahrensabläufe, die sich an die Aufnahme von Werkstücken an der Schneidmaschine anschließen, von der hohen Produktivität der Werkstückerzeugung und des Werkstückhandlings an der Schneidmaschine profitieren. Im Fall einer für die Praxis besonders relevanten Ausführungsform der erfindungsgemäßen maschinellen Anordnung ist der Handlingvorrichtung im Verfahrensablauf eine Arbeitsstation, insbesondere eine Biegestation, nachgeordnet (Patentanspruch 13).In a further preferred embodiment of the method according to the invention, workpieces that have been picked up on the cutting machine are deposited by the computer-controlled handling device at a storage location and / or transferred to a downstream workstation (claim 6). In this case, also processes that follow up on the acceptance of workpieces on the cutting machine can benefit from the high productivity of workpiece production and workpiece handling on the cutting machine. In the case of a particularly relevant embodiment of the inventive machine arrangement of the handling device in the process flow, a workstation, in particular a bending station, downstream (claim 13).

Als Schneidmaschine weist die erfindungsgemäße maschinelle Anordnung vorzugsweise eine Laser-Flachbettmaschine und/oder eine Kombimaschine mit einer Stanzvorrichtung sowie mit einer Laserschneideinrichtung auf (Patentanspruch 12).As a cutting machine, the mechanical arrangement according to the invention preferably has a laser flatbed machine and / or a combination machine with a punching device and with a laser cutting device (claim 12).

Im Interesse einer optimalen Funktionssicherheit ist in weiterer Ausgestaltung der erfindungsgemäßen maschinellen Anordnung für die numerische Steuereinheit der Handlingvorrichtung eine Korrektureinrichtung vorgesehen (Patentanspruch 9). Die Korrektureinrichtung umfasst eine Aufnahmeeinheit sowie eine Auswerteeinheit, wobei mittels der Aufnahmeeinheit die handlingrelevanten Eigenschaften der von der Handlingvorrichtung an der Schneidmaschine aufzunehmenden Werkstücke erfasst werden können und wobei mittels der Auswerteeinheit die in der numerischen Steuereinheit der Handlingvorrichtung hinterlegten und auf maschinenbezogene Steuerdaten zurückgehenden vorrichtungsbezogenen Steuerdaten mit dem Erfassungsergebnis vergleichbar sind. Stellt die Auswerteeinheit eine Diskrepanz zwischen den in der numerischen Steuereinheit der Handlingvorrichtung hinterlegten und auf maschinenbezogenen Steuerdaten basierenden vorrichtungsbezogenen Steuerdaten einerseits und dem Ergebnis der Erfassung der handlingrelevanten Eigenschaften der aufzunehmenden Werkstücke andererseits fest, so korrigiert die Auswerteeinheit die in der numerischen Steuereinheit der Handlingvorrichtung hinterlegten vorrichtungsbezogenen Steuerdaten entsprechend.In the interest of optimal functional safety, a correction device is provided in a further embodiment of the mechanical arrangement according to the invention for the numerical control unit of the handling device (claim 9). The correction device comprises a receiving unit and an evaluation unit, wherein the handling-relevant properties of the workpieces to be received by the handling device on the cutting machine can be detected by means of the receiving unit and wherein the device-related control data stored in the numerical control unit of the handling device and attributed to machine-related control data by means of the evaluation unit Recording results are comparable. If the evaluation unit makes a discrepancy between the device-related control data stored in the numerical control unit of the handling device and based on machine-related control data, on the one hand, and the result On the other hand, the determination of the handling-relevant properties of the workpieces to be picked is fixed, the evaluation unit correspondingly corrects the device-related control data stored in the numerical control unit of the handling device.

Im Interesse einfacher konstruktiver Verhältnisse ist die Aufnahmeeinheit der Korrektureinrichtung für die Rechnersteuerung der Handlingvorrichtung an einer Handlingeinheit der Handlingvorrichtung angeordnet und gemeinsam mit der Handlingeinheit im Raum bewegbar (Patentanspruch 10).In the interest of simple constructive conditions, the receiving unit of the correction device for the computer control of the handling device is arranged on a handling unit of the handling device and movable together with the handling unit in space (claim 10).

In weiterer bevorzugter Ausgestaltung der erfindungsgemäßen maschinellen Anordnung ist als Aufnahmeeinheit der Korrektureinrichtung für die Rechnersteuerung der Handlingvorrichtung eine Kamera vorgesehen, die an der Handlingeinheit der Handlingvorrichtung derart angebracht ist, dass sie ihre Funktionsstellung einnimmt, wenn die Handlingeinheit gegenüber einem an der Schneidmaschine aufzunehmenden Werkstück entsprechend ihrer Funktionsstellung ausgerichtet ist (Patentanspruch 11). Auf diese Art und Weise kann die mittels der Kamera vorgenommene Erfassung der handlingrelevanten Eigenschaften der Werkstücke an der Schneidmaschine unmittelbar in den Handlingprozess integriert werden. Bevorzugt wird eine Kamerabauart, die wie beispielsweise eine Doppelkamera oder eine 3D-Kamera eine erweiterte Lageerkennung ermöglicht und die es insbesondere gestattet, eine Verkippung von aufzunehmenden Werkstücken zu erkennen und die aufzunehmenden Werkstücke von einem sie umgebenden Restgitter zu unterscheiden.In a further preferred embodiment of the machine arrangement according to the invention, a camera is provided as a receiving unit of the correction device for the computer control of the handling device, which is attached to the handling unit of the handling device such that it assumes its functional position when the handling unit relative to a male on the cutting machine workpiece according to their Function position is aligned (claim 11). In this way, the detection of the handling-relevant properties of the workpieces on the cutting machine made by the camera can be integrated directly into the handling process. Preferred is a Kamerabauart, such as a dual camera or a 3D camera allows extended position detection and in particular allows to detect a tilt of male workpieces and to distinguish the male workpieces from a surrounding skeleton.

Nachfolgend wird die Erfindung anhand beispielhafter schematischer Darstellungen näher erläutert. Es zeigen:

Figur 1
eine maschinelle Anordnung für die Blechbearbeitung unter anderem mit einer Handlingvorrichtung und
Figur 2
die Handlingvorrichtung gemäß Figur 1 beim Wechseln einer Handlingeinheit.
The invention will be explained in more detail below with reference to exemplary schematic illustrations. Show it:
FIG. 1
a machine arrangement for sheet metal processing, inter alia, with a handling device and
FIG. 2
the handling device according to FIG. 1 when changing a handling unit.

Gemäß Figur 1 umfasst eine maschinelle Anordnung 1 für die Blechbearbeitung als Schneidmaschinen eine Kombimaschine 2 sowie eine Laser-Flachbettmaschine 3. Weitere Komponenten der maschinellen Anordnung 1 sind eine Arbeitsstation in Form einer Biegemaschine 4 sowie eine Handlingvorrichtung 5.According to FIG. 1 1 comprises a machine arrangement 1 for sheet metal working as cutting machines, a combination machine 2 and a laser flatbed machine 3. Further components of the machine arrangement 1 are a work station in the form of a bending machine 4 and a handling device 5.

Wie üblich weist die Kombimaschine 2 eine Stanzvorrichtung 6 sowie eine Laserschneideinrichtung 7 auf. Eine numerische Steuereinheit 8 der Kombimaschine 2 ist in Figur 1 angedeutet. Eine Werkstückauflage 9 der Kombimaschine 2 lagert Rohbleche während der schneidenden Blechbearbeitung.As usual, the combination machine 2 has a punching device 6 and a laser cutting device 7. A numerical control unit 8 of the combination machine 2 is in FIG. 1 indicated. A workpiece support 9 of the combination machine 2 stores raw sheets during the cutting sheet metal processing.

In dem gezeigten Beispielsfall erzeugt die Kombimaschine 2 durch schneidende Bearbeitung von Rohblechen Werkstücke dreier unterschiedlicher Kategorien, nämlich Werkstücke I, Werkstücke II und Werkstücke IV. Diese unterscheiden sich hinsichtlich ihrer Geometrie, ihres Gewichts sowie hinsichtlich der Lage, die sie nach Abschluss der schneidenden Rohblechbearbeitung auf der Werkstückauflage 9 der Kombimaschine 2 einnehmen. Maschinenbezogene Steuerdaten, die unter anderem die drei genannten Parameter betreffen, sind in der numerischen Steuereinheit 8 der Kombimaschine 2 hinterlegt.In the example shown, the combination machine 2 produced by cutting of sheet metal workpieces of three different categories, namely workpieces I, II and workpieces IV. These differ in terms of their geometry, their weight and in terms of the position they on completion of the cutting sheet metal processing on take the workpiece support 9 of the combination machine 2. Machine-related control data, which inter alia relate to the three mentioned parameters, are stored in the numerical control unit 8 of the combination machine 2.

Die Laser-Flachbettmaschine 3 besitzt in gewohnter Weise eine Einhausung 10, die einen Arbeitsraum 11 begrenzt. Im Innern des Arbeitsraumes 11 ist ein Laserschneidkopf 12 längs eines Portalträgers 13 beweglich, der seinerseits senkrecht zu seiner Längsrichtung verfährt. Mittels des Laserschneidkopfs 12 werden im Innern des Arbeitsraumes 11 der Laser-Flachbettmaschine 3 Rohbleche schneidend bearbeitet. Die wesentlichen Funktionen der Laser-Fiachbettmaschine 3 werden mittels einer numerischen Steuereinheit 14 gesteuert.The laser flatbed machine 3 has in the usual way an enclosure 10 which limits a working space 11. In the interior of the working space 11, a laser cutting head 12 is movable along a gantry carrier 13, which in turn moves perpendicular to its longitudinal direction. By means of the laser cutting head 12 3 raw sheets are machined cutting inside the working space 11 of the laser flatbed machine. The essential functions of the laser floating bed machine 3 are controlled by means of a numerical control unit 14.

Ebenso wie an der Kombimaschine 2 werden in dem vorliegend Beispielsfall auch an der Laser-Flachbettmaschine 3 Werkstücke I und Werkstücke II aus Rohblechen freigeschnitten. Als dritte Werkstückkategorie erzeugt die Laser-Flachbettmaschine 3 Werkstücke III. Die Werkstücke I, II, III unterscheiden sich in ihrer Geometrie, ihrem Gewicht sowie in der Lage, die sie nach der Rohblechbearbeitung auf einer Palette 15 eines der Laser-Flachbettmaschine 3 zugehörigen Palettenwechslers 16 einnehmen. Maschinenbezogene Steuerdaten, welche die drei genannten Parameter betreffen, sind in der numerischen Steuereinheit 14 der Laser-Flachbettmaschine 3 hinterlegt.As well as on the combination machine 2 3 workpieces I and workpieces II are cut free from raw sheets in the present example case also on the laser flatbed machine. As the third workpiece category, the laser flatbed machine produces 3 workpieces III. The workpieces I, II, III differ in their geometry, their weight and in the position they occupy after the processing of the sheet metal on a pallet 15 of a laser flat bed machine 3 associated pallet changer 16. Machine-related control data concerning the three mentioned parameters are stored in the numerical control unit 14 of the laser flatbed machine 3.

Zwischen der Kombimaschine 2 und der Laser-Flachbettmaschine 3 ist die Handlingvorrichtung 5 angeordnet. Bei der Handlingvorrichtung 5 handelt es sich um einen mehrachsigen Industrieroboter, der motorisch angetrieben an Führungsschienen 17 verfahren kann.Between the combination machine 2 and the laser flatbed machine 3, the handling device 5 is arranged. In the handling device 5 is a multi-axis industrial robot, which can move driven by guide rails 17.

Wie insbesondere in Figur 2 erkennbar ist, besitzt die Handlingvorrichtung 5 eine Grundstruktur 18 mit einer an den Führungsschienen 17 gelagerten Basis 19 sowie mit Schwenkarmen 20, 21, 22 die relativ zueinander schwenkbeweglich sind. Der Schwenkarm 22 ist an seinem von dem Schwenkarm 21 abliegenden Ende mit einer Handlingeinheit 23.1 versehen. Die Handlingeinheit 23.1 ist mittels einer Schnellkupplung lösbar an dem Schwenkarm 22 befestigt. Als Alternativen zu der Handlingeinheit 23.1 zeigt Figur 2 eine Handlingeinheit 23.2 sowie eine Handlingeinheit 23.3.As in particular in FIG. 2 can be seen, the handling device 5 has a basic structure 18 with a bearing on the guide rails 17 base 19 and with pivot arms 20, 21, 22 which are relatively pivotable. The pivot arm 22 is provided at its remote from the pivot arm 21 end with a handling unit 23.1. The handling unit 23.1 is detachably fastened to the swivel arm 22 by means of a quick coupling. As alternatives to the handling unit 23.1 shows FIG. 2 a handling unit 23.2 and a handling unit 23.3.

Die Handlingeinheiten 23.1, 23.2, 23.3 weisen Tragrahmen 24.1, 24.2, 24.3 auf. An dem Tragrahmen 24.1 der Handlingeinheit 23.1 sind mittels lösbarer Schnellkupplungen Tragsauger 25,1 montiert. Entsprechend sind die Handlingeinheit 23.2 mit Tragsaugern 25.2 und die Handlingeinheit 23.3 mit Tragsaugern 25.3 versehen. Die Handlingeinheiten 23.1, 23.2, 23.3 unterscheiden sich durch ihre Tragfähigkeit sowie in ihrer durch die Anordnung der Tragsauger 25.1, 25.2, 25.3 bedingten Haltegeometrie.The handling units 23.1, 23.2, 23.3 have support frames 24.1, 24.2, 24.3. On the support frame 24.1 of the handling unit 23.1 support suckers 25,1 are mounted by means of detachable quick-release couplings. Accordingly, the handling unit 23.2 are provided with suction pads 25.2 and the handling unit 23.3 with suction pads 25.3. The handling units 23.1, 23.2, 23.3 differ in their carrying capacity as well as in their holding geometry caused by the arrangement of the carrying suckers 25.1, 25.2, 25.3.

Die Funktionen der Handlingvorrichtung 5 werden durch eine numerische Steuereinheit 26 anhand vorrichtungsbezogener Steuerdaten gesteuert. In die numerische Steuereinheit 26 der Handlingvorrichtung 5 integriert ist eine Auswerteeinheit 27 einer Korrektureinrichtung 28.The functions of the handling device 5 are controlled by a numerical control unit 26 on the basis of device-related control data. Integrated into the numerical control unit 26 of the handling device 5 is an evaluation unit 27 of a correction device 28.

Zusätzlich zu der Auswerteeinheit 27 umfasst die Korrektureinrichtung 28 eine Aufnahmeeinheit 29, die an dem Schwenkarm 22 der Handlingvorrichtung 5 angebracht und über diesen mit der an dem Schwenkarm 22 vorgesehenen Handlingeinheit 23.1 verbunden ist. Bei der Aufnahmeeinheit 29 handelt es sich in dem gezeigten Beispielsfall um eine Kamera mit einer in Figur 2 strichpunktiert angedeuteten Aufnahmerichtung.In addition to the evaluation unit 27, the correction device 28 comprises a receiving unit 29, which is attached to the pivot arm 22 of the handling device 5 and connected via this with the provided on the pivot arm 22 handling unit 23.1. The recording unit 29 is in the example shown to a camera with a in FIG. 2 dash-dotted line direction.

Aufgrund der Anordnung zwischen der Kombimaschine 2 und der Laser-Flachbettmaschine 3 sowie aufgrund der Bewegungsmöglichkeiten der an der Grundstruktur 18 angebrachten Handlingeinheit 23.1, 23.2, 23.3 kann die Handlingvorrichtung 5 sowohl auf die Werkstückauflage 9 der Kombimaschine 2 als auch auf die Palette 15 des Palettenwechslers 16 der Laser-Flachbettmaschine 3 zugreifen.Due to the arrangement between the combination machine 2 and the laser flatbed machine 3 and due to the possibilities of movement of the attached to the base structure 18 handling unit 23.1, 23.2, 23.3, the handling device 5 access both the workpiece support 9 of the combination machine 2 and the pallet 15 of the pallet changer 16 of the laser flatbed machine 3.

Figur 1 zeigt die maschinelle Anordnung 1, nachdem die Handlingvorrichtung 5 ein Werkstück II von der Palette 15 des Palettenwechslers 16 aufgenommen hat. Das Werkstück II ist zuvor im Innern des Arbeitsraumes 11 der Laser-Flachbettmaschine 3 aus einem Rohblech freigeschnitten worden. FIG. 1 shows the machine assembly 1 after the handling device 5 has picked up a workpiece II from the pallet 15 of the pallet changer 16. The workpiece II has been previously cut free from inside the working space 11 of the laser flatbed machine 3 from a blank sheet.

Rechtzeitig vor Beendigung der schneidenden Rohblechbearbeitung sind von der numerischen Steuereinheit 14 der Laser-Flachbettmaschine 3 dort hinterlegte handlingrelevante maschinenbezogene Steuerdaten an die numerische Steuereinheit 26 der Handlingvorrichtung 5 transferiert worden. In dem gezeigten Beispielsfall wurden maschinenbezogene Steuerdaten übermittelt, welche die Geometrie, das Gewicht und die Lage des von der Handlingvorrichtung 5 nach Beendigung der schneidenden Blechbearbeitung aufzunehmenden Werkstückes II an der Laser-Flachbettmaschine 3 bzw. dem Palettenwechsler 16 betreffen. Anhand der transferierten maschinenbezogenen Steuerdaten wurden von der numerischen Steuereinheit 26 der Handlingvorrichtung 5 für deren Steuerung vorgesehene vorrichtungsbezogene Steuerdaten generiert. Aufgrund der damit verbundenen Programmierung der Rechnersteuerung 26 ist die Handlingvorrichtung 5 zunächst in die in Figur 1 nicht dargestellte Wechselposition gemäß Figur 2 verfahren. Ausweislich Figur 2 war zu diesem Zeitpunkt noch die Handlingeinheit 23.1 an der Grundstruktur 18 der Handlingvorrichtung 5 montiert. Diese wurde dann gegen die tragfähigere und auf die Geometrie von Werkstücken der Kategorie II abgestimmte Handlingeinheit 23.2 ausgetauscht. Anschließend bewegte sich die Handlingvorrichtung 5 aus der Wechselposition in eine Aufnahmeposition vor dem Palettenwechsler 16.In good time before the end of the cutting unfinished sheet processing, handling-related machine-related control data stored there by the numerical control unit 14 of the laser flatbed machine 3 have been transferred to the numerical control unit 26 of the handling device 5. In the example case shown, machine-related control data were transmitted which relate to the geometry, the weight and the position of the workpiece II to be picked up by the handling device 5 after the end of the cutting sheet metal processing on the flatbed laser machine 3 or the pallet changer 16. On the basis of the transferred machine-related control data, device-related control data intended for the control thereof were generated by the numerical control unit 26 of the handling device 5. Due to the associated programming of the computer controller 26, the handling device 5 is first in the in FIG. 1 not shown change position according to FIG. 2 method. evidenced FIG. 2 At this time, the handling unit 23.1 was still mounted on the basic structure 18 of the handling device 5. This was then replaced with the more robust handling unit 23.2, which was adapted to the geometry of Category II workpieces. Subsequently, the handling device 5 moved from the change position to a receiving position in front of the pallet changer 16.

Nach Beendigung der schneidenden Rohblechbearbeitung und der automatisierten Abfuhr der erzeugten Werkstücke aus dem Arbeitsraum 11 der Laser-Flachbettmaschine 3 auf den Palettenwechsler 16 wurde die Handlingeinheit 23.2 durch entsprechend gesteuerte Bewegungen der Schwenkarme 20, 21, 22 der Handlingvorrichtung 5 mit den Tragsaugern 25.2 auf die Oberseite des auf der Palette 15 aufliegenden Werkstücks II aufgesetzt. Durch Anlegen eines Unterdruckes an die Tragsauger 25.2 wurden diese aktiviert und das Werkstück II wurde an der Handlingeinheit 23.2 fixiert. Gemeinsam mit dem daran festgelegten Werkstück II wurden die Schwenkarme 20, 21, 22 der Handlingvorrichtung 5 schließlich in die Stellung gemäß Figur 1 geschwenkt.After completion of the cutting rough sheet metal processing and the automated removal of the workpieces produced from the working space 11 of the laser flatbed machine 3 on the pallet changer 16, the handling unit was 23.2 by appropriately controlled movements of the pivot arms 20, 21, 22 of the handling device 5 with the carrier suckers 25.2 on the top of the on the Pallet 15 resting workpiece II placed. By applying a negative pressure to the support suckers 25.2 these were activated and the workpiece II was fixed to the handling unit 23.2. Together with the workpiece II fixed thereto, the pivot arms 20, 21, 22 of the handling device 5 were finally in the position according to FIG. 1 pivoted.

Beim Verfahren der Handlingvorrichtung 5 in die Aufnahmeposition sowie bei dem anschließenden Anlegen der Handlingeinheit 23.2 an das Werkstück II wurde die Handlingvorrichtung 5 anhand vorrichtungsbezogender Steuerdaten gesteuert. Diese vorrichtungsbezogenen Steuerdaten waren zuvor aus maschinenbezogenen Steuerdaten generiert worden, die ihrerseits die Lage des Werkstückes II auf der Palette 15 betrafen.In the method of the handling device 5 in the receiving position and in the subsequent application of the handling unit 23.2 to the workpiece II, the handling device 5 was controlled on the basis of device-related control data. This device-related control data had previously been generated from machine-related control data, which in turn concerned the position of the workpiece II on the pallet 15.

Die Aufnahme des auf der Palette 15 bereitliegenden Werkstückes II wurde durch die Korrektureinrichtung 28 überwacht. Sobald die Handlingeinheit 23.2 gegenüber dem aufzunehmenden Werkstück II derart ausgerichtet war, dass das Werkstück II der Aufnahmeeinheit 29 bzw. der betreffenden Kamera in deren Aufnahmerichtung gegenüberlag, wurde von der Aufnahmeeinheit 29 die tatsächliche Lage des Werkstückes II erfasst. Die auf diese Art und Weise gewonnene Lageinformation wurde mittels der Auswerteeinheit 27 der Korrektureinrichtung 28 gegen die in der numerischen Steuereinheit 26 der Handlingvorrichtung 5 hinterlegte und auf maschinenbezogene Steuerdaten der Laser-Flachbettmaschine 3 zurückgehende Lageinformation abgeglichen. Im vorliegenden Fall wurde dabei keine Abweichung der tatsächlichen von der in der numerischen Steuereinheit 26 der Handlingvorrichtung 5 hinterlegten Werkstückposition festgestellt. Die Werkstückaufnahme an der Palette 15 konnte daher unmittelbar anhand der in der numerischen Steuereinheit 26 der Handlingvorrichtung 5 hinterlegten vorrichtungsbezogenen Steuerdaten durchgeführt werden. Wäre eine Abweichung der tatsächlichen von der in der numerischen Steuereinheit 26 der Handlingvorrichtung 5 hinterlegten Werkstückposition festgestellt worden, so hätten die betreffenden vorrichtungsbezogenen Steuerdaten in der numerischen Steuereinheit 26 der Handlingvorrichtung 5 entsprechend modifiziert werden müssen.The recording of the ready on the pallet 15 workpiece II was monitored by the correction device 28. As soon as the handling unit 23.2 was aligned with respect to the workpiece II to be picked so that the workpiece II faced the recording unit 29 or the respective camera in its recording direction, the actual position of the workpiece II was detected by the recording unit 29. The position information obtained in this way was compared by means of the evaluation unit 27 of the correction device 28 against the stored in the numerical control unit 26 of the handling device 5 and back to machine-related control data of the laser flatbed machine 3 position information. In the present case, no deviation of the actual stored from the numerical control unit 26 of the handling device 5 workpiece position was detected. The workpiece holder on the pallet 15 could therefore be performed directly on the basis of the stored in the numerical control unit 26 of the handling device 5 device-related control data. If a deviation of the actual workpiece position stored in the numerical control unit 26 of the handling device 5 had been detected, then the relevant device-related control data in the numerical control unit 26 of the handling device 5 would have had to be modified accordingly.

Auf die vorstehend beschriebene Art und Weise kann die Handlingvorrichtung 5 auch Werkstücke I, III von der Palette 15 des Palettenwechslers 16 oder Werkstücke I, II, IV von der Werkstückauflage 9 der Kombimaschine 2 aufnehmen. Der dem Werkstückhandling an der Kombimaschine 2 bzw. der Laser-Flachbettmaschine 3 vorausgehende Datentransfer von den numerischen Steuereinheiten 8, 14 zu der numerischen Steuereinheit 26 ist in Figur 1 schematisch dargestellt.In the manner described above, the handling device 5 can also receive workpieces I, III from the pallet 15 of the pallet changer 16 or workpieces I, II, IV from the workpiece support 9 of the combination machine 2. The data transfer from the numerical control units 8, 14 to the numerical control unit 26 which precedes the workpiece handling on the combination machine 2 or the laser flatbed machine 3 is shown in FIG FIG. 1 shown schematically.

Zusätzlich zu den vorrichtungsbezogenen Steuerdaten für das Werkstückhandling an der Kombimaschine 2 bzw. an der Laser-Flachbettmaschine 3 generiert die numerische Steuereinheit 26 der Handlingvorrichtung 5 anhand der von der numerischen Steuereinheit 8 der Kombimaschine 2 bzw. der von der numerischen Steuereinheit 14 der Laser-Flachbettmaschine 3 transferierten maschinenbezogenen Steuerdaten weitere vorrichtungsbezogene Steuerdaten. Diese weiteren vorrichtungsbezogenen Steuerdaten dienen zur Steuerung der Handlingvorrichtung 5 im Anschluss an die in Figur 1 gezeigte Aufnahme des Werkstückes II.In addition to the device-related control data for the workpiece handling on the combination machine 2 and on the laser flatbed machine 3, the numerical control unit 26 generates the handling device 5 on the basis of the numerical control unit 8 of the combination machine 2 and the numerical control unit 14 of the laser flatbed machine 3 transferred machine-related control data further device-related control data. These further device-related control data are used to control the handling device 5 following the in FIG. 1 shown recording of the workpiece II.

Denkbar ist die Erzeugung vorrichtungsbezogener Steuerdaten für eine Steuerung der Handlingvorrichtung 5 dergestalt, dass das aufgenommene Werkstück II unmittelbar zu der Biegemaschine 4 transferiert wird, wo dann eine biegende Bearbeitung des Werkstückes II erfolgt. In diesem Fall können die von der Kombimaschine 2 oder der Laser-Flachbettmaschine 3 übernommenen Datensätze um Steuerdaten ergänzt werden, welche das Handling des Werkstückes II während und nach dem Biegeprozess betreffen. Dabei lassen sich insbesondere Biegeparameter oder sich an das Biegen anschließende Verfahrensschritte berücksichtigen. Als zu berücksichtigende Biegeparameter kommen beispielsweise Abkantlängen oder Randabstände zu erstellender Abkantungen in Frage. Im Rahmen von Verfahrensschritten, die sich an den Biegevorgang anschließen, können fertig gebogene Werkstücke beispielsweise sortiert an hierfür vorgesehenen Stellen abgelegt werden.Conceivable is the generation of device-related control data for a control of the handling device 5 such that the recorded workpiece II is transferred directly to the bending machine 4, where then a bending machining of the workpiece II takes place. In this case, the data records taken over by the combination machine 2 or the laser flatbed machine 3 can be supplemented by control data relating to the handling of the workpiece II during and after the bending process. In particular, bending parameters or process steps subsequent to the bending can be taken into account. Bending parameters to be taken into consideration are, for example, bending lengths or edge distances to bends to be created. In the context of process steps that follow the bending process, finished bent workpieces can be sorted, for example, stored at designated locations.

Alternativ kann die numerische Steuereinheit 26 der Handlingvorrichtung 5 derart programmiert werden, dass die Handlingvorrichtung 5 das aufgenommene Werkstück II an einer Lagerstelle, im Einzelnen auf einer von insgesamt drei für Werkstücke der Kategorie II bestimmten Lagerpaletten 30, ablegt. Bei entsprechender Programmierung der numerischen Steuereinheit 26 verbleibt das Werkstück II auf der Lagerpalette 30 und wird von dort beispielsweise mittels eines Hubstaplers abgeführt oder das Werkstück II wird auf der Lagerpalette 30 im Rahmen des Verfahrensablaufs lediglich zwischengelagert und zu einem späteren Zeitpunkt von der Handlingvorrichtung 5 wieder aufgenommen und zur biegenden Bearbeitung an die Biegemaschine 4 transportiert. In jedem Fall werden die Werkstücke II auf der zugeordneten Palette 30 lagerichtig deponiert. Ein geordnetes Stapeln mehrerer Werkstücke II ist möglich.Alternatively, the numerical control unit 26 of the handling device 5 can be programmed such that the handling device 5, the recorded workpiece II at a storage location, in detail on one of a total of three for Workpieces of category II certain storage pallets 30, deposits. With appropriate programming of the numerical control unit 26, the workpiece II remains on the storage pallet 30 and is removed from there, for example by means of a lift truck or the workpiece II is only temporarily stored on the storage pallet 30 in the course of the process and resumed at a later time by the handling device 5 and transported to the bending machine 4 for bending processing. In any case, the workpieces II are deposited on the associated pallet 30 in the correct position. An orderly stacking of several workpieces II is possible.

Entsprechend kann die Handlingvorrichtung 5 mit Werkstücken der Kategorien I, III und IV verfahren. Für die Werkstücke I, III, IV sind als Lagerstellen Paletten 31 (Werkstücke I), Paletten 32 (Werkstücke III) und Paletten 33 (Werkstücke IV) vorgesehen.Accordingly, the handling device 5 can move with workpieces of categories I, III and IV. For the workpieces I, III, IV pallets 31 (workpieces I), pallets 32 (workpieces III) and pallets 33 (workpieces IV) are provided as storage locations.

Zusätzlich zum Handling der Werkstücke I, II, III, IV kann die Handlingvorrichtung 5 auch die Beschickung der Kombimaschine 2 und der Laser-Flachbettmaschine 3 mit Rohblechen sowie das Ein- und Auswechseln von Stanzwerkzeugen und Laserdüsen sowie Laserschneidköpfen an der Kombimaschine 2 bzw. der Laser-Flachbettmaschine 3 übernehmen.In addition to the handling of the workpieces I, II, III, IV, the handling device 5 can also charge the combination machine 2 and the laser flatbed machine 3 with blank sheets and the replacement and replacement of punching tools and laser nozzles and laser cutting heads on the combination machine 2 and the laser Take over the flat bed machine 3.

Claims (13)

  1. Working method, as part of which
    • workpieces (I, II, III, IV) are produced by cutting on a computer-controlled cutting machine (2, 3), in particular sheet-metal parts are cut out of sheet metal, and
    • produced workpieces (I, II, III, IV) are picked up by a computer-controlled handling device (5) on the cutting machine (2, 3),
    the cutting machine (2, 3) being computer-controlled on the basis of machine-related control data and the handling device (5) being computer-controlled on the basis of device-related control data, and device-related control data for the computer-control of the handling device (5) being generated on the basis of handling-relevant, machine-related control data for the computer-control of the cutting machine (2, 3), characterised in that device-related control data are generated on the basis of handling-relevant, machine-related control data, on the basis of which device-related control data a handling unit (23.1, 23.2, 23.3) is selected for the handling device (5) from a plurality of handling units (23.1, 23.2, 23.3), and in that the handling unit (23.1, 23.2, 23.3) selected on the basis of the device-related control data is detachably attached to a main structure (18) of the handling device (5).
  2. Working method according to claim 1, characterised in that the device-related control data for the computer-control of the handling device (5), on the basis of which data a handling unit (23.1, 23.2, 23.3) is selected for the handling device (5) from a plurality of handling units (23.1, 23.2, 23.3), are generated on the basis of machine-related control data relating to the position of workpieces (I, II, III, IV) to be picked up on the cutting machine (2, 3).
  3. Working method according to either of the preceding claims, characterised in that the device-related control data for the computer-control of the handling device (5), on the basis of which data a handling unit (23.1, 23.2, 23.3) is selected for the handling device (5) from a plurality of handling units (23.1, 23.2, 23.3), are generated on the basis of machine-related control data relating to the geometry and/or weight of workpieces (I, II, III, IV) to be picked up on the cutting machine (2, 3).
  4. Working method according to any one of the preceding claims, characterised in that the device-related control data for the computer-control of the handling device (5), on the basis of which data a handling unit (23.1, 23.2, 23.3) is selected for the handling device (5) from a plurality of handling units (23.1, 23.2, 23.3), are generated on the basis of machine-related control data relating to the material and/or surface condition of workpieces (I, II, III, IV) to be picked up on the cutting machine (2, 3).
  5. Working method according to any one of the preceding claims, characterised in that device-related control data are generated on the basis of handling-relevant, machine-related control data, on the basis of which device-related control data the working range of the handling device (5) is adjusted.
  6. Working method according to any one of the preceding claims, characterised in that the computer-controlled handling device (5) stores workpieces (I, II, III, IV) picked up on the cutting machine (2, 3) at a storage location (30, 31, 32, 33) and/or transfers said workpieces to a workstation (4) arranged downstream.
  7. Machine arrangement for carrying out the working method according to any one of the preceding claims,
    • comprising a cutting machine (2, 3) on which workpieces (I, II, III, IV) are produced by cutting, in particular sheet-metal parts are cut out of sheet metal, and which comprises a numerical controller (8, 14) in which machine-related control data for controlling the cutting machine (2, 3) are stored, and
    • comprising a handling device (5) which picks up produced workpieces (I, II, III, IV) on the cutting machine (2, 3) and comprises a main structure (18), a handling unit (23.1, 23.2, 23.3) that is movable in space by means of the main structure (18), and a numerical controller (26) in which device-related control data for controlling the handling device (5) are stored,
    it being possible to secure workpieces (I, II, III, IV) produced on the cutting machine (2, 3) to the handling device (5) by means of the handling unit (23.1, 23.2, 23.3), and device-related control data being stored in the numerical controller (26) of the handling device (5), which data have been generated on the basis of handling-relevant, machine-related control data for the numerical controller (8, 14) of the cutting machine (2, 3), characterised in that, on the basis of the device-related control data stored in the numerical controller (26) of the handling device (5), which data have been generated on the basis of handling-relevant, machine-related control data for the numerical controller (8, 14) of the cutting machine (2, 3), which machine-related control data relate to the geometry and/or weight and/or material and/or surface condition of workpieces (I, II, III, IV) to be picked up on the cutting machine (2, 3), the handling unit (23.1, 23.2, 23.3) can be selected, in a controlled manner, from a plurality of handling units (23.1, 23.2, 23.3) by means of the numerical controller (26) of the handling device (5), and in that the handling unit (23.1, 23.2, 23.3) selected by means of the numerical controller (26) of the handling device (5) is detachably attached to the main structure (18) of the handling device (5).
  8. Machine arrangement according to claim 7, characterised in that the handling unit (23.1, 23.2, 23.3) can be variably positioned with respect to the main structure (18), it being possible to adjust the position of the handling unit (23.1, 23.2, 23.3) with respect to the main structure (18) of the handling device (5) in a controlled manner by means of the numerical controller (26) of the handling device (5), and the adjustment of the position of the handling unit (23.1, 23.2, 23.3) with respect to the main structure (18) of the handling device (5) being controlled on the basis of device-related control data stored in the numerical controller (26) of the handling device (5), which device-related control data have been generated on the basis of machine-related control data which, in turn, relate to the position of workpieces (I, II, III, IV) to be picked up on the cutting machine (2, 3).
  9. Machine arrangement according to either claim 7 or claim 8, characterised in that a correction means (28) is provided for the numerical controller (26) of the handling device (5), which means includes a detection unit (29) and an analysis unit (27), it being possible, by means of the detection unit (29), to detect the position and/or geometry and/or weight and/or material and/or surface condition of workpieces (I, II, III, IV) to be picked up on the cutting machine (2, 3), and it being possible, by means of the analysis unit (27), to compare the device-related control data stored in the numerical controller (26) of the handling device (5) with the detection result and to correct said data if there is a deviation from the detection result.
  10. Machine arrangement according to claim 9, characterised in that the detection unit (29) of the correction means (28) for the numerical controller (26) of the handling device (5) is motionally coupled to the handling unit (23.1, 23.2, 23.3) of the handling device (5) and is movable in space together with the handling unit (23.1, 23.2, 23.3) by means of the main structure (18) of the handling device (5), the main structure being provided with the handling unit (23.1, 23.2, 23.3).
  11. Machine arrangement according to either claim 9 or claim 10, characterised in that a camera is provided as the detection unit (29) of the correction means (28) for the numerical controller (26) of the handling device (5), which camera is attached to the handling unit (23.1, 23.2, 23.3) of the handling device (5) in such a way that said camera adopts its functional position when the handling unit (23.1, 23.2, 23.3) is positioned with respect to a workpiece (I, II, III, IV) to be picked up on the cutting machine (2, 3) in a manner corresponding to the functional position of said unit.
  12. Machine arrangement according to any one of claims 7 to 11, characterised in that a flatbed laser machine and/or a combination machine having a punching device (6) and a laser cutting means (7) is provided as the cutting machine (2, 3).
  13. Machine arrangement according to any one of claims 7 to 12, characterised in that a workstation (4), in particular a bending station, is arranged downstream of the handling device (5) in the method sequence, which workstation can be supplied, by means of the handling device (5), with workpieces (I, II, III, IV) picked up previously by the handling device (5) on the cutting machine (2, 3).
EP11176071.6A 2011-08-01 2011-08-01 Working method and mechanical assembly for implementing the working method Active EP2554291B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11176071.6A EP2554291B1 (en) 2011-08-01 2011-08-01 Working method and mechanical assembly for implementing the working method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP11176071.6A EP2554291B1 (en) 2011-08-01 2011-08-01 Working method and mechanical assembly for implementing the working method

Publications (2)

Publication Number Publication Date
EP2554291A1 EP2554291A1 (en) 2013-02-06
EP2554291B1 true EP2554291B1 (en) 2019-01-30

Family

ID=45421004

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11176071.6A Active EP2554291B1 (en) 2011-08-01 2011-08-01 Working method and mechanical assembly for implementing the working method

Country Status (1)

Country Link
EP (1) EP2554291B1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014006683A1 (en) 2014-05-08 2015-11-12 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Production line for processing at least one surface component and method for processing the at least one surface component in the production line
CN106825288B (en) * 2017-03-30 2019-01-22 东莞市瑞辉机械制造有限公司 A kind of more Flexible Equipment assembly lines and its synchronous method
DE102019125159A1 (en) * 2019-09-18 2021-03-18 Sandvik Materials Technology Deutschland Gmbh Transport system for a pipe, a wire or a sheet metal and a method for delivering a pipe, a wire or a sheet metal
CN111112485A (en) * 2019-11-19 2020-05-08 广汽新能源汽车有限公司 End picker-assisted production tooling

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2611977B2 (en) * 1986-09-10 1997-05-21 三菱電機株式会社 Thin steel sheet conveyor
JP5380785B2 (en) * 2007-04-25 2014-01-08 村田機械株式会社 Board processing system
EP2177326A3 (en) * 2008-10-14 2012-04-04 Safan B.V. Method for aligning a workpiece to a robot
KR20120030111A (en) 2009-06-09 2012-03-27 쉴로 인더스트리즈 인코포레이티드 Apparatus, system and method for manufacturing metal parts

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP2554291A1 (en) 2013-02-06

Similar Documents

Publication Publication Date Title
DE4290927C2 (en) System for flexible positioning of components in an assembly station and system for flexible assembly of components
EP3533572B1 (en) Plate separating installation and method for operating same
EP2308644B1 (en) Apparatus for fine machining optically active surfaces of spectacle lenses
EP2082813B1 (en) Mechanical device for maintenance and/or cleaning of support strips of a work piece support
EP3529000B1 (en) Transport device, method and computer program product for loading and unloading at least one material machining machine
EP1967301B1 (en) Machine assembly for processing plate-shaped workpieces with a processing unit and a handling device for processed products
EP4041501B1 (en) Method for the transport and/or handling of components
DE60219267T2 (en) Gripping unit for the automated machining of workpieces, and apparatus and method with such a unit
WO2021156284A1 (en) Machine arrangement and machine method for the production of sheet metal
EP2554291B1 (en) Working method and mechanical assembly for implementing the working method
DE202014009762U1 (en) Tool changer for use in a machining center and machining center for machining a workpiece
WO2018055187A1 (en) Tool and machine tool and method for machining planar workpieces
DE102016118175A1 (en) Machine tool and method for processing plate-shaped workpieces
WO2023237285A1 (en) Method and system for switching a workpiece
EP2886220A1 (en) Method for handling plate-shaped cut material on a cutting machine
EP3515628B1 (en) Method and machine tool for machining planar workpieces, in particular metal sheets
EP2692455B1 (en) Tool machine for processing sheet-shaped workpieces, in particular sheet metal
EP3741519B1 (en) System and method for handling and / or machining workpieces
DE102014100476A1 (en) Robot punching cell
EP2939756B1 (en) Machine tool for machining a workpiece with a device for handling the tools and a tool storage magazine and method and working program for operating such a machine tool
EP3344417A1 (en) Manufacturing module and method for operating the manufacturing module
WO2006042502A1 (en) Method and device for feeding a machine tool
DE102016120141B3 (en) Tool and machine tool and method for processing plate-shaped workpieces
DE102016120151A1 (en) Method and machine tool for processing plate-shaped workpieces, in particular sheets
EP2783770B1 (en) Device and method for handling sheet metal parts on a machine tool for cutting sheet metal

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

17P Request for examination filed

Effective date: 20130116

17Q First examination report despatched

Effective date: 20140509

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20180403

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTC Intention to grant announced (deleted)
INTG Intention to grant announced

Effective date: 20180906

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1092829

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190215

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502011015325

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20190130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190530

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190430

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190430

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190530

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190501

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502011015325

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20191031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190831

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190801

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190831

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20190831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190801

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190831

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1092829

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190801

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190801

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20110801

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20250820

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20250825

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20250821

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20250829

Year of fee payment: 15