CN112041136A

CN112041136A - Sheet metal processing system, method for operating a sheet metal processing system, and control and/or regulating device

Info

Publication number: CN112041136A
Application number: CN201980028589.7A
Authority: CN
Inventors: 斯特凡·魏瑟尔; 马蒂亚斯·埃尔贝勒
Original assignee: Homag Plattenaufteiltechnik GmbH
Current assignee: Homag Plattenaufteiltechnik GmbH
Priority date: 2018-05-16
Filing date: 2019-05-15
Publication date: 2020-12-04
Anticipated expiration: 2039-05-15
Also published as: CN112041136B; EP3793790A1; WO2019219755A1; DE102018111810A1

Abstract

A sheet processing apparatus comprises a handling device for handling a sheet-shaped workpiece, the handling device comprising a base structure which is movable and which can be arranged above the workpiece, and a plurality of gripping sections (40) arranged on the base structure, which gripping sections can grip a surface of the sheet-shaped workpiece. The invention proposes that at least one gripper part (40) can be moved in at least one at least substantially horizontal direction relative to at least one other gripper part and relative to the base structure, at least in the operating position, and that the sheet metal processing system has a cleaning device (92) with the moving gripper part (40).

Description

Sheet metal processing system, method for operating a sheet metal processing system, and control and/or regulating device

Technical Field

The invention relates to a sheet metal processing system, to a method for operating a sheet metal processing system, and to a control and/or regulating device according to the preambles of the independent claims.

Background

A sheet processing device is known, for example, from DE 102014225073 a 1. It relates to a panel dividing saw by means of which large-size plate-shaped workpieces for furniture production can be divided into a plurality of small plate-shaped workpieces. Known sheet processing plants have a robot with a robot arm, on one end of which a so-called suction cross bar (saugroverse) is arranged. It comprises a base structure which extends in the operating position substantially in a horizontal plane, on which a plurality of downwardly extending gripping sections in the form of suction elements are arranged. These gripping parts can grip the surface of the plate-shaped workpiece so that the plate-shaped workpiece can be moved by means of a robot from one position to another inside the plate-shaped processing apparatus and can also be lifted in this case.

Furthermore, DE 2602622 a1 describes a handling device for conveying glass sheets, in which a plurality of suction elements are fixed on a carriage which can be moved along a horizontal tube. FR 2564021 a1 describes a manipulator in which the gripping part can be moved relative to a horizontal base structure by means of a drive. US 7029046B 2 describes a steering device having a plurality of suction elements which can change their position relative to each other. DE 10157932B 4 discloses a method for positioning a substrate, in which the corners of a sheet can be pressed against alignment elements by means of suction elements. In the case of panel dividing devices, it is also known to press the workpiece to be divided against the angle rule and the clamping head of the advancing device by means of special alignment devices and to align the workpiece with respect to the dividing line.

Disclosure of Invention

The aim of the invention is to simplify the alignment and machining of plate-shaped workpieces.

This object is achieved by a sheet metal processing installation, a method for operating a sheet metal processing installation and a control and/or regulating device having the features of the respective independent claims. Advantageous developments of the invention are given in the respective dependent claims. In addition, the features essential for the invention can be found in the following description and the drawings, wherein these features are essential for the invention individually or in different combinations without one another.

According to the invention, a sheet-metal processing system is proposed, which comprises a handling device for handling a sheet-shaped workpiece, which handling device comprises a base structure which can be moved and which can be arranged above the workpiece, and a plurality of gripping sections which are arranged on the base structure and which can grip a surface of the sheet-shaped workpiece. Such a handling device is in principle a so-called "suction crossbar" known on the market. By means of such a handling device, plate-shaped workpieces can be stacked, for example by a material supplier, and placed on an input table of a plate processing installation for processing. In addition, such a handling device can transport the workpieces on the unloading station to further processing, to intermediate devices or, for example, to a stacking station.

The invention further provides that at least one gripper segment can be moved, preferably by means of a drive, relative to the base structure and relative to at least one other gripper segment at least in an at least substantially horizontal direction in the operating position. At least one of the gripping sections thus has an additional degree of freedom of translational movement relative to the other gripping sections and relative to the basic structure, which can be used to move a plate-like workpiece, for example, on a support table, substantially linearly in a certain (in the general case smaller) periphery without the basic structure having to be moved. In this way, the plate-shaped workpiece can be moved, for example, toward an abutment device (for example, a bevel and/or a clamping head) and can thus be positioned or aligned in the desired type and manner.

In this case, damage to the plate-shaped workpiece is avoided, since the forces moving the plate-shaped workpiece are relatively small. Furthermore, the time required for moving the workpiece is short, whereby advantages in terms of cycle time are achieved compared to current solutions. The flexibility of the handling device and the sheet processing apparatus is also improved, since very small or very large workpieces or entire sheets can be moved towards the abutment device and pressed against the latter at substantially the same alignment time. In this case, the structural dimensions of the handling device and of the sheet-metal processing installation are not increased, and the process of alignment can be easily perceived and checked visually by the operator. The inspection can also be carried out in a simple and reliable manner by means of the sensor. For example, sensors, for example in the form of read switches, are present on the abutment means of the side faces and/or on the clamping head. If one or more sensors detect that the workpiece is resting on the lateral abutment device (angle square) and/or the clamping head (or clamping head base), it is possible to reliably assume that the workpiece is aligned in the correct manner.

In principle, the advantages according to the invention can be achieved in that only one gripping section is designed as a moving gripping section. In principle, however, it is also conceivable to design a plurality of gripper sections as a moving gripper section group as a whole. This is applicable in the following embodiments even if the term "grasping portion" in the singular is used.

The invention also provides that the sheet-metal processing installation has a cleaning device for the moving gripper section, wherein the cleaning device preferably comprises a blowing device. The invention is based on the consideration that during normal operation of the sheet metal processing installation, dust can fall off and can contaminate the moving gripper part, whereby it can be difficult to exert a transverse force on the workpiece by means of the moving gripper part, in particular if the gripper part is designed as a suction element. The automatic cleaning according to the invention (wherein automatic means that the machine is operated without the operator) ensures the functionality of the moving gripping part. Such cleaning can be carried out periodically after a certain operating time or after a certain number of alignment processes (or, if necessary, after each alignment process).

In such a panel processing installation, it is particularly advantageous if the handling device comprises a robot, by means of which the base structure can be moved. In this way, a fully automated operation can be achieved outside of a short cycle time. In particular, the handling device can be used, for example, for automatically aligning individual workpieces to a bevel and/or to one or more clamping heads. Thus, an automated operation of the additional device can be achieved.

A further development of the sheet processing installation according to the invention is characterized in that the moving gripper part comprises a suction element. This is a proven and gentle technique by which the moving gripping part can be connected to the surface of the workpiece in a force-fitting manner, so that the workpiece can be moved laterally in the horizontal direction.

The invention also proposes that the drive of the moving gripping part works pneumatically, in particular comprising pneumatic cylinders. The pneumatic drive can be realized relatively simply, is very safe in operation and is very clean. This applies in particular to the case of using pneumatic cylinders as drive.

It is particularly advantageous if the moving gripper section is at least temporarily loaded by means of the pretensioning device in a horizontal direction in which the moving gripper section can be moved relative to the base structure. In this way, the workpiece can be pressed against the abutment device with a defined force, so that it is ensured that the workpiece continues to abut against the abutment device during subsequent operations or machining and is thus aligned by the abutment device.

If a pneumatic drive, in particular a pneumatic cylinder, is used as the drive, the drive can be integrated into the pretensioning device, for example as an air spring, which is formed by the volume of air present in the pneumatic cylinder at a defined pressure. Alternatively or additionally, the pretensioning device can also be realized by a mechanical spring or the like.

In a further embodiment, it is provided that the force of the pretensioning device tensioning the moving gripper section in the direction can be adjusted. This can be achieved very easily, in particular in the case of air springs. For example, the force of the pretensioning device can be selected depending on the workpiece that is gripped by the gripping portion, in particular depending on the material properties or surface properties of the workpiece that is being gripped by the gripping portion. For example, in a gripping section comprising a suction element, it is possible to adjust the pretensioning force depending on the underpressure that can be achieved on or in the suction element. The underpressure may depend, for example, on the type of surface of the workpiece (very smooth or very rough) or on the type of material (very dense or very porous).

In a preferred embodiment of the sheet metal processing system according to the invention, it is provided that the moving gripper parts can be moved by means of a drive in two horizontal directions, preferably orthogonal to one another. In this case, it is not necessary but advantageous to provide a separate drive for each of the two directions, so that the movements in the two directions can be implemented or controlled independently of one another. The movability of the gripping parts in two directions, preferably orthogonal to each other, means that the workpiece is for example not only laterally aligned with the abutment means (e.g. a angle ruler), but also frontally aligned with the corresponding abutment means (e.g. one or more clamping heads), without the need to rotate the base structure as a whole by 90 ° or to move the base structure itself. In principle, it is also conceivable for the gripping part to be moved in only one direction by means of a drive. If necessary, a movement in an orthogonal direction can be effected by a movement of the base structure in order to apply the workpiece to the respective abutment device also in this direction. It is even conceivable that the movement in two orthogonal directions is effected by a movement of the base structure, and that the mobility of the moving gripping parts is only used to provide a type of spring means by means of which the workpiece can be loaded with a defined force onto the respective abutment means.

It is likewise proposed that the moving gripper part can be moved in an at least substantially vertical direction by means of a drive. In general, the gripping sections in the rest position are allowed to be arranged at the same height or in the same plane as the other non-moving gripping section, while the gripping sections in the operating position are above the lying plane of the other non-moving gripping section. This has the advantage that the gripping part which is moved in at least one horizontal direction in the operating position can grip the surface of the workpiece without touching a further, non-moving gripping part of the handling device and without the movement of the workpiece by the moving gripping part being impeded.

A further embodiment of the invention provides that the moving gripper part can be rotated about a vertical axis in the operating position. This simplifies the alignment of the workpiece, since the rotary movement of the workpiece, which may be required during the alignment, is not impeded by the gripping section, or since a force-fitting connection between the gripping section and the workpiece surface is not affected by the rotary movement (for example, if a suction unit is used). It will also be appreciated that not only one gripping part but a plurality of gripping parts will be designed as moving gripping parts, which in order to achieve the above-mentioned advantages must be designed as a group that can be rotated about a common vertical axis.

It is also proposed that the chassis extend along an at least substantially horizontal plane in the operating position and that the moving gripping sections are arranged in the lateral edge regions of the chassis, in particular in the corner regions of the chassis. This makes it possible to connect very small workpieces to the handling device in a force-fitting manner by means of the moving gripping parts and to move or align them by moving the moving gripping parts, since collisions of the base structure with the lateral regions of the device in which the base structure is mounted can thereby be avoided.

The movability of the moving gripper parts can be realized in a structurally simple and very stable manner in that the moving gripper parts are arranged on at least one carriage which is held in a linearly movable manner relative to the base structure, for example by means of commercially available linear guides.

The invention also relates to a method for operating a sheet metal processing system of the type described above, comprising the following steps: a. automatically cleaning the moving gripper section by a cleaning device; b. placing a plate-shaped workpiece on a supporting table; c. moving a base structure on a plate-shaped workpiece; d. causing the moving gripping portion to grip the surface of the plate-like workpiece in a force-fitting manner; moving the moving gripper part in a horizontal direction relative to the base structure to bring the plate-shaped workpiece into contact with one edge against the device and/or moving the base structure in a horizontal direction to bring the plate-shaped workpiece into abutment with one edge against the device. As described above, the lateral angle rule and/or the clamping head or clamping heads of the propulsion device, for example, can serve as an abutment device. According to the invention, the method also achieves the same advantages as the sheet processing device described above.

A further development of the method according to the invention is characterized in that in step c the basic structure is moved over the plate-shaped workpiece such that the moving gripping part is arranged at least substantially above the center of the plate-shaped workpiece. Thereby, undesired twisting of the workpiece during movement due to the gripping of the workpiece by the gripping portions at off-center positions can be avoided. Furthermore, the angular alignment of the workpiece is also simplified in the case of the workpiece abutting against the abutment device.

Finally, the invention also relates to a control and/or regulating device for controlling and/or regulating the operation of a handling device of a sheet processing installation, which is programmed for carrying out a method of any of the types described above.

Drawings

The present invention is described in detail below with reference to the accompanying drawings. In the drawings:

fig. 1 shows a sheet processing installation in a plan view, with a handling device with a plurality of gripping sections;

FIG. 2 shows a perspective view from obliquely above of the manipulator suction rail of FIG. 1;

fig. 3 shows a perspective view from obliquely above of an enlarged region III of fig. 2 in which a moving grip portion is present;

FIGS. 4a-d are schematic diagrams for illustrating a method for operating the handler of FIGS. 1-3;

FIG. 5 is a top view of the area III in FIG. 2, illustrating the function of the moving gripping part of the manipulator;

FIG. 6 is a schematic view similar to FIG. 5 with the moving gripper portion in a first extreme position;

FIG. 7 is a schematic view similar to FIG. 5 with the moving gripper portion in a second extreme position;

FIG. 8 is a schematic view similar to FIG. 5 at a first point in time during alignment by means of a moving gripper portion;

FIG. 9 is a schematic view similar to FIG. 5 at a second point in time during alignment by means of the moving gripper portion;

FIG. 10 is a perspective view of a cleaning device for a moving gripper section; and

figure 11 is a schematic side view of the cleaning device of figure 10 together with a moving gripping section.

Detailed Description

The sheet processing apparatus is generally indicated by reference numeral 10 in fig. 1. In the present embodiment, it is designed as a board-dividing saw and comprises an input table 12 formed by a plurality of roller conveyors (Rollenbahnen), a machine table 14 connected to the input table, and an unloading table 16 connected to the machine table. In fig. 1, the sawing line 18 is shown by a dotted line. An angle ruler 20 is provided on the side surfaces of the input table 12, the machine table 14, and the unloading table 16. The arched program slide 22 carries a plurality of clamping heads 24, of which only the individual clamping heads are labeled with reference numerals in fig. 1 for the sake of simplicity. The program slide 22 can be moved back and forth by the motor in the direction indicated by arrow 26.

On the side of the machine table 14 there is also a handling device 28 comprising a robot 30 with a robot arm 32. A suction crossbar 34 is disposed on the protruding end of the robotic arm 32. Which includes a generally relatively flat and substantially horizontal base structure 36. On the underside of the basic structure, a number of gripping parts 38 are arranged, which are fixed relative to the basic structure 36, and gripping parts 40, which are movable in a horizontal direction relative to the basic structure, as will be described in more detail below. Also for the sake of brevity, only some of the gripping portions 38 are exemplarily marked with reference numerals in the drawings, and the

gripping portions

38 and 40 are simply shown as small circles in fig. 1.

All gripping

sections

38 and 40 are designed as suction elements which are connected to a source of underpressure not shown here. As will be shown below, the gripping

portions

38, 40 can grip the surface of the plate-like workpiece 42 so as to be movable inside the plate processing apparatus 10 by the movement of the robot arm 32.

The suction crossbar 34 is shown in more detail in fig. 2 and 3. It can be seen that the base structure 36 is designed as a substantially rectangular plate, which has a plurality of substantially rectangular recesses (no reference numerals) for weight saving. The moving gripping part 40 is arranged at a position of the basic structure 36 in which the two

side edge regions

44 and 46 transition into each other, i.e. it is arranged in a corner region 48 of the basic structure 36.

As indicated by

double arrows

50, 52 and 54 in fig. 3, the moving gripper portion 40 moves in a first horizontal direction 50, in a second horizontal direction 52 orthogonal to the first horizontal direction 50 and in a vertical direction 54 relative to the base structure 36 and also relative to the other non-moving gripper portion 38. In this case, each of the directions of

movement

50, 52 and 54 corresponds to a respective drive in the form of a

pneumatic cylinder

56, 58 and 60. Furthermore, the moving gripper portion 40 is free to rotate about a vertical axis indicated by the dash-dot line 62.

The displaceability of the gripping part 40 is achieved in that it is held on a first carriage 64, which first carriage 64 is fixed in a vertically displaceable manner on a second carriage 68 by means of a first linear guide 66. The second carriage 68 is in turn fixed on a third carriage 72 by means of a second linear guide 70 in a manner movable in the horizontal direction, i.e. in a second horizontal direction indicated by the double arrow 52. The third carriage 72 is in turn fixed on the base structure 36 by means of a third linear guide 74 in such a way as to move in a horizontal direction, i.e. in the first horizontal direction indicated by the double arrow 50.

The pneumatic cylinder 60 represents the drive for the vertical movement of the gripping section 40. The pneumatic cylinder housing 76 of the pneumatic cylinder 60 is fixed to the second carriage 68, while the piston rod of the pneumatic cylinder 60, which is not visible in fig. 3, is articulated to the first carriage 64. The pneumatic cylinder housing 78 of the pneumatic cylinder 58 is fixed to the third carriage 72, while the piston rod 80 of the pneumatic cylinder 58 is articulated to the second carriage 68. The pneumatic cylinder housing 82 of the pneumatic cylinder 56 is fixed to the base structure 36, while the piston rod of the pneumatic cylinder 56, which is not visible in fig. 3, is hinged to an intermediate structure 84 belonging to the third carriage 72.

The basic functional principle of the actuating device 28, in particular of the moving gripping part 40, will now be explained with reference to fig. 4a to 4 e. The suction crossbar 34 in these figures differs from that shown in figures 3 and 4 in that it is simply shown as a square, while the gripping portions 38 differ from that shown in figures 2 and 3 in that they are evenly distributed over the face of the square. Furthermore, the angle ruler 20 is simply represented by a vertical line with triangular sides. It can also be seen that it forms a lateral abutment means. The clamping head 24 is represented by an upper horizontal line with a triangle. It can also be seen that it forms an upper abutment means.

First, the workpiece 42 is placed on the support table, in the present embodiment, the unloading table 16 at a desired position of the sheet processing apparatus 10. This position can be reached, for example, by a so-called longitudinal segmentation of the initial trial. In this case, the initial workpiece, which is located on the input table 12, is clamped by the program slide 22 by means of the clamping head 24 and is transported to the sawing line 18 for the division. Thus, the workpiece 42 now on the unloading station 16 is a workpiece that has been divided by longitudinal division. However, this is not absolutely necessary in principle, and the workpiece 42 can also reach the unloading station 16 forming the support table in a different and almost arbitrary manner. The suction crossbar 34 is positioned with its base structure 36 by means of the robot 30 in such a way that it is at least partially above the workpiece 42. It is then lowered onto the workpiece until the gripping portion 38, which is located in the region of the workpiece 42, contacts the surface of the workpiece 42. The gripping portion 38 in the region of the workpiece 42 is then loaded with a negative pressure so that it adheres firmly to the surface of the workpiece 42.

The workpiece 42 is then rotated by the suction crossbar 34 by 90 ° about the vertical axis and is again placed on the unloading station 16 of the sheet processing apparatus 10, i.e. in the vicinity of the angle ruler 20 and in the vicinity of the clamping head 24. For this purpose, the program slide 22 is moved from the position shown in fig. 1 in the direction of the machine table 14. This situation is shown in fig. 4 a.

Now, the gripper portion 38 releases the workpiece 42 again and the suction rail 34 is lifted slightly from the workpiece 42. The suction crossbar 34 is now rotated about 90 ° about a vertical axis relative to the robotic arm 32 and positioned such that the moving gripping portion 40 is disposed generally over the center of the plate-like workpiece 42. Subsequently, the suction crossbar 34 is lowered slightly by the robot 30 so that there is still a very small spacing of the

gripper portions

38 and 40 from the surface of the workpiece 42.

In this stage of the process, the gripping section 40 is moved vertically downwards by the actuation of the pneumatic cylinder 60 until it is placed on the surface of the workpiece 42. Subsequently, a vacuum is applied to the gripping part 40, whereby it is connected in a force-fitting manner to the surface of the workpiece 42. This state is shown in fig. 4 b.

The grasping portion 40 is then moved in the horizontal direction 50 toward the angle bar 20 by the actuation of the pneumatic cylinder 56. Thereby bringing the workpiece 42 into contact with the angle bar 20. In this case, the workpiece rotates about the vertical axis because the gripping portion 40 can freely rotate about the vertical axis 62. This rotational movement is indicated by arrow 86 in fig. 4 c.

After the workpiece 42 is brought into contact with the angle bar 20, the pressure of the pneumatic cylinder 56 is not completely released, but a certain pressure is maintained in the pneumatic cylinder 56. In this way, a force continues to act with which the workpiece 42 is pressed against the angle ruler 20. Under a certain (reduced) pressure in the pneumatic cylinder 56, the enclosed air volume acts like an elastic pretensioning device which continues to act in the direction 50 on the gripping section 40, whereby the workpiece 42 continues to be pressed with a certain force against the angle ruler 20.

The gripping portion 40 is moved in the horizontal direction 52 towards the clamping head 24 by the subsequent actuation of the pneumatic cylinder 58. In this case, the pretensioning device, which acts in the direction 50 toward the angle bar 20, comes into contact with the angle bar 20. Thereby allowing the workpiece 42 to contact the clamping head 24. The air volume enclosed in the pneumatic cylinder 58 can also act here like a resilient prestressing device, by means of which the workpiece 42 can be loaded with the desired force onto the clamping head 24, but which is small enough to prevent the clamping head 24 from damaging the edge of the workpiece 42.

It will be appreciated that alternatively or additionally, the gripping portion 40 and the workpiece 42 may be moved towards the abutment device (e.g. towards the angle bar 20 and/or the gripper head 24) by movement of the base structure 36 by means of the robotic arm 32. Thereby, a larger movement path may be achieved, i.e. in one or both of the

horizontal directions

50 and 52. For example, one pneumatic cylinder 58 or both

pneumatic cylinders

56 and 58 in this case first act as pneumatic springs to exert a defined force on the workpiece 42 in the respective direction against the respective abutment device (angle ruler 20, clamping head 24) by means of the gripping section 40.

This accurately aligns the workpiece 42 relative to the clamping head 24 and the bevel 20. The clamping head 24 can now be closed, whereby the workpiece 42 is clamped firmly, and the workpiece 42 can be pulled back onto the input table 12 by means of the program slide 22 in order to be subsequently fed to the sawing wire 18 for transverse division.

The basic principle of the moving gripper portion 40 of the suction crossbar 34 and of the alignment of the workpiece 42 on the angle bar 20 and the clamping head 24 will now be explained with additional reference to fig. 5 to 9. As can be seen from fig. 5-9, unlike fig. 3, the piston rod of the pneumatic cylinder 56, which is hinged on the third carriage, carries the reference numeral 88, and the piston rod of the pneumatic cylinder 60, which is hinged on the first carriage 64, carries the reference numeral 90. It can also be seen that Reed-switches (Reed-Schalter)92 on the

cylinder housings

82 and 78 allow for sensing the position of the

respective piston rods

88 and 80. As can also be seen in fig. 5-9, in plan view on the generally L-shaped

carriages

68 and 72. It may be noted that not all reference numerals are shown in fig. 6-9 for the sake of brevity.

Fig. 5 shows the rest state of the pressureless pneumatic cylinders 56-60. Fig. 6 shows the piston rod 88 of the pneumatic cylinder 56 fully extended with the carriage 72 in the extreme position of outermost extension in the direction 50. Fig. 7 shows the piston rod 80 of the pneumatic cylinder 58 fully extended with the carriage 68 in the extreme position of outermost extension in the direction 50. Fig. 8 shows the workpiece 42 and the gripping section 40 after a successful alignment on the angle bar 20, i.e. corresponding to fig. 4c, and fig. 9 shows the workpiece 42 and the gripping section 40 after a successful alignment on the clamping head 24, i.e. corresponding to fig. 4 d. It should be noted here, however, that the gripping portion 40 is not shown above the center of the workpiece 42 in fig. 8 and 9 for purposes of illustration.

As described above, the enclosed air volumes in the

pneumatic cylinders

56 and 58 serve as a pretensioning device, with which the workpiece 42 acts elastically on the angle rule 20 or the clamping head 24. It will be appreciated that provision is also made for the pressure in the air volume of the

pneumatic cylinders

56 and 58 to be adjustable, as a result of which the desired force for pressing the workpiece 42 against the angle rule 20 or the clamping head 24 can be achieved.

The force may depend, for example, on the type of surface of the workpiece 42, from which the strength of the force engagement (Kraftschluss) between the gripping device 40 and the workpiece 42 is determined. For example, a lower force engagement is generally achieved on a rougher surface than on a smooth surface. The force may also be generated depending on the type of material of the workpiece 42 (and/or the surface coating of the workpiece 42), if desired. In the case of a porous material, a smaller force engagement can be produced than in the case of an airtight material.

It is also clear to the person skilled in the art that the pretensioning device described above does not necessarily have to act in both

directions

50 and 52, but that it can also be provided in only one of the two

directions

50 and 52, if necessary. Furthermore, the pretensioning device can also be realized in other ways than by the air volume of the

pneumatic cylinders

56 and 58, for example by mechanical springs or the like.

Referring now to fig. 10 and 11, it can be seen that: an optional additional device of the sheet processing apparatus 10, namely a cleaning device 92, is shown here. The cleaning device may be provided at any position of the plate processing apparatus 10 as long as the moving gripper section 40 can be moved to that position by means of the robot 30. The cleaning device 92 in this embodiment comprises a housing 94 which is designed in the shape of a cuboid. In the upper side of the housing 94 there is an elongated and straight slot 96, which slot 96 is connected to an electric blower 98, as can be seen from fig. 11, whereby the blowing device as a whole is formed. Alternatively, the slot 96 can also be connected to a separate negative pressure supply via a switching valve, whereby a blowing device is likewise formed. It can also be seen from fig. 11 that in the region of the slot 96 there can also be a brush arrangement 100, which in this embodiment is arranged, by way of example only, on both sides of the slot 96.

For example, after a certain running time or after a certain number of alignment procedures, the robot 30 moves the suction crossbar 34 by means of the moving gripper sections 40 towards the cleaning device 92, so that the moving gripper sections 40 are placed onto the upper side of the housing 94. The upper side forms a bearing surface 102 for the moving gripper part 40. With blower 98 switched on, the moving gripper portion is moved by robot 30 longitudinally along arrow 104 in fig. 10 and 11 past slot 96. Dust adhering to the moving gripper portion 40 during previous processing is removed by air jets escaping from the slots 96 (arrows 106 in fig. 11). The sweeper device 100 further supports this process.

The cleaning of the moving gripping part 40, in particular the cleaning of dust, by means of the cleaning device 92 ensures that the moving gripping part 40 can be sucked sufficiently firmly against the workpiece 42, so that the above-described alignment process can be carried out.

Of course, some or all of the method steps described above may be performed automatically. For this purpose, the sheet metal processing installation 10 has a control and regulating device, not shown, which is in turn equipped with a microprocessor and a memory. The control and regulation device is programmed to carry out the method described above.

In a not shown embodiment, the gripping part can be moved only by means of a drive relative to the base structure in a direction which is substantially horizontal only in the operating position. The gripping part can be moved, if necessary, for example by a movement of the base structure in a direction orthogonal thereto.

Claims

1. A sheet-processing device (10), in particular a sheet-cutting saw, the sheet-processing device (10) comprising a handling device (28) for handling a sheet-shaped workpiece (42), the handling device (28) comprising a base structure (36) which can be arranged above the workpiece (42) and a plurality of gripping sections (38, 40) which are arranged on the base structure (36), the gripping sections (38, 40) can grip the upper side of the plate-shaped workpiece (42), characterized in that at least one gripper section (40) is movable in at least one horizontal direction (50, 52) relative to the base structure (36) and relative to at least one further gripper section (38) by means of a drive (56, 58), and the sheet processing device (10) has a cleaning device (92) with the moving gripper part (40).

2. A panel processing plant (10) according to claim 1, characterized in that the handling device (28) comprises a robot (30), by means of which robot (30) the base structure (36) can be moved.

3. Sheet processing plant (10) according to at least one of the preceding claims, characterized in that the moving gripper part (40) comprises a suction element.

4. Panel processing installation (10) according to at least one of the preceding claims, characterized in that the drive of the moving gripper section (40) works pneumatically, in particular comprises pneumatic cylinders (56, 58).

5. Panel processing installation (10) according to at least one of the preceding claims, characterized in that the moving gripper section (40) is loaded in the direction (50, 52) at least temporarily by means of a pretensioning device, the moving gripper section (40) being movable in the direction (50, 52) relative to at least one further gripper section (38) and relative to the base structure (36) by means of the drive (56, 58).

6. Panel processing installation (10) according to claim 5, characterized in that the force of the pre-tensioning device is adjustable.

7. Panel processing installation (10) according to at least one of the preceding claims, characterized in that the moving gripper part (40) is movable in two horizontal directions (50, 52), preferably orthogonal to each other, by means of one of the drives (56, 58) respectively.

8. Panel processing installation (10) according to at least one of the preceding claims, characterized in that the moving gripper section (40) can be moved in an at least substantially vertical direction (54) by means of a drive (60).

9. Plate processing plant (10) according to at least one of the preceding claims, characterized in that the moving gripper part (40) is rotatable about an axis (62) which is vertical in the operating position.

10. Plate processing plant (10) according to at least one of the preceding claims, characterized in that the base structure (36) extends at least substantially in an at least substantially horizontal plane in the operating position, and the moving gripper portion (40) is arranged in a side edge region of the base structure, in particular in a corner region (48) of the base structure (36).

11. Plate processing plant (10) according to at least one of the preceding claims, characterized in that the moving gripper section (40) is arranged on at least one carriage (64, 68, 72), which carriage (64, 68, 72) is held in a linearly moving manner relative to the base structure (36).

12. Panel processing installation (10) according to at least one of the preceding claims, characterized in that the cleaning device (92) comprises an air blowing device (96, 98).

13. A method for operating a sheet processing plant (10) according to any one of claims 1 to 12, characterized in that the method comprises the following steps:

a. automatically cleaning the moving gripper portion (40) by means of a cleaning device (92);

b. placing a plate-like workpiece (28) on a support table (16);

c. -moving the base structure (36) on the plate-shaped workpiece (42);

d. causing the moving gripping part (40) to grip the surface of the plate-shaped workpiece (40) in a force-fitting manner; and

e. the moving gripper part (40) is moved in a horizontal direction (50, 52) relative to the base structure (36) in order to bring the plate-shaped workpiece (42) into abutment with one edge against the abutment device (20, 24) and/or the base structure (36) is moved in the horizontal direction (50, 52) in order to bring the plate-shaped workpiece (42) into abutment with one edge against the abutment device (20, 24).

14. Method according to claim 13, characterized in that in step c the base structure (36) is moved over the plate-shaped workpiece (42) in such a way that the moving gripping part (40) is arranged at least in the middle of the plate-shaped workpiece (42) or above the middle of the plate-shaped workpiece (42).

15. A control and/or regulating device for controlling and/or regulating the operation of a handling device (28) of a sheet processing plant (10), characterized in that the control and/or regulating device is programmed for carrying out the method according to any one of claims 13 to 14.