CN114450125A - Workpiece processing station with multiple processing units guided by handling devices - Google Patents

Abstract

The invention relates to a workpiece processing station for processing plate-shaped workpieces (1, 2) and for equipping the workpieces (1, 2) with accessories (280, 380). The workpiece processing station has: at least one blank transport system (40) for supplying unprocessed workpieces (1) and at least one finished workpiece transport system (70) for transporting away or further transporting processed workpieces (2); at least one storage device (125) for providing one or more different types of accessories (280, 380); at least one support device (100) which carries, orients and fixes the workpiece (1, 2) during machining; at least one operating device (10) which is an automatically controlled, freely programmable multi-purpose manipulator which is movable in three or more axes; at least one multiple processing unit (130) carried and guided by each of the handling devices (10). The multiple processing unit (130) has at least one clamping tool (170) for clamping a workpiece (1, 2) to be handled between the transport system (40, 70) and the support device (100). Driven cutting tools (145, 152) of different types and/or sizes for machining a workpiece (1) are arranged in or on the multiple machining unit (130). The multiple processing unit (130) carries, for each attachment (280, 380), at least one holding tool (170) for holding and at least one tool system (200, 300) for fixing the respective attachment (280, 380) to the workpiece (1, 2).

Description

Workpiece processing station with multiple processing units guided by handling devices

Technical Field

The invention relates to a workpiece processing station for processing plate-shaped and/or sheet-shaped workpieces and for equipping the workpieces with accessories.

Background

DE 102017012077 Al discloses a processing station for processing plate-shaped and/or sheet-shaped workpieces. The processing station has a longitudinally extending workpiece support grid against which the workpiece rests in a displaceable manner on one side. Integrated in the workpiece support grid are support devices which support and/or fix the workpiece during processing. The processing station has a transport system for the workpieces, with which the workpieces are at least supported, guided and moved along the workpiece support grid. It has at least one operating device on which a multi-function unit is arranged, which is carried and guided by the operating device and has at least two different tools.

Disclosure of Invention

The object of the invention is to develop a workpiece processing station in which different workpieces can be moved freely in three-dimensional space individually and different tools individually or in groups in order to process and manipulate plate-shaped and/or sheet-shaped workpieces separately and/or jointly.

This object is achieved by the features of the independent claims. The workpiece processing station has at least one blank transport system for supplying unprocessed workpieces. Furthermore, it has at least one finished part transport system for transporting away or further transporting the machined workpieces. Having at least one storage device for providing one or more different types of accessories. It has at least one support device which carries, orients and fixes the workpiece during machining. The workpiece processing station has at least one operating device which is an automatically controlled, freely programmable (movable in three or more axes) multi-purpose manipulator. Furthermore, it has at least one multiple-processing unit which is carried and guided by in each case one handling device, wherein the multiple-processing unit has at least one holding tool for holding workpieces to be handled between the transport system and the support device. Driven cutting tools of different types and/or sizes for machining workpieces are arranged in or on the multiple machining units. The multiple machining units carry for each attachment at least one clamping tool for clamping and at least one tool system for fixing the respective attachment to the workpiece.

The workpiece processing station is a general-purpose machine for machining and/or non-machining, for example, furniture parts. In this case, the furniture parts, which are usually large in area, are transported by their own transport system to the machine core area and are provided there with holes, recesses, grooves, indentations, chamfers and the like. At the same time, expansion bolts can be installed in the machine, for example, and fittings and other accessories can be handled and fitted.

For this purpose, the workpiece processing station is designed in such a way that it can process very different workpieces, preferably with the same wall thickness, one after the other without modification. For this purpose, the plate-shaped and/or sheet-shaped workpieces are transported by means of a blank conveyor before one robot or, if necessary, before a group of robots. The individual robots each carry a multiple processing unit, which is a cluster tool. The multiple processing unit is a carrier for a plurality of driven tools, which project from the periphery of the multiple processing unit. Before processing the workpiece, the workpiece is transported by the plate grippers of the multiple processing units from the blank conveyor to a support or placement device. After placement, the robot turns the multiple machining unit to another position, for example to machine a workpiece with a drill tool, or to tighten an accessory taken out of the magazine with a gripper. Finally, the robot transports the finished parts to the finished part conveyor by means of the plate grippers of the multiple processing units in order to place them there.

In order to process each workpiece and/or accessory, the robot guides multiple processing units onto the component to be processed in order to remove them from the component again after processing. The multiple processing units use only tools and devices mounted or integrated thereon for all necessary processing procedures.

Drawings

Further details of the invention emerge from the dependent claims and the following description of at least one exemplary embodiment.

FIG. 1: a perspective view of the workpiece processing station;

FIG. 2: a perspective view of a robot-guided multiple machining unit;

FIG. 3: a perspective view of a central body of a multiple processing unit;

FIG. 4: zoomed out from a perspective of the central body obliquely below;

FIG. 5: a perspective view of a panel clamping device;

FIG. 6: a perspective view of the mount assembly;

FIG. 7: a mount assembly having components arranged side-by-side;

FIG. 8: a perspective view of the accessory mounting device;

FIG. 9: an accessory mounting device having components arranged side-by-side;

FIG. 10: from a perspective view of the furniture fitting obliquely above.

Detailed Description

Fig. 1 shows a workpiece processing station for processing plate-shaped and/or sheet-shaped workpieces (1, 2). The workpiece processing station comprises a handling device (10) in the form of an articulated robot, a multiple processing unit (130) which is carried and guided by the handling device (10), two transport systems (40, 70) which are supported on a carrying support (30), and a suction mount (100). Blanks (1) for picking up by the handling device (10) are provided on a front transport system (40). The articulated robot (10) grips the blank (1) by means of a multiple processing unit (130) in order to place the blank on the suction support (100). The blank (11) fixed there is also machined on the one hand and equipped with accessories (280, 380) on the other hand by means of the tools (146, 153) of the multiple machining unit (130).

A multi-link articulated robot (10) is located behind a carrier support (30) having a transport system (40, 70). The tandem kinematic structure of the articulated robot (10) has three main axes of rotation and three secondary axes of rotation. The principal axes represent the A axis (13), the B axis (16), and the C axis (18). The A-axis (13) is a turntable (14) with a vertical axis of rotation, which is supported on a base plate (12) of the operating device (10). The base plate (12) is supported by a steel cylindrical base part (11) which is formed on the resting surface (5). The turntable (14) as a first kinematic chain element supports a foot lever (17) which can be pivoted about a horizontal B axis (16), for example, can be pivoted by 210 degrees. A C-axis (18) carrying a toggle lever (19) is arranged as a joint with a likewise horizontal pivot axis at the rear end of the foot lever (17). The toggle lever (19) can be pivoted relative to the foot lever (17) by an angle of, for example, 270 degrees.

The first secondary shaft, the D-shaft (22), is, for example, a rotating shaft. It consists of a support arm (23) which can be rotated about its longitudinal axis and which is supported on the rear end of the toggle lever (19). The second auxiliary shaft is an E-axis (24), about which the hand lever (25) can be pivotally supported, for example, by 270 °. The hand lever (25) supports a 360-degree pivotable rotary disk (27) which is rotatably supported about an F-axis (26). The turntable (27) is the last link of the kinematic chain. A robot flange plate (131) on which the multiple machining units (130) are fitted, see fig. 2 to 3.

By means of a corresponding coordinated control of the individual axes (13, 16, 18, 22, 24, 26), virtually any straight section or curved path curve in the working space of the joint robot (80) can be traversed. This can also be achieved with operating devices based on cartesian, cylindrical or polar robots (polaroboter). The robot then has TTT, RTT or RRT kinematics accordingly. Here, "T" represents a translational spindle or guide, and "R" represents a rotational spindle or guide.

According to fig. 1, a short part of the transport system is shown before the handling of the device (10), the transport system being placed on the resting surface (5) by means of a carrying bracket (30). A transport system designed for transporting furniture panels (19) of, for example, 19mm thickness has a front transport path (35) and a rear transport path (36), wherein the rear transport path extends in a completely enclosed or covered tunnel. On the rear transport path (36), for example, furniture parts which are not to be processed in the processing station shown in fig. 1, for example, cabinet bottoms, are released by means of the device lock.

The front transport path (35) is divided into a blank transport system (40) and a finished part transport system (70) directly before the handling device (10). Two conveying systems (40, 70) transport the furniture panels (1, 2) in an upwardly open channel which has as a carrying assembly a conveyor belt (41) driven by a conveyor belt drive (42, 72) and as a guide assembly on both sides as side guide elements two support roller linear holders (45, 46) or sliding rails lying one above the other. The furniture panels (1, 2) are usually placed with their long lateral edges by gravity on the conveyor belt (41) of the respective transport system (40, 70).

The channel of the blank transport system (40), the transport direction of which is oriented from left to right according to fig. 1, is designed in such a way that the surface normals of the large-area surface of the furniture plate (1) are oriented parallel to the resting surface (5) and/or the horizontal. In order to ensure that the furniture plate (1) is in the upright position during transport, the furniture plate is guided on each side by two linear holders (45, 46) of supporting rollers, which are arranged one above the other and are identical in construction, for example, with play, and are subjected to rolling friction only. The average spacing of the linear cages (45, 46) of the supporting rollers, which are arranged one above the other and are mounted on the cage carrier (43), is, for example, 130 mm.

The passage of the finished product transport system (70) is inclined ten degrees forward, i.e. away from the handling device (10). According to fig. 1, the finished part (2) is supported by two linear holders (45, 46) of support rollers placed one on top of the other, the arrangement of which is known from blank transport systems. A sliding rail is used as a rear guide element, which extends from below into the rear side of the finished part (2) on which the attachment (280, 380) is mounted. The sliding surface of the slide rail projects into the rear side by only a few millimeters. The dimension of the projection is, for example, between half and the entire thickness of the sheet.

According to fig. 1, the magazine (125) is located after the finished piece transport system (70), on which the accessories (280, 380) handled by the articulated robot (10) are provided for reception. In fig. 1, the components on the magazine (125) are not shown.

To the right of the finished product transport system (70) and the magazine (125), a suction foot (100) is placed on the resting surface (5). The latter is composed of a nozzle carrier plate (110) supported on a support frame (101). The blank (1) is placed on a nozzle carrier plate (110) before being processed by a multiple processing unit (130) of an articulated robot (10). The suction support (100) has the function of a table from which chips and dust produced during separating or cutting operations slide down by gravity. For this purpose, the nozzle carrier plate (110) is inclined 20 degrees to the vertical, wherein the upper edge of the nozzle carrier plate (110) is further away from the robot (10) than the lower edge thereof.

For example, eight suction elements (112) are arranged on the nozzle carrier plate (110), for example, in two rows. The two rows have a spacing of, for example, 185 mm. Above and below each suction element (112) there is a placement element (113). The clear distance between the suction element (112) and the respectively laterally located placement element (113) is between 5 and 10 mm.

Beneath the lower row of suction elements (112), a row of, for example, eight pneumatically movable support pins (115) is fixed to the nozzle carrier plate (110). In the removed state, the support peg (115) supports the weight of the furniture plate (1) before being sucked onto the nozzle carrier plate (110). For this purpose, the supporting pins (115) project over the placement element (113) by, for example, 21 mm.

In the vicinity of the rear edge of the nozzle carrier plate (110) shown in fig. 1, stop pegs (116) are provided as fixed stops at the level of the lower row of suction elements. The stop bolt (116) protrudes permanently beyond the placement element (113) by approximately 21mm as well. The furniture plate (1) placed on the suction element (112) is first oriented in the longitudinal direction before being sucked. For this purpose, an orientation device is arranged below the nozzle carrier plate (110). The orientation means are constituted by straight guide rails arranged below the nozzle carrier plate (110). Above the guide rail, a longitudinal slot (111) machined in the nozzle carrier plate (110) is provided between the two rows of suction elements (112).

On which guide rails are guided orientation sliders (121) projecting forward from the nozzle carrier plate (110), see fig. 1. The orientation slider (121) is moved linearly by motor drive via an orientation slider driver (122) fixed to the guide rail. Additionally, the orientation slide drive (122) has a drive-side rotary encoder, by means of which the position of the orientation slide (121) is monitored. The rotary encoder signal is also used for plausibility checking whether the correct workpiece (1) is placed on the nozzle carrier plate (110).

After the placement of the blank (1), the blank is pushed with its front end side (3) against the stop bolt (116) by the orienting slide (121). Thereafter, the blank (1) is sucked by the suction member (112) so that it is fixedly placed on the placement member (113). The support pins (115) are then retracted, for example, 26.5 mm. The support pins (115) are thus moved back 5.5mm behind the back of the blank (1). In this way, it is also possible to machine the long narrow sides of the furniture plate (1), for example by means of a deep-hole drill (153) of a multiple machining unit (130).

The rear, raw furniture panel (1) is gripped according to fig. 1 by means of parallel gripping devices (181, 182) and lifted for transport out of the channel of the blank transport system (40) vertically upwards by means of the articulated robot (10), said furniture panel being located in front of the blank stop (49). The plate clamping device (170) does not clamp the furniture plate (1) centrally in the front region thereof. The two panel clamping elements (see fig. 2 and 5) of the front parallel clamping device (182) contact the furniture panel (1) at a distance from the front end (3) that corresponds to the clear distance between the panel clamping elements of the two parallel clamping devices (181, 182). The spacing is selected such that, when the furniture plate (1) is placed on the nozzle carrier plate (110), the plate holding elements are arranged side to side next to the second suction elements (112) of the upper row of suction elements with a side gap of 15 to 20mm on each side. Before the blank (1) is processed, the parallel clamping devices (181, 182) are opened. The articulated robot (10) moves the multiple machining unit (130) obliquely upward to rotate the latter to a position where an additionally provided tool system (145, 200, 300) or tool (152) can be used.

After machining the front side of the blank (1), the handling device (10) can place the blank (1) as a finished part (2) into the channel of the finished part transport system (70) by means of the plate clamping device (170) after the removal of the supporting pins (115), after the back movement of the orienting slide (121) and after the ventilation of the vacuum suction element (112).

Alternatively, the blank (1) may be removed from the nozzle carrier plate to turn it 180 ° in a free space in front of the nozzle carrier plate (110) in a suspended manner on the plate holding device (170). The blank (1) is then placed on the nozzle carrier plate (110) again with the machined side face first-for further machining cycles-and is fixed there. Thus, the front and back of the furniture panel (1) can be processed without having to be parked on one of the transport systems (40, 70) or at another location within the working space of the handling device (10).

The multiple processing unit (100) with integrated and attached tool system or tool is described in detail below.

Fig. 2 shows a multiple processing unit (100) which is carried and guided by the handling device (10) and which is capable of gripping and processing plate-like or sheet-like workpieces. The workpiece, e.g. a furniture board (1), is made of e.g. non-metallic materials, such as wood, pressed board, plasterboard (Gipskartonagen), fibre cement, etc. These materials also include composite materials without a large metal fraction. In this embodiment, the multiple machining unit (100) has firstly a set of ten removable drilling tools (145), secondly a deep-hole drilling tool (152), thirdly a plate clamping device (170), fourthly a seat mounting device (200) and fifthly a fitting mounting device (300).

The multiple machining unit (130) is formed in the core by a central body (140), which in principle without further accessories is a drill bit (Bohrkopf). As shown in fig. 3, the robot flange plate (131) is fixed to the central body (140) via an intermediate carrier plate (135). The robot flange plate serves as an adapter by means of which the inertial forces of the multiple machining unit (100) are supported on the operating device (10) and by means of which at least energy and data communication can be transmitted.

A cable tube holder (132) is fastened to the robot flange plate (131) and holds a cable tube for protectively guiding the energy lines and the energy tubes and the communication lines. Below the cable hose holder (132) is arranged a valve carrier plate (158), on which pneumatic valves and connections for load and signal lines are fixed.

The central body (140) made of an aluminium alloy is formed by a cuboid body (141). A smaller, likewise cuboid-shaped secondary body (151) with an almost square cross section is formed laterally on the main body. According to fig. 4, a motor flange plate (147), also rectangular parallelepiped-shaped, protrudes from the lower region of the main body (141). Their front sides are in contact with the main flange plate (157).

According to fig. 3, a set of a plurality of drilling tools (145) is arranged in the body (141), for example. The center line of the drilling tool (145) is oriented parallel to the robot flange plate (131). Each point-sleeve (pinolentig) drill tool (145) ends in the region of the front side of the main body (141) with a spindle bearing a tool holder in order to receive a drill bit (Bohrer) (146) or a milling cutter, respectively, there, for example as a tool. At least a part of the mandrel has a run-out of, for example, 60-70 mm. The removable tool is in its rest position in a lowered parking position (143), see fig. 2 and 3. For machining the workpieces (1), they are moved out of the work position (144) individually or in groups.

Below the main flange plate (157), the mandrel ends of all the drilling tools (145) are connected to each other by means of gears, which can be driven by means of a servomotor (148). Inside the body (141), all the gears supported on the arbour lie in one plane. In this case, each gear wheel of the spur gear is located in a cylindrical recess of the main body (141), which recess is, for example, 1 to 2mm larger than the respective tip circle diameter of the gear wheel arranged there. Thereby creating a narrow gap around the gears. Likewise, the end faces of the toothed wheels have a spacing of only 0.2 to 0.4mm on each side relative to the base body. In the consecutive gaps, a plurality of lubricant supply points that are accessible from the outside merge into the main body (141). Through these lubricant supply points, the gap is partially filled with grease. During operation, lubricant is permanently transported along the gear train by means of the gears. For example, all the gears are permanently engaged regardless of the parking position or the operating position.

The servo motor (148) is flanged to a downwardly projecting motor flange plate (147) on the underside of the main body (141). The centerline of the drive shaft of the servomotor (148) is oriented parallel to the centerline of the drill tool (145). In fig. 4, a deep groove ball bearing (rillenkugelager) can be seen, which supports the shaft extension of the servomotor (148) in the main flange plate (157). A drive pinion is non-rotatably located on the shaft extension, and the spur gear transmission is driven by the drive pinion. The servomotor (148) is a permanent-magnet-excited, three-phase synchronous machine, for example, having a power rating of 1.4 kW. It has a peak torque of, for example, 11.7 Nm.

According to fig. 4, a deep-hole drilling tool (152) is inserted into a secondary body (151) formed on the main body (141) and set back, for example 73mm, in the upper region of the main body.

According to fig. 4, a sub-body (151) is formed in the upper region of the main body (141), in which sub-body a deep-hole drilling tool (152) is mounted. The front end surface of the sub body (151) is retracted by, for example, 73mm with respect to the front end surface of the main body (141). The centre line (154) of the deep-hole drilling tool (152) extends parallel to the centre line of the drilling tools (145) of the body (141). The spacing between the centre line (154) and the wall of the body (141) is for example 28 mm.

The deep-hole drill (153) installed in the deep-hole drilling tool (152) -in the case of a diameter of 10mm for example-has an effective drill length of 115mm for example. A deep-hole drill (153) is used to produce a hole in the narrow side of the furniture plate (1), in which, for example, a furniture door damper is mounted.

According to fig. 3, three service parking columns (136) are fixed in the region of the side on which the valve carrier plate (158) is arranged. One is mounted on the intermediate carrier plate (135) to the left of the cable hose retaining part (132). The other two are screwed to the front end face of the main flange plate (157) behind the cable tube holding section (132). The service parking column (136) is removed after first assembly and after each service.

Fig. 5 shows a perspective hanging view of the panel clamping device (170), by means of which the furniture panel (1) is gripped by the handling device (10) for the transfer. The plate clamping device (170) is essentially composed of an adapter wedge (171) and two parallel clamping devices (181, 182) rigidly fixed in shape thereto.

The adapter wedge (171) has the geometry of a wedge with a wedge angle of 15 degrees. A flange web (172) is formed on each lateral narrow side. The adapter wedge (171) is fastened together with the parallel clamping devices (181, 182) to the main flange plate (157) by means of two flange webs (172), see fig. 4. The broad side of the adapter wedge (171) ends below the intermediate carrier plate (135) of the multiple machining unit (100), so that two parallel clamping devices (181, 182) project obliquely downward according to fig. 2.

On the adapter wedge (171), the housing (183) of the upper parallel holding device (181) is arranged with its housing edge on its upper edge, while the housing (183) of the lower parallel holding device (181, 182) rests with its edge flush against the lower edge of the adapter wedge (171). In an embodiment, the geometric centers of the two parallel clamping devices (181, 182) which respectively act independently of one another are 150mm apart from one another.

In order to ensure the robustness and the bearing capacity, each parallel clamping device (181, 182) supports in its housing a plate clamping slide (184) of a carrier plate clamping element (185, 186) in a steel guide. The latter is also made of a steel alloy. The housing (183) is sealed dust-tight around. For example, the clamping stroke of the plate clamping elements (185, 186), which is indirectly detected by means of a simulated displacement measuring system (191) provided on the drive housing of each parallel clamping device (181, 182), is 13mm for each plate clamping element (185, 186).

For example, each plate clamping element (185, 186) has a length of 140mm, in the region of its free ends a clamping lining (189) made of polyurethane being embedded in each case. Each, for example, fixedly screwed clamping washer (189) has a width of 27mm with a length of 50 mm. It projects, for example, by 3mm beyond the inner side of the respective plate clamping element (185, 186).

For example, the clamping force of the plate clamping elements (185, 186) is 1900- & 2000N. The combination of the high clamping force and the adhesion of the clamping linings (189) also makes it possible to reliably grip large furniture panels (1), for example in the form of cabinet doors, without damaging their surface. In each plate clamping device (181, 182), both the clamping force and the release force are generated by using a double acting compressed air operated cylinder-piston unit. For the clamping stroke, the piston of the cylinder-piston unit is supported by a spring energy store, for example, in order to hold the clamped furniture plate (1) after an emergency stop of the device even in the absence of compressed air.

Fig. 6 shows a mount fitting arrangement (200) for securing a furniture mount (280) to the underside of a furniture panel, for example a part of kitchen furniture. The furniture carrier (280) (see also fig. 7) is formed by a carrier plate (281) on which the carrier structure housing (291) is formed. Four furniture bolts (284) are provided on the furniture bearing side (283) of the support plate (281), by means of which furniture supports (280) can be fixed in a positive, positive and friction-fit manner in the openings of the furniture plate.

The mounting structure housing (291) also has a large, nearly central aperture around which four significantly smaller mounting assembly apertures (295) are provided. All five holes are through holes with parallel center lines. All centerlines are oriented perpendicular to the bottom side (292) of the standoff structure housing (291).

According to fig. 7, two bracket side webs (296) projecting toward the rear are present in the rear region of the bracket structure housing (291), which webs are also molded on the bracket plate (281).

The stand mounting apparatus (200) comprises two devices that are movable independently of each other. These are the holder holding means (240) and the holder pushing means (260). Two devices (240, 260) are guided and supported in the cylinder (220). According to fig. 7, the cylinder (220) is itself guided and supported on the adapter body (201) in the vertical direction on two guide rods (205, 206) of the adapter body (201). The adapter body (201) is fixed on the side of the central body (110) opposite the valve carrier plate (158) by means of a partition (208). Furthermore, the adapter (201) is positioned on the spacer (208) by means of a fitting pin. Also, the position of the diaphragm (208) is preset by means of additional cooperating pins on the central body (110).

In order to better understand the geometry of the bearing assembly device (200), the individual components or devices are shown in fig. 7, respectively, laterally offset from one another. Starting from the adapter body (201), the cylinder (220) is shown offset to the right. The holder clamp (240) is shown to the right. The support drive (260) is shown displaced parallel to the left. The furniture support (280) does not change its position relative to the adapter (201), see fig. 6 for this.

According to fig. 6 and 7, the adapter body (201) has guide rod holders (202, 203) above and below, respectively. Each guide rod holder has a through-hole in its two end regions for supporting a guide rod (205, 206). Furthermore, the partially square-shaped guide bar holders (202, 203) serve as guide stops for a cylinder (220) which is guided on the guide bars (205, 206). The lower guide holder (203) is provided with a recess in the middle region in order not to interfere with the pulse guide (264) behind the carrier insertion device (260).

The cylinder (220) is, for example, a twelve-cornered block of solid material, the top and bottom sides of which are oriented parallel to each other. In its rear end region, it has two parallel, through-going main guide bores (223) in which, for example, plain bearing bushes for guiding the guide rods (205, 206) are pressed or glued in. In the top side of the cylinder block (220), two spring blind holes (224) are located between the main guide holes (223), which are used to accommodate the helical compression springs (207).

A mounting cylinder bore (226) which is formed as a blind bore and is machined out of the top side (221) of the cylinder block (220) is arranged upstream of each main guide bore (223). Each mounting cylinder bore (226) is sealed in the region of the top side (221) by a cover (236), wherein each cover (236) has a pneumatic interface. A mounting piston (241) having a mounting piston rod (242) is arranged in each mounting cylinder formed by a mounting cylinder bore and a cover (236).

The two mounting pistons (241) are rigidly connected at their lower ends to which the piston rods (242) are mounted by means of a rod cross (243) in the form of a rod. For example, a mounting parallel clamping device (245) is arranged centrally on the bottom side of the piston rod crosshead (243). The parallel clamping device (245) has two slides arranged next to one another, which can be driven synchronously, for example, by a pneumatically actuable double-slide wedge drive. Each slide carries a double finger gripping arm (246, 247). Each double-finger gripper arm (246, 247) has two downwardly projecting, for example rotationally symmetrical, gripper fingers (248). All four clamping fingers (248) are oriented parallel to each other.

For the carrier insertion device (260), the cylinder (220) has two pulse feed openings (227, 228) and a pulse cylinder bore (229). The center lines of all three holes (227) and (229) lie in a vertical middle plane in fig. 7, which is oriented perpendicular to the front side (222) of the cylinder (220) and the guide plane. The pulse guide hole (227) at the rear is positioned between the two spring blind holes (224). The front pulse via (228) has only a small spacing relative to the front side (222). A pulse cylinder bore (229) configured as a blind bore is arranged between the two pulse feed bores (227, 228). In the region of the top side (221) of the cylinder (220), the pulse cylinder bore (229) is closed by a tightly mounted magnetizable, for example ferromagnetic, cover (231) having a compressed air connection. The pulse cylinder bore (229) has a diameter of, for example, 21 mm. This diameter is, for example, twice the diameter of the mounting cylinder bore (226). The holder insertion device (260) thus pushes the furniture holder (280) with twice the force in relation to the holder holding device (240).

The pulse guide opening (227, 228) of the cylinder block (220) has a plain bearing bush at least in its end region.

The central component of the support pushing device (260) is a square pulse carrier plate (261), for example. Referring to fig. 7, the pulse piston rod (263) protrudes, for example, centrally with its end-side pulse piston (262) from the top side (221) of the pulse carrier plate. A permanent magnet (268) is embedded in the bottom of the impulse piston (262) in a sinking manner. The latter ends flush with the bottom side of the impulse piston (262), for example.

Two pulse guide rods (264) are arranged on two sides of the pulse piston rod (263). On the underside of the pulse carrier plate (261), a u-shaped pulse double arm (265, 266) is rigidly fixed below each pulse guide rod (264). The arms of the two pulse arms (265, 266) are designed such that their lower ends or end faces all lie in a plane which is also perpendicular to the center line of the pulse piston rod (263). These arms enclose the four corner regions of a furniture support (280) above the support plate (281), see fig. 6. The arms of the rear pulse double arms (265, 266) each have a free groove (267) in the lower arm region. Each of the free grooves 267 surrounds the seat side tabs 296 of the furniture seat 280 with a large amount of clearance.

Now, in order to fit the furniture carrier (280) to the furniture plate (1) positioned on the suction carrier (100), the handling device (10) must be positioned with its carrier insertion device (260) attached in the multiple processing unit (100) forwardly above the furniture carrier (280) in the magazine storage (125). The support clamping device (240) is completely removed. The support insert (260) is then in its rear position, so that the pulse carrier plate (261) rests against the bottom side of the cylinder (220). In this position, the permanent magnet (268) rests against the cover (231) with a small amount or little play. The magnetic force of the permanent magnet (268) is greater than the gravity of the holder pushing device (260).

In a first step, the multiple processing unit (100) is moved downward until the clamping fingers (248) are inserted into the support mounting openings (295) of the furniture support (280). In a second step, the two-finger gripper arms (246, 247) of the parallel gripper device (245) are moved by a few tenths of a millimeter toward each other until the gripper fingers (248) grip the furniture support (280) in a loss-proof manner. In a third step, the handling device (10) removes the furniture carrier (280) from the magazine (125) in order to position it with its four furniture bolts (284) directly in front of the matching carrier bolt openings. The approaching movement of the operating device (10) in the normal direction of the surface of the furniture plate (1) is only stopped when the mounting piston (241) has moved back in the cylinder (220) against its compressed air load, for example by 10 mm.

In a fourth step, the impulse piston (262) is moved out of the way by applying pressure to its piston bottom. In order to obtain a high pulse piston acceleration, the piston rod chamber of the pulse cylinder bore (229) is vented by means of a separate valve before its pressure is applied. The impulse piston (262) can thus be moved out with little reaction force.

On the furniture carrier (280), the free ends of the two pulse arms (265, 266) strike the furniture carrier in four regions of a carrier plate (281) of the furniture carrier (280), the furniture plug (284) being located on the front side of the furniture carrier. Due to the impulse piston extension speed and the acceleration of the inertial mass involved in the extension movement, the furniture bolt (284) is pushed into the seat bolt hole, for example, 3-4mm, in each stroke.

In a fifth step, the compressed air is diverted in a cylinder (220) to a piston-rod-side impulse cylinder chamber. The seat insert (260) is now moved back, for example by 40mm, while the double-finger gripper arms (246, 247) still bear the compressed air load against the underside (292) of the furniture seat (280).

As soon as the pulse carrier plate (261) comes to a stop on the underside of the cylinder (220) during the return movement, the cylinder (220), together with the support pushing device (260), is pushed upward on the guide rods (205, 206) under the compression of the helical compression spring (207) due to the inertial mass of the support pushing device (260). The return movement of the support pusher (260) is thus damped by the spring. The sliding friction in the guide rods (205, 206) and the main guide bore (223) additionally acts as a damping.

In the case of the furniture carrier (280) shown here, the forward and return movement of the carrier insertion device is generally repeated 1 to 4 times. The furniture carrier (280) is then mounted with its furniture contact side (283) on the surface of the furniture plate (1) without play. To ensure this, a displacement measuring system (251) arranged on the cylinder (220) measures the lower, extended position for which the rear mounting piston (241) is arranged, see fig. 7.

Fig. 8 shows the accessory mounting device (300). It has the sub-task of fixing a furniture fitting (380) to a furniture panel (1). In the fitting attachment device (300), a fitting clamping device (320) and two identically constructed electric screwing devices (350) are supported and guided in a base body (301) made of, for example, an aluminum alloy.

The furniture fitting (380) is in this embodiment the base plate of the pan hinge, on which the strip-shaped arm carrying the pan hangs, see fig. 9 and 10. Usually, the base plate is fixed to the furniture body, while the pan-shaped part of the pan-shaped hinge is arranged to be recessed into the respective pivotable furniture door. The furniture fitting (380) is formed by a central fitting rail (381), on both sides of which two screw-on lugs (391) are formed. In each of the tightening lugs (391), a bore is provided, in which a push-in expansion bolt (393) with a preassembled fitting bolt (395) is fixed. The fitting rail (381) which is u-shaped in cross section has two fitting latching notches (383, 384) which are opposite one another in each case at the front and at the rear. In the rear region, the fitting rail (381) has a rail recess (382).

The base body (301) of the fitting attachment device (300) has the shape of a square block, on which flange webs (305) are formed on both sides in the rear region thereof. The base body (301) is fixed on a main flange plate (157) of the central body (110) by means of flange webs (305) next to the plate holding device (170).

The base body (301) has two clamping cylinder bores (311) arranged next to one another, in the respective upper ends of which, see fig. 8, cylinder bore covers (312) are arranged tightly in order to form the clamping cylinders. The wall of each clamping cylinder bore (311) is close to the respective adjacent side wall of the base body (301), for example up to 4.5 mm.

Each cylinder bore cover (312) has a permanent magnet on its underside. In the bottom-side region of the base body (301), see fig. 9, a bore sealing sleeve (313) is mounted in the respective clamping bore (311), in which the respective fitting clamping piston rod (322) is guided in a sealing manner.

Fig. 9 shows the main components of the accessory mounting device (300) in a state separated from each other, laterally offset from each other. On the left side, the fitting holding device (320) is visible, on the right side, the base body (301) is visible, and in the middle, two electric screwing devices (350) are visible, which are arranged next to one another. Below the two electric screwing devices (350), a furniture fitting (380) is shown in the extension of the cross-slot insert (370).

The center line of a clamping cylinder bore (311) machined in the base body (301) lies in a clamping cylinder bore plane which is oriented parallel to the front side (304) of the base body (301). A median longitudinal plane of the base (301) is transverse to the plane, the centre lines of the two screwdriver bores (315) lying in the median longitudinal plane. The distance between the central lines of the two screwdriver guide holes and the plane of the clamping cylinder hole is equal. All four centerlines are oriented parallel to one another.

In front of and behind the clamping cylinder bore (311) closest to the front side wall of the base body (301) according to fig. 8 and 9, a screwdriver support hole (316) embodied as a through-stepped hole is arranged, respectively. A simulated displacement measurement system (319) is also provided on the side wall.

Two fitting clamping pistons (321) of a fitting clamping device (320) are mounted in a guided manner in the clamping cylinder bore (311). Each piston rod (322) of the fitting-clamping piston (321) is additionally supported within a corresponding bore sealing sleeve (313). Each fitting-retaining piston (321) is either made of ferromagnetic material or it has an insert made of ferromagnetic material. In this way, the fitting-retaining piston (321) can be temporarily magnetically fixed in its rearward position in front of the cylinder bore cover (312) in the absence of compressed air.

A piston rod cross head (325) closest to the square shape is screwed onto the respective free ends of the two fitting-holding piston rods (322). A fitting parallel clamping device (330) is arranged on the underside of the piston rod crosshead (325). In the latter, for example, two slides are mounted that can be displaced parallel to one another, which are pneumatically moved away from one another by means of a double-slide wedge drive for the gripper opening movement. For the gripper closing movement, a spring accumulator is used. Each slide, which is supported in the underside of the fitting parallel clamping device (330), has a clamping mechanism (331, 335). According to fig. 9, the rear gripping mechanism is the shaft gripping arm (331) and the front gripping mechanism is the hook arm (335). If necessary, at least the clamping position of the accessory parallel clamping device (330) is detected by a sensor.

On the two larger sides of the housing of the fitting parallel clamping device (330), fitting support blocks (341, 342) are respectively fastened, which have a support surface (343) chamfered on three sides on the front side. Each support surface (343) projects with a small clearance toward the adjacent clamping mechanism (331, 335). Each fitting support block (341, 342) has a through-hole (344) parallel to the centre line of the fitting-clamping piston rod (322), which is arranged opposite a pre-assembled fitting bolt (395) of the gripped furniture fitting (380) after assembly of the fitting mounting device (300), see fig. 8.

Two electric screwing devices (350) guided in a base body (301) each consist essentially of an electric motor (351), a gear (352), a chuck (353), a tool insert (370) and a screwdriver rod (360). The electric motor (351) and the transmission (352) are mounted one after the other in a cylindrical housing, the latter being longitudinally displaceably disposed with little play in the respective screw driver guide bore (315). A short flanged arm (355) is provided in the upper region of the housing, to which a screwdriver rod (360) is secured. The housing and the screwdriver rod (360) are oriented parallel to each other.

The screwdriver rod (360) has a length that is slightly greater than the height of the base body (301), and on the one hand has the function of supporting the torque that is generated around the center line of the tool insert (370) in the screwdriver support hole (316) of the base body (301) during screwing. On the other hand, according to fig. 9, a return helical compression spring (365) is placed on the lower tip of the screwdriver rod (360) on a support disk (361) fixed by a support disk bolt (362), which is supported on a bore shoulder inside the stepped screwdriver support bore (316). For example, before or during the screwing operation, the bore shoulder can thus be pretensioned by the central body (110) together with the base body (301) relative to the fitting bolt (395) to be screwed — in the spring travel range of the return helical compression spring (365), in order to allow the rotating tool insert (370) to follow the screwed-in fitting bolt (395) without the base body (301) moving forward during the screwing operation.

To mount a furniture accessory (380), the handling device (10) moves the hub (110) over a furniture accessory (380) provided on the magazine (125) by means of the accessory mounting device (300). Where the furniture fitting is oriented such that the head of the fitting bolt (395) projects upwardly. The accessory mounting device (300) approaches the furniture accessory (380) along an extension of the accessory bolt (395) centerline with the accessory clamp device (320) fully removed. The fitting bolt (395) is located, for example, 17mm in front of the front end of the cross-slot insert (370). When the furniture fitting (380) is moved closer, the clamping mechanisms (331, 335) of the fitting parallel clamping device (330) are opened.

Subsequently, the fitting support block (341, 342) is placed with its support surface (343) on a screw connection (391) of the furniture fitting (380). A fitting bolt (395) extending from the furniture fitting (380) is sunk into a fitting support block hole (344) of the fitting support block (341, 342). After the placement, the fitting holding device (320) is pushed further, for example by 10mm, towards the furniture fitting (380) in order to ensure a secure placement of the support surface (343) thereon. In this case, the compressed-air-prestressed fitting-clamping piston (321) yields in the clamping cylinder bore (311) with an overpressure stroke close thereto.

After the fitting parallel clamping device (330) has been vented, the clamping means (331, 335) rest on a fitting rail (381) of the furniture fitting (380). The shaft-holding arm (331) engages with its holding shaft (332) in fitting latching cutouts (383, 384) located at the front of the furniture fitting (380), while the latching arm (335) engages with its latching lug (336) with the rear rail recess (382). The spring force of the spring energy store of the fitting parallel clamping device (330) holds the furniture fitting (380) in the fitting clamping device (320).

After the furniture fitting (380) has been transported by means of the actuating device (10), with the fitting clamping device (320) removed, in front of the corresponding fitting hole of the furniture plate (1), the actuating device (10) pushes the furniture fitting (380) into the fitting hole in the direction of the center line of the fitting bolt (395) in a preceding manner by pushing in the expansion bolt (393). In this case, the fitting clamping piston (321) yields a few millimeters in its clamping cylinder bore (311) with respect to the compressed air present. The depth of insertion or the position of the furniture fitting (380) relative to the surface of the furniture plate (1) is detected by means of a simulated displacement measuring system (319) which is fastened to a side wall of the base body (301).

In a further step, the base body (301) is displaced by, for example, 30mm relative to the furniture fitting (380), so that the cross-slot insert (370) of the electric screwing device (350) contacts the tool recess of the fitting bolt (395). A return helical compression spring (365) placed on the screwdriver shank (360) tensions the cross slot insert (370) against the accessory bolt (395).

With the operation of the electric motor (351) of the electric screwing device (350), the fitting bolt (395) is screwed into the push-in expansion bolt (393) placed in the screwing connection piece (391). The electric motor (351) is equipped with a torque monitoring device.

After the use of the accessory mounting device (300) is finished, the accessory clamp device (320) is placed in its rear position where the permanent magnet of the cylinder bore cover (312) magnetically locks the accessory clamp piston (321).

Description of the reference numerals

Furniture panels, work, blanks

2 made into a piece

3 end side, front

5 resting surface, bottom

10 operating device, articulated robot, robot

11 base member

12 substrate

13A shaft

14 turntable, first link

16B shaft

17 foot rod

18C shaft

19 toggle lever

22D shaft

23 support arm

24E shaft

25 hand lever

26F axle, pivot axle

27 turntables, counter adapters, adapters

30 bearing support

31 support, t-shaped

32 horizontal support

35 transport path, front

36 transport path, rear

40 blank transport system, transport system

41 conveyor belt

42 blank conveyor belt drive, conveyor belt drive

43 holder support

45. 46 support roller linear holders, upper, lower

49 blank stop, backstop

70-piece transport system, transport system

72 made-up belt drive, belt drive

100 support device, suction mount

101 support frame

110 suction nozzle carrier plate

111 longitudinal slot

112 suction element, vacuum suction element

113 placing element

115 brace, retractable, gravity stop

116 stop bolt, fixed stop

121 directional slider

122 directional slider drive

125 storage device for (280, 380), stock storage device

130 multiple processing unit

131 robot flange plate and adapter

132 cable hose holding part

135 middle carrier plate

136 maintenance parking support

140 central body, drill bit

141 main body

142 bottom side

143 (146) parking positions

144 (146) operating position

145 drill tool, tool system

146 drill bit, step drill bit, countersink drill, finger cutter, tool

147 motor flange plate

148 servomotor, motor, driver

151 sub-body

152 deep hole drilling tool

153 deep hole drill and tool

154 center line

157 Main flange plate

158 valve carrier plate

170 plate clamping device, clamping tool and tool system

171 adapting wedge

172 flange connecting piece

181 parallel clamping device, front

182 parallel clamping device, rear

183 casing

184 plate clamping slide block

185. 186 plate holding element

189 holding a lining

191 displacement measuring systems, analogue

200 support assembling device, assembling device and tool system

201 aptamer

202 guide bar holder, top

203 guide bar holder, lower

205. 206 guide rod

207 helical compression spring

208 baffle plate

220 cylinder body

221 topside

222 front side

223 main guide hole

224 spring blind hole

226 mounting cylinder bore

227. 228 pulse via hole; rear, front

229 pulse cylinder hole

231 cover, magnetizable, for (229)

236 cover for (226)

239 compressed air interface for return stroke of (260)

240 holder holding device, holding tool

241 mounting piston

242 mounted piston rod

243 piston rod crosshead

245 installation parallel clamping device

246. 247 double finger clamping arm

248 clamping finger

251 displacement measuring system, absolute

260 seat pushing-in device, pushing-in device

261 pulse carrier plate

262 pulse piston

263 pulse piston rod

264 pulse guide rod

265. 266 pulse double arm

267 vacant groove

268 (262) permanent magnet

280 furniture supports, accessories

281 support plate

283 furniture attaching side

284 furniture bolt

291 casing of support structure

292 bottom side

293 holes, large

295 seat mounting hole

296 support side connection piece

300 accessory mounting device, assembly device, tool system

301 base body

302 top side

303 bottom side

304 front side

305 Flange connection piece

311 clamping cylinder hole

312 cylinder bore cover, top

313 Cylinder bore seal Sleeve, bottom

315 screwdriver guide hole

316 screwdriver supporting hole

319 displacement measuring system, analogue

320 accessory clamping device and clamping tool

321 accessory clamp piston

322 accessory clamp piston rod

325 piston rod crosshead

330 accessory parallel clamping device

331-axis clamp arm and clamp mechanism

332 holding shaft

335 hook arm, clamping mechanism

336 hook nose

341. 342 parts support block, front, rear

343 support surface

344 supporting block hole, through hole

350 electric screwing device, screwing device

351 electric motor

352 transmission device

353 chuck

355 Flange arm

360 screwdriver guide rod

361 supporting disk

362 support plate bolt

365 return helical compression spring

370 tool insert, cross slot insert

380 furniture fitting, base plate, accessory

381 accessory track

382 track notch, rear

382. 384 fitting latch cut-outs, front, rear

391 screwing connecting sheet

393 push-in expansion bolt

395 fitting bolt

Claims (10)

1. Workpiece processing station for processing plate-shaped and/or sheet-shaped workpieces (1, 2) and for equipping said workpieces (1, 2) with accessories (280, 380), said station comprising a plurality of machining stations, each of which is provided with a machining head and a machining head, and a machining head for machining a workpiece (1, 2) and/or a workpiece machining station for machining a workpiece (280, 380) and/or a workpiece machining station for machining a workpiece (1, 2) and/or a workpiece machining station for machining a workpiece

-having at least one blank transport system (40) for providing a raw workpiece (1),

-having at least one finished workpiece transport system (70) for transporting away or further transporting the machined workpieces (2),

-having at least one storage device (125) for providing one or more accessories (280, 380) of different types,

-having at least one support device (100) which carries, orients and fixes the workpiece (1, 2) during machining,

-having at least one operating device (10) which is automatically controlled, freely programmable-a multi-purpose manipulator which is movable in three or more axes,

-having at least one multiple processing unit (130) carried and guided by each one of the operating devices (10),

-wherein the multiple machining unit (130) has at least one gripping tool (170) for gripping a workpiece (1, 2) to be operated between the transport system (40, 70) and the support device (100),

-wherein tools (145, 152) of different types and/or sizes for the driven cutting of a machined workpiece (1) are arranged in or on a multiple machining unit (130), and

-wherein the multiple machining unit (130) carries, for each accessory (280, 380), at least one gripping tool (170) for gripping and at least one tool system (200, 300) for fixing the respective accessory (280, 380) on the workpiece (1, 2).

2. The workpiece processing station according to claim 1, characterized in that the workpiece transfer location of the blank transport system (40) and of the finished part transport system (70), the accessory transfer location of the storage device (125) and the support device (100) are arranged in the working space of the handling apparatus (10).

3. Workpiece processing station according to claim 1, characterised in that the blank transport system (40) has a driven conveyor belt (41) on which the individual workpieces (1) are placed with their long narrow sides, wherein the two face normals of the large-area surface of the workpieces (1) are oriented horizontally.

4. Workpiece processing station according to claim 1, characterised in that the finished workpiece transport system (70) places the processed workpieces (2) on a driven conveyor belt, wherein the surface normals of the large-area, attachment-free surface are inclined by 5 to 15 degrees with respect to the horizontal-away from the handling device (10).

5. Workpiece processing station according to claim 1, characterized in that in the blank transport system (40) the front end side (3) of the workpiece (1) abuts against the stop (49) when clamping the workpiece by means of the clamping means (170) such that the plate clamping elements (185, 186) grip the workpiece (1) at a constant distance from the end side (3) of the workpiece, which distance is less than half the length of the workpiece (1).

6. Workpiece processing station according to claim 1, characterised in that the distance between the end of the blank transport system (40) and the beginning of the finished piece transport system (70) is less than twice the plate thickness of the workpieces (1, 2).

7. The workpiece processing station of claim 1, characterized in that the mechanical connection between the handling device (10) and the multiple processing unit (130) is a quick-change interface.

8. The workpiece processing station according to claim 1, characterized in that the support device (100) has a suction nozzle carrier plate (110) on which the suction elements (112) are arranged side by side in at least two rows, wherein an orientation device for orienting the workpieces (1, 2) relative to the fixed stop (116) is arranged between the two rows, by means of which orientation device the driven orientation slide (121) actively pushes the workpieces (1, 2) against the fixed stop (116).

9. The workpiece processing station as claimed in claims 1 and 8, characterized in that the suction elements (112) are arranged in a geometric grid whose interstices remain on both sides for a position of 15 to 20mm for the plate clamping elements (185, 186) of the clamping tool (170), respectively.

10. The workpiece processing station as claimed in claim 1, characterized in that the support device (100) is inclined by 10 to 30 degrees with respect to the vertical and has, along its lower edge, retractable support pins (115) which, after the fixed suction of the workpieces (1, 2) on the suction element (112), can be retracted by 5 to 10mm behind the back of the workpieces (1, 2).

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