DE10041653A1 - Finishing train for mechanically machining workpieces has workpiece holders and machining device aligned accurately positioned relative to each other and workpiece remaining clamped on holder movable individually and asynchronously - Google Patents

Abstract

The finishing train (1) has workpiece holders (3) for each machining device (7) serving as a workpiece table. The workpiece holders and the machining device are aligned accurately positioned relative to each other and the workpiece remains clamped on the workpiece holder and these are moved individually asynchronously relative to each other. When machining a workpiece the work piece holders are moved synchronised with the machining units (9) of each machining device.

Description

The invention relates to a processing line for mechanical Machining workpieces with at least one machining device and with workpiece carriers for the transport of Workpieces to the at least one processing device, a clamping position for precise clamping of the work pieces on the workpiece carrier and an unclamping place at the end the machining process for removing the workpiece from the Workpiece carrier.

The invention further relates to a method for mechanical Processing of workpieces in a processing line with min at least one processing device and with workpiece carriers for transporting workpieces to the at least one machining processing device.

Continuous conveyors are well known at which workpieces are moved synchronously on a pallet. Fer ner continuously operating assembly lines are known, whereby at the processing line in succession individual processing steps are carried out.  

The workpiece change takes place with conventional machining centers direction by means of gripper robots, the workpieces being disadvantageous lig out on the workpiece tables of the processing device must be judged. The measurement of the workpieces and the end Straightening is time-consuming and increases the bear beitungstoleranzen.

Processing lines with several processing devices arranged one behind the other are well known. So z. B. in W. Beitz and K.-H. Küttner, Dubbel paperback for machine building, 17th edition, Springer Verlag 1990 , page T 95 shows a flexible manufacturing system with two processing stations for prismatic workpieces. The workpieces are transported on conveyor belts from one processing station to the next. The workpieces are placed on the workpiece tables of the processing stations with a gantry crane and aligned there. The new alignment of the workpieces on the workpiece carrier or workpiece tables leads to an undesirable manufacturing tolerance.

In this publication there is also a 14-station transfer road for machining articulated shaft parts shown at the workpieces pass through the processing stations one after the other fen, the transport from station to station simultaneously he follows. This means that the individual processing steps disadvantageously synchronized with each other.

The object of the invention was to provide an improved machining line to indicate the flexible and highly precise processing of Workpieces.

The task is carried out by the generic processing line solved the features of claim 1 in that the Workpiece carrier for the respective processing device as Serve workpiece table, the workpiece carrier and the Bear processing device for processing a workpiece positions the workpiece on the  Workpiece carrier remains clamped, and the workpiece carrier are moved individually asynchronously to each other.

According to the workpiece during the entire loading operation precisely positioned on the workpiece carrier In this way, the workpieces must be machined facilities are no longer realigned where be reduced by the manufacturing tolerances.

Through the asynchronous movement of the movement The individual processing steps do not have to be carried by piece carriers be synchronized with each other. This is a flexible loading workflow possible.

The processing line is preferably designed such that the Correspond to workpiece holder when machining a workpiece After a required path movement synchronized with machining tion units of a respective processing device moves become. In this way, the workpiece carriers are propelled or workpieces also possible during processing.

The workpiece carriers preferably pass through a closed one endless circulation, so that a continuous production flow is made possible.

It is particularly advantageous if the processing line Füh trajectories for the workpiece carriers and the machining directions are arranged along the guideways. To this An exact alignment of the workpiece carrier on the Machining facilities are guaranteed. The leader NEN should be designed so that an exact posi tion-accurate guidance of the workpiece carrier is guaranteed. she should therefore be gear racks, direct drives or the like point that with a decentralized drive of the workpiece carrier interact. In this way, one is in circulation on the Be working line exact predetermined position of the workpiece carrier guaranteed. The positionally accurate feed should also with the  transverse guideways to be continued.

It is particularly advantageous, however, if the machining direction in parallel to the guideways of the workpiece carriers running guideways. Systems with one such a track arrangement are referred to as a gantry version.

To create an endless guideway, there are preferably two guide and return tracks running parallel to each other provided, being for the guideway and the return path at their ends by transversely Connecting tracks for the transverse displacement of the workpiece carriers from the guideway to the return path are provided.

Alternatively, the guideways can also be in two level above or below the guideways leads.

The workpiece carriers preferably each have a decentralized one Drive unit and its own decentralized control unit. For synchronization of the workpiece carriers and the machining units direction is a central control unit for the workpiece Carrier and the processing units provided. The data ver binding between central control unit and decentralized Control and drive unit can e.g. B. using a grinder or non-contact, e.g. B. done by radio connection.

If necessary, the processing devices can be known Wise tool changer. The processing facilities can be of any type. It is particularly advantageous but a portal stand version, the processing being directions carried by a preferably movable portal and is guided in it.

It when the workpiece carrier as a individual decentrally driven units each have an integrated one Have holding device for the workpiece and individual workpiece carriers  any with each other to wear and to Transport a workpiece in its movement can be. The workpiece carriers are designed so that they synchronize with each other to create a workpiece to be transported together. This embodiment has the advantage that the workpiece carriers can be individually and flexibly assigned to any Forms of workpieces can be adjusted.

It when the holding device of the Workpiece carrier is a vacuum suction device and a lo kaler vacuum generator traveling with the workpiece carrier is provided for the vacuum suction device.

The workpiece carriers preferably have spacers in order to To keep the workpiece spaced from the guideway and one Machining the edges or the underside of the workpiece enable. It is particularly advantageous if the Bear processing line provides workpiece carriers, the spacers have different heights. The spacers can z. B. electrical, pneumatic, hydraulic or any Way mechanically adjusted. That way you can't only plate-shaped workpieces, but also workpieces with be arbitrary three-dimensional shape flexibly transported and be be working.

In one embodiment of the invention it is proposed that at least one buffer section branches off the guideways, to temporarily store workpiece carriers. The buffer line is located preferably in the area of the clamping and / or unclamping square.

Another object of the invention was to provide a corresponding one Process for the mechanical processing of workpieces in one To specify processing line.

This object is achieved by the method having the features of claim 19 by the steps of:

• - Precise clamping of the workpiece on the Workpiece carriers,
• - Transport the workpiece carriers individually asynchronous to each other to the at least one machining Facility,
• - Precise alignment of the workpiece carrier and the respective processing device for processing tion of the workpiece, with the workpiece on the workpiece carrier remains clamped, and the workpiece carrier as Workpiece table for the machining device,
• - Machining the workpiece by moving the workpiece carrier ger and processing units of the respective processing Furnishing according to a required path movement synchronized to each other,
• - Removing the workpiece from the workpiece carrier at the end of the Processing sequence.

The invention is described below with reference to the accompanying drawings gene explained in more detail. Show it:

Fig. 1 supervision of a processing line according to the invention with portal processing centers;

Fig. 2 side view of the processing line of Fig. 1;

Fig. 3 Detail cross-sectional view of a portal machining center with machining tools and a workpiece carrier running on guideways with a plat-shaped workpiece;

Fig. 4 top view of a processing line with individual decentrally driven workpiece carriers that move a workpiece synchronized as a jointly linked group of workpiece carriers;

Fig. 5 side view of the processing line of Fig. 4;

Fig. 6 detail cross-sectional view of the processing line of Fig. 4 and 5.

Fig. 7 Detail cross-sectional view of a portal machining center, which can be moved synchronously or asynchronously with the movement of the workpiece carrier on guideways in the longitudinal direction of transport.

Fig. 8 is plan view of a first machining step for machining the leading edge of a workpiece;

Fig. 9 plan view of a second machining step for machining the side edges of a workpiece while the workpiece is advanced in the direction of rotation;

FIG. 10 is plan view of a third machining step for machining the rear edge of a workpiece;

The Fig. 1 can be seen a plan view of a processing line 1 for the mechanical machining of workpieces 2, wherein the workpieces are positionally accurately clamped on a workpiece carrier 3 2. The workpiece carriers 3 run in guideways 4 and are moved asynchronously to one another. For this purpose, individual decentralized intelligent drive units are provided in each workpiece carrier 3 , which automatically move to predetermined positions on the circulation of the guideways 4 . The workpiece carrier 3 pass through the processing line 1 in an endless path. For this purpose, 4 return paths 5 are provided parallel to the guideways. Guide tracks 4 at the ends of the leading and trailing and 5 connecting tracks 6 are arranged, extending transversely to the guide and return tracks 4 and 5 he stretch and allow a transverse displacement of the workpiece carrier 3 of the guide track 4 for the return path 5 and vice versa.

Along the guideways 4 are processing devices 7 in the form of portal column machining centers, boom arrangements, such as. B. swiveling robots, multi-column arrangements and the like. Set up for different processing steps. If necessary, tool changers 8 for the processing units 9 of the processing devices 7 can be provided in a known manner.

On the transverse to the guideways 4 boom of the portal processing devices 7 shown mutually independently movable processing units 9 can be provided on both sides, z. B. milling or grinding units.

From Fig. 1 will also be appreciated that the machining processing road 1 is a clamping station 10 for positionally accurate clamping of the workpieces 2 on the workpiece carrier 3 and an outspan 11 for removing the workpieces 2 from the workpiece 3 is provided after the working piece support. As shown, the workpieces 2 can be clamped and unclamped manually or automatically by means of gripping robots.

FIG. 2 shows a side view of the processing line 1 from FIG. 1. It is seen that the workpiece carrier 3 have spacers 12 spaced about the workpieces 2 from the workpiece carrier 3 and the guide rail 4 to wear and for machining of the edges. B. for a belt grinding process or possibly processing the underside of the workpiece 2 .

The workpiece carriers 3 have holding devices in order to carry the workpiece 2 in a precise position. This can e.g. B Be under pressure suction devices. For this purpose, in each Werkstückträ ger 3, a negative pressure generator is integrated with said work pallet 3 starts to rotate.

The guideway 4 is designed such that the movement of the workpiece carrier 3 on the guideway 4 is exactly defined and the absolute position of the workpiece carrier 3 in the machining line 1 is controllable and known. For this purpose, the Füh approximately 4 racks, direct drives or the like. The decentralized drive units of the workpiece carriers 3 then engage in these toothed racks or direct drives, so that there is a defined feed of the workpiece carriers 3 . Similarly, the guideways 4 and the decentralized drive units can be designed in a corresponding manner with other identically effective means.

The Fig. 2 can be further seen that the aggregates Bearbeitungsag 9 of the machining means 7 individually pivotable and in the Z direction are adjustable in height. You also run independently of each other movable on its own rail in the transverse to the guideway 4 from leg 13 of the processing units 9th

FIGS. 3 reveals a detail cross-sectional view of a portal machining center, wherein a processing unit 9 with a corresponding tool controlled individually can be moved on the cantilever 13 of the processing device 7. Between the portal of the portal processing center, the guideway 4 runs , which has rails 14 for carrying and guiding the workpiece carrier 3 in the circumferential direction. The guide rail 4 further has a toothed rack 15 which the workpiece carrier 3 menwirkt together with a decentralized intelligent drive unit sixteenth In this way, the workpiece carrier 3 in a defined absolute position is guided road 1 in circulation in the processing, so that the position of the workpiece 2 with AS POSSIBLE lower tolerance is set. The workpiece carrier 3 thus serves as a replacement for a conventional workpiece table egg ner processing device 7 and a defined rela tive alignment of the workpiece 2 to the processing units 9 of the processing device 7 is guaranteed.

The Fig. 3 also can grinder 17 for transmitting data from a central control unit of the processing street detect for energizing the workpiece carrier 3 1 to the decentralized intelligent drive units 16 of the workpiece carrier 3 and grinder 17. Similarly, the data transmission to the decentralized control and drive units 16 of the workpiece carrier 3 contactless z. B. by radio gene.

The Fig. 3 further reveals that the workpieces 2 with means of spacers 12 spaced from the guide track 4 and the workpiece carrier 3 is held. In this way, the edges of the workpiece 2 z. B. with belt grinders and possibly also the underside of the workpieces 2 .

The Fig. 4 reveals a plan view of a processing line 1, wherein the workpiece carrier 3 in a freely selectable number and freely selectable dimensional ratio to each other as Werkstückträgergrup pe to the common supporting a workpiece 2 are put together. The workpiece carrier group of a workpiece 2 is synchronized to one another in order to move the workpiece 2 together. For this purpose, the decentralized control units of the workpiece carriers 3 are designed such that they communicate either directly with the corresponding decentralized control devices of the other workpiece carriers 3 of the linked group or via a central control unit of the processing line 1 and synchronize their movements with one another.

The use of these workpiece carriers 3 has the advantage that they can be freely selected depending on the shape of a workpiece 2 . Thus, Figure 4 shows the FIG., The processing of a plurality of similar workpieces 2, wherein further a narrower in comparison with this plate is in the processing flow.

The Fig. 4 reveals further that one of the machining processing means 7 on its own running parallel to the return path 5 guiding track 19 for the machining processing device 7 is guided. In this way, the machining device 7 can be moved synchronously and asynchronously in the direction of rotation of the workpieces 2 . This embodiment has the advantage that path movements for machining the workpieces 2 can be carried out even more flexibly.

FIG. 4 also shows a buffer station 20 which branches off from the connecting track 6 transversely thereto. In this way, after the workpiece 2 has been removed from the removal station 11, the decentralized workpiece carriers 3 which are not required can be moved into the buffer station 20 and stored there temporarily.

FIG. 5 shows the processing line 1 of FIG. 4 in a side view. In particular, the locally driven workpiece carrier 3 will become apparent from the illustration that are quantitative set in a freely selectable number and at a preset dimension ratio for supporting a workpiece 2 to a workpiece carrier assembly together and as a common concatenated group synchroni Siert the work piece 2 move.

FIG. 6 shows a corresponding detailed cross-sectional view of the processing line 1 from FIGS. 4 and 5. The illustration essentially corresponds to FIG. 3, so that reference is made to the statements there.

In contrast to this, however, several workpiece carriers 3, each individually provided with a decentralized drive unit 16 , are freely combined as a group in order to jointly carry a workpiece 2 . The workpiece carriers 3 are synchronized with each other. In this way, the machining street 1 can be used very flexibly. For this purpose, it has a guideway 4 with 3 rails 14 for guiding the workpiece carriers 3 laterally and in the middle of the guideway 4 .

The Fig. 7 leaves a detail cross-sectional view recognize a portal machining center, wherein the portal Bearbeitungsein device 7 on its own guide path 21 in the transport or the direction of rotation of the workpieces 2 parallel to the guide tracks 4 of the processing line 1 is guided. The portal processing device 7 has its own decentralized drive unit for feeding on its guideway 21 . Preferably, the Füh has approximately web 21 a rack or direct drives, which interact with the distributed driving unit of the portal machining device 7 and the portal machining processing device 7 in the transport direction to ensure a defined position.

The Fig. 7 also reveals an embodiment of the workpiece carrier 3, in which the decentralized driven workpiece carrier 3 is adjustable, can be set manually or automatically positionable transversely to the transport direction of the workpieces 2. This is indicated by the arrows on the workpiece carrier 3 .

The processing line 1 described enables a processing method explained in more detail below with the aid of FIGS. 8, 9 and 10, in particular for edge grinding of plate-shaped construction elements.

As outlined in Fig. 8 in plan view, in a first processing step, processing the front edge of the workpiece 2, when the workpiece carrier 3 b relative to the first processing unit 9 of the processing device is Siert synchroni. 7 For processing, a processing unit 9 is moved transversely to the direction of rotation of the workpieces 2 , that is, transverse to the guide tracks 4 during processing. The machining is preferably carried out with a machining unit arranged on the rear 13 of a portal machining device 7 so as to be movable on the rear in the direction of rotation. A on the front seen in the direction of rotation on the boom 13 arranged processing unit 9 is here in the rest position, the tool can be changed in time. Alternatively, the rear edge of another workpiece 2 could also be machined at the same time. For machining curved paths, the workpiece 2 can be fed, which is synchronized with the path movement of the processing unit 9 b.

In a second machining step, the side edges of the workpiece 2 are simultaneously machined from the seen on the rear and front side in circulation on the boom 13 of the machining device 7 arranged machining units 9 a and 9 b. Here, the workpiece 2 is advanced by the automatically movable workpiece carrier 3, preferably in the circumferential direction along the guideway 4 , the position of the workpiece 2 being exactly aligned with respect to the processing units 9 a and 9 b.

In a third processing step, which is outlined in plan view in FIG. 10, the rear edge of the workpiece 2 is processed with the processing unit 9 a. Here, seen on the front in the circumferential direction on the boom 13 of the processing device 7 arranged processing unit 9 a transversely to the circumferential direction, ie cross to the guideways 4 ver. During this machining step, the workpiece 2 is synchronized relative to the machining device 7 . In this processing step, too, the path movement of the processing unit 9 a and a feed of the workpiece 2 can be synchronized with one another in such a way that a curved path is processed. The other processing unit 9 b, which is arranged on the rear 13 seen in the circumferential direction on the boom 13 , is at a standstill, a tool change, z. B. can be done by an automatic tool changer. Likewise, processing of the front edge of the next workpiece 2 is possible in this processing step.

Claims (22)

1. Machining line ( 1 ) for mechanical machining of workpieces ( 2 ) with at least one machining device ( 7 ) and with workpiece carriers ( 3 ) for transporting workpieces ( 2 ) to the at least one machining device ( 7 ), a clamping station ( 10 ) at the end of the machining process for removing the workpiece (2) from the workpiece carrier (3), characterized for positionsge nauen clamping the workpiece (2) on the workpiece carrier (3) and a outspan (11), that the workpiece carrier (3) for the respective processing device ( 7 ) serves as a workpiece table, the workpiece carrier ( 3 ) and the processing device ( 7 ) for processing a workpiece ( 2 ) being aligned precisely with one another, the workpiece ( 2 ) remaining clamped on the workpiece carrier ( 3 ), and the workpiece carriers ( 3 ) are moved individually asynchronously to one another. 2. Processing line ( 1 ) according to claim 1, characterized in that the workpiece carriers ( 3 ) in the processing of a workpiece ( 2 ) in accordance with a required path movement synchronized with processing units ( 9 ) of a respective processing device ( 7 ) are moved. 3. Processing line ( 1 ) according to claim 1 or 2, characterized in that the workpiece carriers ( 3 ) pass through a closed closed endless cycle. 4. Machining line ( 1 ) according to one of the preceding claims, characterized by guideways ( 4 ) for the workpiece carriers ( 3 ), wherein a plurality of processing devices ( 7 ) are arranged along the guideways ( 4 ). 5. Processing line ( 1 ) according to one of the preceding claims, characterized in that the at least one processing device ( 7 ) is designed as a portal stand, multiple stand or boom arrangement. 6. Machining line ( 1 ) according to claim 5, characterized in that guideways ( 19 , 21 ) for at least one machining device ( 7 ) are arranged parallel to the guideways ( 4 ) for the workpiece carriers ( 3 ), around the at least one machining device ( 7 ) to move parallel to the workpiece ( 2 ) in the direction of rotation of the workpiece carrier ( 3 ). 7. Machining line ( 1 ) according to one of claims 4 to 6, characterized in that parallel to the guideways ( 4 ) corresponding return paths ( 5 ) for returning the workpiece carrier ( 3 ) to the starting point of the machining line ( 1 ) are arranged, wherein at the ends of the guide tracks ( 4 ) and the return tracks ( 5 ) transverse connecting tracks ( 6 ) for transverse displacement of the workpiece carriers ( 3 ) from the guide tracks ( 4 ) to the return tracks ( 5 ) and vice versa are provided. 8. processing line ( 1 ) according to any one of claims 4 to 6, characterized in that the return paths ( 5 ) in a second plane above or below the guide paths ( 4 ) are returned to form a closed order. 9. Processing line ( 1 ) according to one of claims 4 to 8, characterized in that the guideways ( 4 ) are formed in such a way that the positioning movement of the workpiece carrier ( 3 ) on the processing line ( 1 ) is precisely fixed. 10. Processing line ( 1 ) according to one of the preceding claims, characterized in that the workpiece carriers ( 3 ) each have at least one decentralized intelligent drive unit ( 16 ) for automatically positioning the workpiece carrier ( 3 ), and a higher-level central control unit for the workpiece carriers ( 3 ) and the processing device ( 7 ) is provided. 11. Processing line ( 1 ) according to claim 10, characterized in that the guideways ( 4 , 5 ) have racks ( 15 ) or direct drives and the decentralized drive units ( 16 ) of the workpiece carriers ( 3 ) each with the racks ( 15 ) or direct drives interact. 12. Processing line ( 1 ) according to claim 10 or 11, characterized in that the data supply from the higher-level central control unit to the decentralized intelligent drive units ( 16 ) and / or the energy supply to the decentralized drive units ( 16 ) takes place by means of grinders or without contact. 13. Processing line ( 1 ) according to one of the preceding claims, characterized by tool changer ( 8 ) for processing devices ( 7 ). 14. Processing line ( 1 ) according to one of the preceding claims, characterized in that a plurality of workpiece carriers ( 3 ) for carrying and transporting a workpiece ( 2 ) can be summarized and synchronized in their movement to one another, the workpiece carriers ( 3 ) each being a hal Te device for a workpiece ( 2 ). 15. Processing line ( 1 ) according to any one of the preceding claims, characterized in that the workpiece carrier ( 3 ) vacuum suction devices for holding a workpiece ( 2 ) and each have a local moving vacuum generator for the vacuum suction devices. 16. Processing line ( 1 ) according to one of the preceding claims, characterized in that the workpiece carriers ( 3 ) have spacers ( 12 ) for holding the workpiece at a distance ( 2 ) from the guide track ( 4 , 5 ) around the workpiece ( 2nd ) from below. 17. Processing line ( 1 ) according to claim 16, characterized in that the processing line ( 1 ) has workpiece carriers ( 3 ) with spacers ( 12 ) of different heights. 18. Processing line ( 1 ) according to one of the preceding claims, characterized in that a buffer station ( 20 ) branches off from the guide track ( 4 , 5 ) in order to temporarily store workpiece carriers ( 3 ). 19. Method for the mechanical processing of workpieces ( 2 ) in a processing line ( 1 ) with at least one machining device ( 7 ) and with workpiece carriers ( 3 ) for transporting workpieces ( 2 ) to the at least one machining device ( 7 ) characterized by Steps from:

• - precise clamping of the workpiece ( 2 ) on the workpiece carrier ( 3 ),
• - Transporting the workpiece carrier ( 3 ) individually asynchronously to each other to the at least one processing device ( 7 ),
• - Precise alignment of the workpiece carrier ( 3 ) and the respective machining device ( 7 ) on each other for machining the workpiece ( 2 ), the workpiece ( 2 ) remaining clamped on the workpiece carrier ( 3 ), and the workpiece carrier ( 3 ) as a workpiece table for the Processing device ( 7 ) is used
• - Machining the workpiece ( 2 ) by moving the workpiece carrier ( 3 ) and the processing units ( 9 ) of the respective processing device ( 7 ) synchronized to each other according to a required path movement,
• - Removing the workpiece ( 2 ) from the workpiece carrier ( 3 ) at the end of the machining process.

20. The method according to claim 19, characterized by machining the workpiece ( 2 ) with the steps:

• - Editing the front edge of the workpiece ( 2 ) with syn chronized movement of the at least one workpiece carrier ( 3 ) for the workpiece ( 2 ) with a processing unit ( 9 b);
• - Simultaneous processing of both side edges of the workpiece ( 2 ) during the feed movement of the at least one workpiece carrier ( 3 ) for the workpiece ( 2 );
• - Editing the rear edge of the workpiece ( 2 ) with synchronized movement of the at least one workpiece carrier ( 3 ) for the workpiece ( 2 ) with a processing unit ( 9 a).

21. The method according to claim 19 or 20, characterized in that the workpiece carriers ( 3 ) pass through a closed endless circulation. 22. The method according to any one of claims 19 to 21, marked net by guiding the workpiece carrier ( 3 ) in guideways ( 4 , 5 ), so that the absolute position of the workpiece carrier ( 3 ) on the processing line ( 1 ) is precisely defined.