DE102021133317A1 - Transport and processing system for workpieces on large machines - Google Patents

Abstract

The present invention relates to a transport system 500 that can be automated and a method for changing workpieces between at least one machine tool 200 that can be loaded vertically; 300 and a workpiece carrier storage 400, in which workpieces to be changed, in particular workpieces for large machines, are transported on workpiece carriers WT designed to hold a workpiece and, with the aid of a control system based on signal exchange and precision-improving mechanisms, are preferably automated in the machine tool 200; 300 and/or the workpiece carrier storage 400 are positioned. In addition, the present invention includes a machining system 100 and a method for the automated machining of the above-mentioned workpieces, which, with the aid of signal exchanges between the aforementioned machine tool 200; 300, the workpiece carrier storage 400 and the transport system 500, workpieces are automatically transported from one device of the processing system 100 to another and processed or stored there.

Description

The present invention relates to an automatable transport system for changing workpieces between at least one machine tool that can be loaded vertically and a warehouse for workpiece carriers (workpiece carrier warehouse), in which workpieces to be exchanged, in particular workpieces for large machines, are transported on workpiece carriers designed to accommodate a workpiece and with the aid of a system based on signal exchange Control system are preferably automatically positioned in the machine tool and / or the workpiece carrier warehouse. In addition, the present invention includes a processing system for the automated processing of the above-mentioned workpieces, which, with the aid of signal exchange between the aforementioned machine tool, the workpiece carrier store and the transport system, automatically transports workpieces from one device of the processing system to another and processes or stores them there.

Background of the Invention

Due to increasingly complex work processes and the resulting requirement to be able to use machine tools with the most precise, automated assembly mechanism possible, the dynamic exchange of workpieces within workpiece processing systems, in particular due to the mostly multi-stage processing processes, has developed into a process step of the highest relevance. As a result, automated workpiece transport systems in particular, which remove workpieces to be exchanged independently within a processing system and can also introduce them accurately into a corresponding device of the processing system, are of great importance within many currently known processing systems.

Generic transport systems known from the prior art for the storage or provision of workpieces for a machine tool and a corresponding warehouse usually include one or more exchangeable actuators, realized by a manipulator, at least one workpiece receiving and repositioning device, a mechanical guide system for targeted Definition of the transport path of the workpiece to be exchanged and an import and export mechanism implemented on the respective machine tool and at an interface.

As an example of such a transport system is in the WO 2018 190 052 A1 a workpiece conveyor system with a plurality of workpiece transfer units is shown, which can transport workpieces along a two-dimensional conveyor line network to a plurality of main spindles or exchange them among the workpiece transfer units, and transfer the workpieces to the respective machine tools via a relay conveyor system.

In particular, portal milling machines or modern gantry machines for machining large parts require maximum flexibility, dynamics and automation when machining and loading components. The gantry design enables optimal use of the working space.

Despite constant further development of existing loading and transport systems, however, the problem still occurs in most state-of-the-art systems that, in particular for transporting workpieces for loading large machines, due to the excessive weight and the resulting problems of inertia, a fully automated and at the same time A workpiece changing process that is precisely matched to the fixtures of the machining system can only rarely be implemented. For example, precisely fitting equipment on the mounts of a machine tool, based on predefined machine and workpiece geometries, requires an extremely precise and linear positioning process of the workpiece, which is difficult to automate, especially for oscillating or oscillating transport systems due to the additional degrees of freedom. At the same time, however, transport systems specializing in heavy workpieces require a certain degree of mechanical flexibility, since otherwise, due to the increased inertial forces during accelerated workpiece transport, load-bearing elements of the system would be exposed to an increased workload.

One object of the present invention is therefore to provide a transport system (or loading system) that is as precise and fully automated as possible, a processing system and a method for the automated changing of workpieces by means of the automated transport system, which solves the above-mentioned problems from the prior art and which make it possible, especially for heavy workpieces, to use the automated process to transport them as efficiently and precisely as possible to specific pickup positions of the machine tool or a warehouse and to pick them up from the latter positions. In addition, it is a further object of the invention to position the aforementioned workpieces in the machine tool as far as possible in such a way that they can be reached optimally and individually for a respective workpiece can be realized with regard to the tools implemented in the machine tool.

Detailed description of the invention

To solve the above problem, the features of the independent claims are proposed. The dependent claims relate to preferred embodiments of the present invention.

The transport system of the present invention can include at least one loading device for the overhead transport of workpiece carriers designed to hold at least one workpiece, which is preferably set up to automate the aforementioned workpiece carriers at least between a vertically loadable machine tool (in particular a portal milling machine or gantry machine for machining large parts) and to transport a workpiece carrier storage device that can be loaded vertically and to load it vertically using a crane device attached to the loading device. The present transport system thus preferably forms an at least two-part device system which, with the aid of a first device (the loading device), enables a predetermined workpiece picked up on a workpiece carrier to be stationed at a predefined position by moving the workpiece carrier in at least one direction, and this, subsequently, using a second, preferably independently acting device (the crane device) along a preferably only one-dimensional and thus trouble-free movement to approach the machine tool or workpiece storage device. Consequently, a more precise and thus optimized transport mechanism for the automated workpiece change can already be realized by the predetermined movement sequence of the transport system according to the invention.

Further advantages of the above-mentioned two-part structure of the transport system can also preferably result from interactions between the loading device and the crane device connected to it: It can preferably be possible for the movement pattern of the crane device to be defined by specific elements of the loading device. For example, in a preferred exemplary embodiment, the loading device can be equipped with a first guide device, oriented at least in a horizontal direction, in particular a rigidly aligned guide rail, to which the crane device is movably connected and thus allows any workpiece carrier simply by moving the crane device and thus to be able to transport with minimal energy expenditure and sometimes automatable control mechanisms. In a particularly preferred exemplary embodiment, the guide device can also include at least two guide elements, preferably oriented transversely to one another, in particular for the preferred alignment of the crane device for the subsequent vertical assembly process, whereby the crane device can be moved independently in at least two directions and thus one if possible direct (and therefore precise) three-dimensional transport of a picked-up workpiece.

The crane device itself can preferably be set up at at least one interface to receive or release the above-mentioned workpiece carrier designed for carrying a workpiece and consequently, by moving the crane device along the travel paths defined by the guide device, to any position within the transport system carry. As already mentioned above, an at least two-stage transport mechanism can be implemented for particularly precise loading of a machine tool, in particular a portal milling machine or gantry machine for machining large parts and/or a workpiece carrier store, in which the crane device is initially preferably positioned horizontally at a predefined location, preferably above the machine tool /of the workpiece carrier storage and then, based solely on vertical movement, moves the workpiece carrier at least from a transport position for transporting the workpiece carrier along the guide device to an equipping position for transferring the workpiece stored on the workpiece carrier to the machine tool or the workpiece carrier storage. In this respect, it is already possible to reduce to a minimum inaccuracies during the assembly process, such as are usually generated when transporting heavy workpieces due to natural vibrations within the system, by the above-mentioned device of the transport system alone, by reducing the actual assembly process to a one-dimensional movement is restricted. In addition, the above-mentioned movement process of the crane device can of course also be implemented in reverse, for example in order to remove any workpiece carrier from a machine tool and/or a workpiece carrier store and to transport it to another processing position for the continued processing of a workpiece stored thereon.

It should be noted at this point that the term "workpiece carrier" is not restrictive should be understood, but can preferably refer to any carrier geometry with which a workpiece to be machined can be picked up preferably supporting, without re-clamping and thus efficiently and which can be moved along a defined transport path using the above-mentioned crane device. However, the workpiece carrier can preferably contain at least one horizontally aligned surface for non-slip positioning of the workpiece on the workpiece carrier, so that, in the case of an oscillating transport system, the respective workpiece itself can remain fixed in a workpiece carrier position provided for this purpose without further locking mechanisms. In a particularly preferred case, a workpiece carrier can also be provided with a plurality of connecting elements or notches, such as T-slots, trapezoidal slots or threaded holes, in particular in order to ensure improved workpiece positioning, so that, especially in the case of bulky or heavy Workpieces, other fixation options can be made. Possible examples of such a workpiece carrier are therefore any workpiece pallets for metal-cutting production processes in various sizes and geometries, which are at least capable of carrying heavy workpieces that can be used for large machines.

"Heavy" or "workpieces to be used for large machines" can also be understood as all workpieces that have a particularly high weight (e.g. > 5 tons) and/or particularly large dimensions (e.g. with dimensions of at least 4.4 x 2.7 x 1.5 meters) and therefore require significantly greater precision during the workpiece change, especially in the above-mentioned systems due to increased inertial forces or risk of collision.

In addition to the above-mentioned, extremely efficient device geometry of the transport system designed to automate the workpiece changing process, the present transport system can also have a series of specific measuring and alignment elements that are set up for this purpose, in particular in order to further increase the accuracy within the assembly process to move the workpiece carrier to be changed to a workpiece processing position provided for this purpose for precise processing and/or storage in the machine tool or a workpiece storage device. For example, the aforementioned loading device can preferably include at least one internal positioning system, which, using a position sensor device connected to it, determines the respective position of a workpiece carrier at any time during the changing process and, based on the workpiece carrier position determined in this way and predefined coordinates of a selected workpiece processing position, a particular efficient, i.e. geared towards the reduction of internal inaccuracies, traverse path can be defined.

Furthermore, it can preferably be possible for the positioning system to move the workpiece carrier along this travel path, for example by controlling the loading device and the crane device, and also to compare the current position of the tool carrier with the desired route of the defined travel path, preferably in real time, so that any inaccuracies are eliminated corrected quickly during the transport process and in special cases the travel path can even be adjusted during the process. In order to avoid any measurement sharpness, the sensors of the position sensor device can preferably also be attached directly to the possible movement axes of the loading device, so that, especially in the case of vibratory transport systems, any deviations can be detected quickly and as precisely as possible and corrected by controlling the loading device.

In addition to the positioning system mentioned above, the transport system can also preferably be equipped with at least one anti-sway module to further avoid any loss of precision, which can actively reduce internal vibrations within the loading device, but at least the crane device. In a preferred exemplary embodiment, for example, it may be possible for the anti-sway module to be connected to the actuators implemented in the loading device, for example the motors to be used to move the crane device, and to use real-time data, for example the dynamic position data obtained by the positioning system, to control this of the tool carrier or its own movement information of the tool carrier determined, for example, by movement sensors, in such a way that any inherent movements within the transport system that occur due to inertia can be reduced to a minimum. In this respect, it should be understood that a respective workpiece carrier received in the crane device is checked in the present transport system by a series of both active and passively acting alignment elements and thus its position, in particular for the precise loading of heavy workpieces on a machine tool and/or a workpiece carrier storage facility , effectively can be adjusted. This fact alone results in a workpiece transport system that is far more precise than the prior art and can therefore be used for an automated assembly process.

With regard to further mechanisms serving the precision and automation of the transport system, the geometry and control of the transport system can preferably also be better adapted to the workpiece transport. For example, in a particularly preferred exemplary embodiment, the crane device can be equipped with at least one workpiece carrier receiving frame that is specially set up for a uniform (and thus more error-free) pick-up of the workpiece carrier by the crane device, which is connected to the crane device via a vertically movable cable device, for example a hoist or a cable winch , or another type of suspension device, such as a scissor lifting device, and can thus be moved up to the machine tool and/or the workpiece carrier storage device hanging on the crane device for vertical loading. The above-mentioned crane device can therefore preferably also be understood as an at least two-part device, in that at least a first part of the crane device is connected to the aforementioned loading or guiding device so that it can be moved preferably horizontally, and a second part (the workpiece receiving frame) is independent of this and only above vertically aligned element can be used connected to the first part for receiving and vertical positioning of a workpiece carrier. In this case, too, there is thus an independent device mechanism which can therefore be controlled in a simplified manner for an automated process.

In order to accommodate a specific workpiece carrier, the workpiece carrier receiving frame can preferably, in a first embodiment, comprise at least two movable support elements, which enclose the respective workpiece carrier for transport from at least two sides and consequently enable the workpiece carrier to be precisely clamped and, particularly preferably, during transport of the workpiece carrier , uniformly, i.e. with a weight distribution that is evenly shifted by the workpiece carrier to the workpiece carrier receiving frame, within the workpiece carrier receiving frame. The latter has the particular advantage that the even weight distribution within the crane device minimizes any inherent vibrations originating from the workpiece carrier receptacle and thus the precision of the transport system can be further improved during the changing process.

The workpiece carrier can preferably be picked up in several steps according to the above-mentioned principle, in order to increase the accuracy within the system: In a first step, the workpiece carrier pickup frame can be moved up to the respective workpiece carrier, preferably vertically, in such a way that the at least two Supporting elements of the workpiece carrier receiving frame are initially positioned slightly under the underside of the respective workpiece carrier to be accommodated. The support elements themselves can also preferably be extended in a first receiving position, so that in this first step the latter are present laterally, preferably at the same distance from the workpiece carrier and thus cannot collide with the workpiece carrier due to any vertical movement of the workpiece carrier receiving frame. In a second step, the two support elements can then be moved up to the workpiece carrier, preferably in the same way and horizontally, up to a second receiving position, as a result of which at least some of the supporting elements move under the workpiece carrier and the workpiece carrier is fixed by the supporting elements from two sides at least in the second receiving position . A preferably renewed raising of said support elements in a third step can finally make it possible to position the support elements under the workpiece carrier so that the latter is fixed centrally, horizontally and vertically to the first embodiment of the workpiece receiving frame after this recording process. In this respect, the device of the first embodiment of the present workpiece carrier receiving frame has the particular advantage of attaching the workpiece carrier to the crane device uniformly on the one hand, but also supporting it from several sides, which enables improved movement stability of the workpiece carrier and thus a more precise movement mechanism of the transport system at the same time .

A second embodiment of the above-mentioned workpiece carrier receiving frame can also preferably be set up, in addition to the uniform carrying capacity, to also interact with the workpiece carrier in such a way that at least its underside is preferably completely exposed after it has been picked up by the workpiece carrier receiving frame. The technical feature of the workpiece receiving frame mentioned here is sometimes based on the problem that, in particular when workpiece carriers are received on ground-level machine tools and/or workpiece carrier storage facilities with a smooth surface, a load-bearing connection is created horizontal approach of support elements is only possible to a limited extent and in the worst case, the precision required for an effective workpiece change process can no longer be guaranteed.

As a result, the second embodiment of the workpiece carrier receiving frame addressed here to solve the above-mentioned problem can preferably also be provided with a large number of geometrically arranged connecting elements that can interact with the top side of the workpiece carrier, instead of the support elements described above, which connect the workpiece carrier receiving frame, for example by mechanical, pneumatic or detachably fix electrical connection mechanisms to the top of the respective workpiece carrier and thus can bind the workpiece carrier to the workpiece carrier receiving frame, even without portable contacting on its underside. For example, for this purpose, a row of vertically arranged locking elements, such as rod-shaped or other-shaped locking bolts, can be arranged on the second embodiment of the present workpiece receiving frame, which by vertically moving the workpiece receiving frame in the direction of a workpiece carrier in complementary and specifically for this purpose on the upper side of the workpiece carrier implemented centering elements are introduced and can then be detachably connected to the workpiece carrier by simple cross-connection processes, such as wedging. Thus, the present transport system can ensure a reliable, stable and at the same time extremely precise workpiece (carrier) changing process, even in the case of workpiece carrier geometries that are difficult to pick up or reach from the side.

Analogously to the measuring and aligning elements of the loading device already mentioned above, in a particularly preferred exemplary embodiment, a plurality of sensor devices can also be implemented in one of the previously described workpiece carrier receiving frames to optimize the workpiece changing process. For example, the loading device or the crane device can preferably include at least one weight sensor device for checking the pick-up position, i.e. the corresponding orientation and weight distribution, of a picked-up workpiece carrier (including the workpiece), which is set up to determine the weight distribution of the goods picked up accordingly directly on the workpiece pick-up frame and in a most preferred case to compare with a predefined limit value. If the determined distribution exceeds the predefined limit value, for example because the workpiece carrier is inadvertently moved during the pick-up process or deviates from the desired orientation standard in some other way (e.g. by picking up an incorrect workpiece holder or a pick-up process that is not supported by all supporting elements), the loading device can be preferred send a warning signal to the transport system to check the pick-up position, preferably by a user, and thus prevent any problems right at the beginning of the workpiece change process.

In another case, the workpiece carrier receiving frame can also be equipped with a plurality of other optical and/or mechanical sensor devices to determine any alignment discrepancies of the workpiece carrier receiving frame (e.g. impermissible tilting) or to optimize any process mechanisms. In a preferred case, for example, the aforementioned support elements of the workpiece carrier receiving frame can also be provided with a series of pressure sensors, which during the loading or unloading process by the crane device determine potential contacts or loss of contact with the workpiece carrier and thereby sometimes detect misalignments of the supporting elements or can be used as an additional verification parameter for an even more precise workpiece change.

Consequently, it can be seen that with the present transport system, a combination of extremely precise or precision-improving movement mechanisms and a large number of independently acting detection and control devices can be implemented, which are sometimes designed to ensure the accuracy of the workpiece carrier transfer during the loading and unloading process of workpieces To improve, in particular heavy workpieces for large machines, machine tools and corresponding storage facilities and thus simplify automated operation within an associated workpiece processing system. For example, precise detection of the workpiece carrier position during the above-mentioned changing processes allows the workpiece processing system to respond to any problems during workpiece transport independently, i.e. without further action by a manual user, and to correct them automatically. As a result, it is possible, in particular with the above-mentioned transport system, to carry out even complex machining processes or those involving long working hours in an automated manner, without this, for example due to a lack of manual staff on a machine, in having to allow an interim period of rest to occur.

In order to make this automatism even more efficient, the transport system can also be set up in a particularly preferred embodiment, for example via an automatable control system, to adapt the automated change of a workpiece carrier equally to the existing and/or future work processes of the corresponding machine tool and/or the workpiece carrier storage device . For example, the loading device of the transport system can preferably also be able to exchange signals with the machine tool, the workpiece carrier device or individual elements of the transport system, for example the crane device or any of the above-mentioned sensor systems, by means of the automatable control system and, on this basis, send the most efficient possible signal to the individual to determine or carry out a transport process adapted to existing processing mechanisms within the respective processing system.

As a result, it may be possible, for example, for the control system that can be automated to receive information about current or future processing steps within a machine tool or a storage facility located in the processing system, preferably through the above-mentioned signal exchange, and as a result controls the transport system in such a way that the time when the workpiece carrier is transported is as efficiently as possible Processing parameters, such as the processing time and / or the time end of a processing step is adjusted. Equally, the control system can preferably also be set up, based on the above-mentioned adjustments, to send signals, such as the time at which the workpiece carrier is removed, the chronological progression of the workpiece carrier transport or information regarding the workpiece to be changed, to other devices of the processing system, so that the latter is equally enabled will be able to carry out adjustments or preparatory measures, such as tool changes or storage location alignments, for the further processing and/or storage of the workpieces and thus a dynamic, fully automatable and in particular extremely efficient processing process can be generated.

As a further advantage of the above-mentioned signal exchange, the automatable control system can also preferably be set up, based on information to be obtained from the processing system, to create specific process sequences and/or safety protocols or to retrieve them from an internal memory of the transport system, so that the reliability of the automatically operated transport or The processing system can be further increased. Based on this, the automatic control system can be set up, for example, to activate certain mechanisms, such as the vertical pick-up by the crane device, preferably initially only if the former has received at least one confirmation signal from corresponding measuring devices, such as the above-mentioned weight sensor device of the workpiece carrier pick-up frame, which not only the operational reliability within the automated workpiece changing process is further improved, but also the accuracy of the individual process steps can be further increased, for example by means of automatic correction methods to be controlled thereupon.

As a result, the present transport system, in particular due to the large number of precision-improving movement mechanisms, combined with the extremely dynamic and automatically controllable measuring and transport devices, can be used to implement a workpiece changing process that is far more effective than the prior art and can be used in particular for transporting heavy workpieces.

Analogously to the previously specified transport system, the above-mentioned features of the transport system can preferably also be used in a processing system equally claimed by the present invention and set up for processing heavy workpieces. A processing system according to the present invention can preferably, as already described above for further identification of the transport system, be equipped with at least one machine tool that is compatible with the above transport system, i.e. that can be loaded and controlled at least vertically, a workpiece carrier storage device that can be loaded vertically for the effective storage of with or without Workpiece carriers provided with workpieces, as well as at least one embodiment of the aforementioned transport system, whereby each of the aforementioned technical features can be implemented equally in the present processing system. In particular, it follows that in the processing system of the present invention, both the workpiece carrier transport and the workpiece processing and storage are carried out extremely precisely due to the mechanisms already mentioned and in particular, based on said signal exchange processes between the at least one machine tool, the workpiece carrier storage device and the transport system , from the latter Devices can be controlled particularly efficiently and automatically.

For example, in a particularly preferred exemplary embodiment of the processing system, the guide device of the transport system can be arranged at least above the one or more machine tools and/or the workpiece carrier storage devices of the processing system, so that a workpiece carrier picked up by the crane device, at least in the transport position, is aligned such that it can be moved above the devices mentioned and can therefore be moved freely, ie without the risk of a collision, along the travel path defined by the guide device. In contrast to conventional processing systems, e.g. those equipped with assembly line devices, the present processing system makes it possible to move a workpiece to be transported not only more dynamically, but also in the most direct and therefore most efficient way in the direction of any device of the processing system, so that any travel times to one Minimum can be reduced.

In addition, in the present machining system it can preferably also be possible to equip the at least one machine tool and/or the one workpiece carrier storage device with further mechanisms that improve the precision of the workpiece changing process. For example, the machine tool and/or the workpiece carrier storage device can preferably be set up to center any workpiece carrier with the aid of a locking structure additionally attached to the machine tool and/or the workpiece carrier storage device during the assembly process at the workpiece processing position defined for workpiece processing and storage and for the further processing preferably on the underside of the workpiece carrier, to be detachably fixed to the respective device.

For this purpose, the above-mentioned locking structure can, for example, preferably be provided with one or more clamping modules, which fix a workpiece carrier, preferably by simply contacting it in a detachable manner, in a preferred case mechanically, electrically or pneumatically, and thus fix it in a last loading step of the machine tool and/or can fine-center the workpiece carrier storage device to the desired workpiece processing position. In a particularly preferred case, the at least one clamping module can for this purpose also be designed so that it can be engaged with at least one clamping body attached to the underside of the workpiece carrier, so that the workpiece carrier can be engaged during the vertical movement through the crane device in the direction of the workpiece processing position, preferably by the clamping bodies latching onto one or several clamping modules of the machine tool and/or the workpiece carrier storage device are detachably fixed to the locking structure and can thus be automatically arranged in the desired workpiece processing position after the workpiece carrier has been released from the crane device.

In this respect, the above-mentioned locking structure enables an efficient and at the same time individually adjustable positioning method to be implemented within the processing system, which can contribute to further improving the workpiece change or processing precision, in particular through the final centering of the workpiece carrier in the workpiece processing position.

In addition, the above-mentioned adjustment mechanism through the locking structure also has the advantage that a preferably adaptable locking process can be generated by implementing or modulating any clamping modules in the locking structure. In a preferred exemplary embodiment, it may also be possible, for example, for the locking structure to be provided with a plurality of clamping modules that are set up to complement clamping bodies of different workpiece carrier types or sizes and/or these clamping modules are introduced into the locking structure in a predefined or movable orientation, so that when approaching a certain type of workpiece carrier to the workpiece processing position, the latter, depending on the properties of its clamping body (size, structure, orientation, etc.), can orient itself differently to the locking structure and thus individually align the workpiece lying on the workpiece carrier.

In a further preferred case, the clamping modules of the locking structure can also be provided with any sensor or signaling devices, whereby the control system of the transport system already mentioned above can likewise be set up to send signals relating to the positioning of a workpiece carrier on the machine tool and/or the workpiece carrier storage device by the respective to obtain the locking structure installed there. Accordingly, it can be possible, for example, that the control system, preferably after clamping the workpiece carrier to the locking structure, receives a corresponding confirmation signal from the locking structure and can then be set up only after receiving this confirmation signal and after comparing other signals formations, control a release of the connection structures between the elements of the workpiece carrier receiving framework and the respective workpiece carrier. As a result, with the aid of the above-mentioned locking structures, both the precision of the above-mentioned, final assembly mechanism and the general fail-safety and adaptability of the present workpiece changing process can be significantly improved.

In addition to the optimization mechanisms of the locking structure, which are mainly effective at the workpiece processing position, in order to also detect possible inaccuracies in the transport path of the workpiece carrier during the vertical movement of the workpiece carrier required for loading along the machine tool and/or the workpiece carrier storage device and thus also during this process as optimally as possible In a particularly preferred exemplary embodiment, the at least one machine tool or the at least one workpiece carrier storage device can also include an optical sensor system aligned along the vertical travel path of the crane device, preferably in addition to the above-mentioned locking structure. For example, the optical sensor system can preferably be provided with a series of optical sensors, such as infrared sensors, which are aligned vertically on the machine tool and/or the workpiece carrier storage device, whereby the optical sensor system can preferably be set up during the vertical movement of the workpiece carrier its three-dimensional position, for example by determining the respective distance of the workpiece carrier from said sensors and subsequent trigonometric calculations, and to transmit the determined information, for example for position correction, as a position signal to the control system of the transport system. The determination and transmission of the position signals can preferably also take place in real time, so that the present transport system is able, for example by controlling various actuators of the loading device, to compensate for any inaccuracies that can occur, for example, due to natural vibrations within the crane device, even during the to minimize movement of the workpiece carrier. In a further particularly preferred exemplary embodiment of the present machine tool and/or tool carrier storage device, the optical sensor system can also be provided with at least one light barrier device aligned along the vertical travel path of the crane device, as a result of which a particularly simple and therefore error-independent position determination can take place.

In conclusion, it can be seen that the aforementioned technical features of the present invention can be used to provide a transport system and a processing system, in particular for processing heavy workpieces that can be used on large machines, which due to the above-mentioned combination of precision-improving transport mechanisms and control processes based on signal exchange realize an extremely efficient and automated workpiece change. As a result, it is possible by means of the present invention in particular to improve the production of large machine lines significantly.

In a particularly preferred case, the individual devices of the processing system can also be specifically adapted for this purpose to the processing and storage of heavy workpieces that are to be used for large machines. For example, the machine tool of the machining system that can be loaded vertically can preferably be designed as a portal machine, in a particularly preferred case also as a gantry machine, so that the selected workpiece can be machined on all sides with maximum efficiency and preferably without reloading.

Equally, the workpiece carrier storage device can comprise at least one heavy-duty rack set up for storing heavy workpieces to be used for large machines or workpiece carriers provided with workpieces, which can preferably be designed with at least one pull-out drawer element for vertical workpiece carrier exchange with the transport system. Accordingly, it may preferably be possible on the workpiece carrier storage facility to transfer a picked-up workpiece carrier by moving the crane device vertically, at least from the transport position to the aforementioned loading position, to a predefined set-up point on the heavy-duty rack and, if necessary, to remove it from the heavy-duty rack by returning the mechanism. Likewise, it can preferably be possible for the corresponding setup station of the heavy-duty rack to be provided with at least one embodiment of the locking structure described above, so that extremely precise and individually adjustable workpiece carrier positioning can also be implemented in the heavy-duty rack of the workpiece carrier storage facility.

In a particularly preferred embodiment, the heavy-duty rack can also, analogous to the control mechanisms of the tool machine and the transport system, can also be controlled automatically and be provided with appropriate signal transmitters and receivers. It may be possible, for example, that for more effective loading and unloading of workpieces or workpiece carriers from the workpiece carrier storage facility, signals from the control system of the transport system for the preparatory loading or unloading of a workpiece carrier from the workpiece carrier storage facility can be sent to the heavy-duty rack and this, in Response to the respective signal, select a drawer element and move at least in one direction for the loading or unloading process. Likewise, the heavy-duty rack can preferably also send signals to the control system of the transport system, for example about the status or the current position and the position to be approached of the respective setup station or drawer element, and thus, equivalent to the aforementioned interactions between the machine tool and the transport system, an extremely efficient one enable the transport process.

Finally, it should be noted again that the above-mentioned specific features of the present transport and processing system, in particular the automated control of the respective device elements, have no restrictive effect and are only to be understood as preferred exemplary embodiments of the present invention. For example, contrary to the above-mentioned function of the control system of the transport system, it can preferably also be possible for the automated control and the development of any automated workpiece change processes within the processing system to be carried out in addition to or instead of the described control system by any central control units, such as a centrally operated Server system can be carried out, whereby the adaptability of the respective processing or transport system can be further improved. In this case, the central control unit can be set up, for example, equivalent to the aforementioned control system of the transport system, to receive signals from one, but preferably also from several processing systems connected by processing processes, and to send them back to the plurality of processing systems, so that, compared to local control of device elements by the control system, also external devices or devices added to the machining system at a later point in time can be efficiently inserted into an existing machining process. Likewise, it can preferably also be possible in and through the control system of the transport system and/or the above-mentioned control unit, in addition to the process information already described above, other system-relevant parameters, such as the processing quality of a respectively processed workpiece, the utilization of the corresponding workpiece carrier storage facility or the inventory at the moment stored tools within the machine tools, to automatically save over predefined time intervals and to dynamically adapt the workpiece machining process according to said parameters. As a result, a machining system that is as flexible as possible and that can be completely adapted to the respective machining process can also be generated by the present invention.

• - Verfahren der Kranvorrichtung mittels einer Führungsvorrichtung entlang zumindest einer horizontalen Richtung;
• - Positionieren der Kranvorrichtung durch die Beladeeinrichtung oberhalb einer Arretierungsstruktur der Werkzeugmaschine und/oder der Werkstückträgerlagereinrichtung;
• - Positionieren eines Werkstückträgers in Richtung der Arretierungsstruktur durch vertikales Verfahren der Kranvorrichtung von einer Transportposition zu einer Bestückungsposition.

Analogously, the above-mentioned transport and processing systems can preferably also be used to transport and change workpieces for heavy workpieces and, in particular, for workpieces to be used on large machines, which comprises at least the following steps:

• - Moving the crane device by means of a guide device along at least one horizontal direction;
• - Positioning of the crane device by the loading device above a locking structure of the machine tool and/or the workpiece carrier storage device;
• - Positioning a workpiece carrier in the direction of the locking structure by moving the crane device vertically from a transport position to an assembly position.

• - Kontaktieren eines Einspannkörpers des von der Kranvorrichtung aufgenommenen Werkstückträgers in der Bestückungsposition mit einem an der Arretierungsstruktur angebrachten Spannmoduls;
• - Arretieren des Werkstückträgers an die Arretierungsstruktur durch lösbares Fixieren des Einspannkörpers an das Spannmodul;
• - Horizontales Verfahren von zumindest zwei verfahrbaren Stützelementen der Kranvorrichtung zumindest von einer ersten Aufnahmeposition zum sicheren Anfahren des Werkstückträgeraufnahmegerüsts an eine Werkstückverarbeitungsposition zu einer zweiten Aufnahmeposition zum Aufnehmen des Werkstückträgers durch die Stützelemente und zurück.
• - Bestimmen der Werkstückträgerposition durch direkte Positionsmessung an den Bewegungsachsen der Beladeeinrichtung;
• - Ermittlung des Verfahrweges eines aufgenommenen Werkstückträgers (WT) durch Vergleichen der aktuellen Werkstückträgerposition mit einer vordefinierten Werkstückverarbeitungsposition;
• - Automatisiertes Verfahren des Werkstückträgers auf Basis des ermittelten Verfahrweges;
• - Automatisierte Ansteuerung des Bearbeitungssystems auf Basis eines Signalaustausches bezüglich Arbeitsprozesse der Werkzeugmaschine, der Werkstückträgerlagereinrichtung und der Beladeeinrichtung.

In addition, the above-mentioned method for carrying out a particularly preferred change process can also be provided with the following steps:

• - Contacting a clamping body of the workpiece carrier picked up by the crane device in the loading position with a clamping module attached to the locking structure;
• - Locking the workpiece carrier to the locking structure by releasably fixing the clamping body to the clamping module;
• - Horizontal movement of at least two movable support elements of the crane device at least from a first receiving position for safe movement of the workpiece carrier receiving frame to a workpiece processing position to a second receiving position for receiving the workpiece carrier by the supporting elements and back.
• - Determination of the workpiece carrier position by direct position measurement on the movement axes of the loading device;
• - Determination of the traversing path of a picked-up workpiece carrier (WT) by comparing the current workpiece carrier position with a predefined workpiece processing position;
• - Automated movement of the workpiece carrier based on the determined travel path;
• - Automated control of the processing system based on a signal exchange regarding work processes of the machine tool, the workpiece carrier storage device and the loading device.

In addition, a computer program is proposed, comprising instructions which, when the program is executed by a computer, cause the latter to carry out the steps of the method as described above.

Advantageous configurations and further details of the present invention are described below using various exemplary embodiments with reference to schematic figures. In the schematic drawings, the invention is explained in more detail.

character list

• 1 1: shows a first three-dimensional view of the machining system according to the invention, including machine tools, workpiece carrier storage device and an exemplary embodiment of the claimed transport system;
• 2 : shows the three-dimensional view of the editing system of the 1 rotated 90° in a second three-dimensional view;
• 3 : shows the three-dimensional view of the processing system of the 1 rotated 180°;
• 4 : shows the cross-section of the editing system of the 1 in a front view;
• 5 : shows the cross-section of the processing system of the 1 in a supervision;
• 6 : shows a three-dimensional detailed view of a machine tool and the locking structure of the machine tool;
• 7 : shows a three-dimensional detailed view of the workpiece carrier storage facility together with the heavy-duty rack of the processing system 1 ;
• 8th : shows a first three-dimensional detailed view of the workpiece carrier receiving framework of the transport system 1 positioned at the workpiece carrier processing position;
• 9A 1: shows a first three-dimensional detailed view of a first embodiment of the workpiece carrier receiving frame along the vertical travel path of the crane device;
• 9B : shows the detailed view of the first embodiment of the workpiece carrier receiving framework of FIG 9A in the workpiece carrier processing position;
• 10A 1: shows a first three-dimensional detailed view of a second embodiment of the workpiece carrier receiving frame along the vertical travel path of the crane device;
• 10B : shows the detailed view of the second embodiment of the workpiece carrier receiving framework of FIG 10A in the workpiece processing position;
• 10C : shows the detailed view of the second embodiment of the workpiece carrier receiving framework of FIG 10A along the vertical traversing path and with the workpiece carrier picked up;

Detailed description of preferred embodiments

Exemplary embodiments of the present invention are described in detail below using exemplary figures. The features of the exemplary embodiments can be combined in whole or in part, and the present invention is not limited to the exemplary embodiments described.

In the 1 until 5 is an embodiment of the processing system 100 with two machine tools 200 and 300 (large machines, in particular a portal milling machine or gantry machine for machining large parts), a workpiece carrier storage device 400 (or storage device for a large number of workpiece carriers), an exemplary embodiment of the workpiece changer on the machine tools 200 ; 300 and the workpiece carrier storage device 400, as well as a loading section 600 positioned between the machine tools 200 and 300 and set up for the manual loading and/or removal of workpieces from a workpiece carrier WT, for example.

In this exemplary embodiment, the machine tools 200 and 300 are initially both provided with a gantry drive and specifically for machining heavy workpieces Portal machines designed for use on large machines. In this respect, both machine tools 200 and 300 in this case have a correspondingly large (here, for example, larger than 4 x 2 meters), loadable (for loads of up to 30 tons) and that can be loaded horizontally and vertically from at least one side, which is equipped with a movable casting bed 308 or tool table 208 and thus optimal positioning of corresponding workpieces picked up on a workpiece carrier WT and introduced into the machine tools 200 or 300 for processing is ensured. The casting bed 308 and the tool table 208 itself are provided with a pinion and rack and pinion drive for the uniform and, in particular, stable alignment of workpiece carriers or workpieces .

However, the associated tool portals 210 and 310, which are designed with a plurality of tool spindle devices, are positioned above the fitting sections 205 and 305 of the machine tools 200 and 300, in particular in order to enable an extremely compact form of the machine tool, and can likewise be replaced by at least one on the outer structure of the Machine tool 200 and 300 attached and parallel to the direction of movement of the casting bed 308 or the tool table 208 aligned first machine guide (here: a guide rail construct) be designed to be movable. Another second machine guide attached to the respective tool portal 210 and 310, oriented transversely to the first machine guide and connected to the respective tool spindle device, also enables an independent movement of the tool spindle devices along at least one plane spanned along the loading section 205 or 305, so that the widest possible and thus processing area that can even be used for large-area workpieces can be created. Optionally, it may also be possible for at least the second machine guide to be connected to a respective tool magazine of machine tool 200 or 300, in the preferred case to one or more wheel magazines arranged one behind the other, and set up in such a way that, by moving one of the tool spindle devices along at least the second Machine management, an automatable tool changing process can be performed between the last-mentioned tool spindle device and the tool magazine. In this respect, the above-mentioned guide mechanism results in an extremely efficient and dynamically usable spindle positioning process.

In order to further increase the precision and adaptability of the respective tool spindles implemented in the aforementioned spindle devices, the tool spindle devices of the present machine tools 200 and 300 are also provided with additional pivoting and movement actuators attached directly to the tool spindle of the respective tool spindle device, which allow it finely control an inserted tool, parallel to the movement patterns by the first and second machine guide, additionally at least vertically, as well as swiveling around a B and C axis. This has the particular advantage that by individually controlling the individual actuators of the machine guides and the tool spindle device, the tool placed in the spindle device in the corresponding spindle can be brought extremely efficiently to the respective workpiece and even large-scale machining processes can be implemented in one consecutive machining step. In this respect, the machine tools 200 and 300 of the present machining system are able to enable a machining process that is both precise and suitable for heavy or oversized workpieces at any time due to the above-mentioned spindle mechanisms that can be moved flexibly and over a wide area.

In 6 an exemplary embodiment of a locking structure 204 configured for precisely fixing a respective workpiece carrier WT to the machine tools 200 and 300 is also shown, which in the present case is shown as a worktop construct clamped centrally on the tool table 208 of the machine tool 200. As in 6 The locking structure 204 of the machine tool 200 can be seen, in particular, with a planar surface and with a plurality of clamping modules 206 and connecting elements, such as grooves and threaded holes, which enable a specific workpiece carrier WT to be introduced into the machine tool 200 as efficiently and individually as possible. In addition, due to the above-mentioned contact with tool table 208, locking structure 204 is set up to move by moving the latter, both transversely along the longitudinal axis of machine tool 200 and at least in rotation about a vertically aligned axis of rotation, which not only results in the orientation of the locking structure 204 can be dynamically adjusted at any time, but equally important further process steps, such as the loading of the machine tool 200, due to the omission of any required workpiece orientation simplified. Further potential incorporations of a locking structure 204 or 304 into a machine tool or another device of the machining system 100 can also be derived from 8th until 10 see, in which another possible embodiment of the locking structure 304 was introduced into the casting bed 308 of the machine tool 300. However, any embodiments of the locking structures 204 and 304 are by no means limited to the implementation in a machine tool, but can equally be used in other devices, such as the workpiece carrier storage device 400 and the loading section 600 of the processing system 100 .

For the precise fixing of a workpiece carrier WT to the locking structure 204, the 6 shown clamping modules also formed in the present embodiment as pneumatically operated quick-change pallet modules. In this respect, the latter are set up in particular in such a way that, by inserting clamping bodies (in this case specific clamping bolts) attached to the underside of a workpiece carrier WT into the clamping modules, or corresponding receiving structures of the clamping modules, a pneumatically supported connection between the tool carrier WT and the locking structure 204 can be generated, which detachably fixes the tool carrier WT after it has approached the locking structure 204. The present locking structure 204 thus has the particular advantage that systematic pressure build-up and reduction within the present clamping modules 206 creates an extremely efficient fixing process that can be used in particular for automated control diverse orientation of the introduced in the locking structure 204 clamping modules 206, a flexible and dynamically adjustable alignment of the respective workpiece carrier WT. In addition, it is possible, for example through the use of conically shaped receiving structures (i.e. with large, inwardly narrowing insertion geometries within the clamping modules 206), to generate automatic fine centering of a workpiece carrier WT during insertion into the corresponding clamping modules, whereby a corresponding workpiece carrier WT, for example when equipping a machine tool 200 or 300, can be fastened quickly and extremely efficiently to the locking structure even in transport systems provided with smaller natural vibrations. In this respect, the above-mentioned locking structure 204 can be used effectively in particular for the accelerated exchange of workpiece carriers WT provided with large or heavy workpieces in order to effectively compensate for any negative inertia effects generated, for example, due to the increased carrying weight.

The workpiece carrier storage device 400 of the processing system 100 shown is also in this case designed as a three storage level and in 7 heavy-duty rack shown in more detail, which stores workpiece carriers WT of various types (identified here by different sizes) both with and without workpieces in individual drawer elements 402 placed in the various storage levels and store them for further use, for example for subsequent acceptance or further processing of a workpiece , can release again. For this purpose, the individual drawer elements 402 of the workpiece carrier storage system 400 are set up, in particular, to move at least horizontally between a storage position for effectively storing a picked-up workpiece carrier to a predefined loading and unloading position for changing the workpiece carrier with the aforementioned transport system and back, with the latter position being defined in particular as a result that a workpiece carrier WT accommodated or to be added in the respective drawer element 402 can contact freely at least from above and can thus be removed from or added to the workpiece carrier storage device 400 by the previously mentioned and vertically aligned workpiece carrier changing process of the transport system.

For improved and more precise positioning of a specific workpiece carrier WT in a respective drawer element 402, the latter can also be provided with a guide structure that is adapted to the geometry of the workpiece carrier WT and is set up so that it can be released in at least one direction by making contact with the underside of the workpiece carrier WT fix and thus bring effectively into the heavy-duty rack. The drawer elements 402 that can be seen in the present exemplary embodiment, such as in 7 shown, with specifically arranged structural elements 404, shown as elongated support beams positioned at various distances from one another, which, in relation to the aforementioned distances, are designed to be complementary to specific indentations on the underside of a specific workpiece carrier type (here a specific workpiece carrier size) and thus allow suitable workpiece carriers WT to be fixed to the longitudinal side of the drawer element 402 by positioning them on the corresponding drawer element 402 (and thus inserting the structural elements 404 into the notch described above). Consequently it is due to the above The structural elements mentioned above are not only possible to generate a highly structured storage of individual workpiece carriers WT in the workpiece carrier storage device 400, but also to make the positioning of the former even more precise by the introduction process described above. Alternatively, far more complex structural elements, for example those that can be controlled automatically and/or are based on pneumatic or electrical fixing mechanisms, such as the locking structure 204 or 304 of the machine tools 200 and 300, can also be introduced into the workpiece carrier storage device 400.

1 until 5 also show a first embodiment of the transport system of the present processing system 100, in which the loading device 500 is designed in this case as an overhead traveling crane system based on a plurality of support beams 503. In this respect, the illustrated embodiment of the transport system initially comprises a large number of support beams 503 positioned around the processing system 100, which, aligned vertically, form a framework for the guide device 501 of the loading device 500 lying thereon, as well as the crane device 502, which is designed to be movable on the guide device 501, and thus primarily due to their individually placeable support structures, an extremely flexible and individually expandable and adaptable transport system has been realized. However, further embodiments of the present loading device 500 can also use other support structures, for example those already existing in a processing system, in order to define the general geometry of the above-mentioned guiding device 501 more precisely. For example, it is equally possible that the guide device 501, instead of in the 1 until 5 support beams 503 shown, can also be attached directly to building structures arranged around the processing system 100, such as the ceiling or the side walls of an operating hall assigned to the processing system 100, whereby an equally cost-effective and stable alternative to the support structure shown here is generated.

In the present exemplary embodiment, the guide device 501 designed to guide the crane device 502 also comprises a first guide support section 501A, which is attached to the upper end of the support beams 503 and is thus aligned along a first travel direction as a result of the positioning of the support beams 503, through which the crane device 502 is allowed to move along to move freely in this first direction of travel and in particular above the machine tools 200 and 300, the workpiece carrier storage device 400 and the loading section 600. For the precise orientation of the crane device 502 during this process, the first guide support section 501A in the present embodiment of the processing system 100 is designed as a straight rail construction consisting in particular of two parallel and horizontally aligned guide rails, on which the crane device 502 is mounted with the aid of and is designed to be movable with motor-driven guide carriages 512. A second guide support section 501B, which is mounted on the guide carriage 512 and can be moved by it in the same way, also enables the parallel movement of the crane device 502 along a second axis oriented transversely to the guide rails of the first guide section 501A, in that this axis, which carries the crane device 502, acts as one two guide rails existing rail construction is formed. Accordingly, in the present processing system 100, it is possible to move the crane device 512 extremely efficiently and, in particular due to the arrangement of the Guide device 501 above the other elements of the processing system 100 directly, i.e. without any detours, to any position above the processing system 100, which reduces any transport times and errors to a minimum and thus significantly improves the effectiveness and precision of the respective workpiece changing process can.

In the illustrated embodiment of the processing system 100, however, the crane device 502 itself is constructed as a trolley device that is positioned on the second guide support section 501B and can be moved independently by an internal motor. In addition to the movement actuators mentioned above, the latter also includes, in particular, a lifting element that is attached centrally to crane device 502 and is equipped with a plurality of cable winches, which allows crane device 502 to use the workpiece carrier receiving frame, which is connected to the lifting element by lifting cables 511 and is set up to accommodate workpiece carriers WT 506 of the loading device 500 to move vertically.

As already mentioned, the illustrated embodiment of the crane device 502 in particular has the advantage that by independently moving the crane device 502 or the workpiece carrier receiving frame 506 in both A transport system that reduces natural vibrations in particular and is therefore far more precise can be generated both horizontally and vertically. For example, the movement pattern of crane device 502 can accordingly be defined in such a way that workpiece carrier receiving frame 506, for example after picking up a workpiece carrier WT from a machine tool 200 or 300, initially moves only vertically from a workpiece processing position defined by the pickup to a defined position near the lifting element of crane device 502 transport position (forward in order to avoid any horizontally aligned natural oscillations of the workpiece carrier receiving frame 506) and only in the above-mentioned transport position, in which the load-bearing length of the above-mentioned hoisting ropes 511 (and thus their potential oscillation radii) is minimized, along the guide device 501 horizontally is moved to a next position declared for the workpiece change. In this respect, the present transport system generates an extremely efficient transport process, especially for heavy workpieces with high inertial forces, by reducing potential inherent movements and overlapping of several, simultaneously acting movement impulses within the loading device to a minimum.

8th also shows a detailed view of the present embodiment of the workpiece carrier receiving frame 506 at the workpiece processing position of the machine tool 300. The former comprises the processing system shown in FIG 1 until 5 a suspension structure 514 consisting of two beam elements 515 and 516 mounted one above the other, on which the workpiece carrier receiving frame 506 is coupled to the lifting cables of the crane devices 502 via detachable connections, in this case via a plurality of mechanical hook connections. The bar elements, in particular the bar element 516, are also provided with an internal rail system, in which the two support elements 508 designed to accommodate workpiece carriers WT and movable along this rail system (here by an integrated actuator system) are movably introduced.

A precise representation of the movement mechanism of the above support elements 508 and the associated workpiece (carrier) changing process can also be found in FIGS 9A and 9B be taken, in which the recording process of a workpiece carrier WT by the previously described workpiece carrier receiving frame 506 on the machine tool 300 is shown as an example. For this purpose, the present workpiece carrier receiving frame 506 in 9A initially shown in a first orientation provided with the two support elements 508 in a retracted form in the beam element 516, which is particularly suitable for moving the latter quickly and without a workpiece carrier due to the resulting extremely compact shape of the workpiece carrier receiving frame 506. If, on the other hand, the control system of the loading device 500 controls a workpiece carrier receptacle and proceeds accordingly, as in 9A shown, the workpiece carrier receiving frame 506 is moved out vertically by the crane device 502 in the direction of the workpiece carrier WT to be picked up (here positioned on the locking structure 304), the support elements 508 of the workpiece carrier receiving frame 506 are likewise set up to move out horizontally, i.e. along the rail system defined by the beam element 516 (see the arrows shown in FIGS. 9A and 9B), so that the general receiving width of the workpiece carrier receiving frame 506 increases as a result of the above-mentioned mechanism. The corresponding travel length of the support elements 508 can be made dependent, for example, on the dimensions of the respective workpiece carrier WT to be picked up: It is possible, for example, as already described above, for the loading device 500 to use an integrated control system to transmit information regarding essential transport parameters, such as the workpiece carrier size, obtained by exchanging signals with any elements of the machining center and can automatically adapt the workpiece change process accordingly. Accordingly, in this case, loading device 500 is preferably capable of initially moving the extended length of said support elements 508 into a first receiving position such that the area spanned by support elements 508 is at least larger than the area of workpiece carrier WT.

The latter is justified in particular by the fact that the support elements 508 of the present workpiece carrier mounting frame 502 for receiving any workpiece carriers WT comprises an L-shaped receiving section 510 attached to the lower end of the support elements 508, which is provided laterally on the underside for the load-bearing fixation of the workpiece carrier WT must. In this respect, the movement of the support elements 508 into the first receiving position described above prevents collisions of the support elements 508 with the workpiece carrier WT to be picked up that could potentially occur during the vertical movement of the workpiece carrier receiving frame 508, it being possible for the support elements 508 to be oriented in the same way for the subsequent receiving of the workpiece carrier WT .

As a result, the general recording process by the present workpiece carrier receiving frame 508 provides that, while the workpiece carrier receiving frame 506 is approaching vertically by the crane device 502, the support elements 508 are first moved into the first receiving position and are thus made available for the receiving process. In order to ensure particularly precise contacting of receiving sections 510 with tool carrier WT, workpiece carrier receiving frame 506 is then positioned over tool carrier WT in such a way that workpiece carrier receiving frame 506 hangs exactly in the center above workpiece carrier WT and the two receiving sections 510 of support elements 508 are level with the Underside of said workpiece carrier are placed. In particular, this allows the receiving sections 510 to be moved horizontally in the direction of the workpiece carrier WT to be received in a next step, explicitly by the renewed and uniform insertion of the support elements 508 into the rail system of the beam element 516, until these, as in 9B shown, are in contact with the workpiece carrier WT on both sides and are designed to support the workpiece carrier WT (second receiving position). In this respect, the above-mentioned pick-up process can provide, in particular, a mechanism with which a desired workpiece carrier WT can be picked up as centrally as possible and by using the lowest possible shearing forces in the workpiece carrier mounting frame 506, thereby increasing the transport stability and durability of the workpiece mounting frame 506, especially in the case of heavy workpieces can be improved. Another vertical lifting of the workpiece carrier receiving frame 506 by the crane device 502 (combined with the release of the pneumatic fixation by the locking structure 304) ultimately also enables the transport of the picked-up workpiece carrier WT through the workpiece carrier receiving frame 506 and thus the repositioning according to the workpieces stored on the workpiece carrier WT. Accordingly, it is to be understood that the above-mentioned mechanism can of course also be carried out in reverse in order to feed workpiece carriers WT picked up by the transport system 500 to a machine tool 200 or 300 or another device of the present processing system 100 .

In the 10A until 10C Also, the workpiece pick-up process by the transport system is illustrated with a second possible form of the workpiece carrier pick-up frame 506B of the present invention. Here said second embodiment of the workpiece carrier receiving frame 506B differs in particular from the previously described first embodiment of FIG 8th and 9 by the property that the suspension structure 514B of the second embodiment is formed of only four beam elements rigidly connected to each other and to form a tetragon, which, each uniformly, are connected at the corners of the above-mentioned tetragon shape by means of hook connections to the hoisting ropes 511 of the crane device 502. Equally attached to the corners is a centering structure 518 attached to the outside and inside of the bar elements, which in the present case consists of a vertically aligned locking bolt 518A designed for releasable fixing to the workpiece carrier WT and an equally vertically aligned and Centering of the workpiece carrier receiving frame 506 configured angle element 518B is formed.

If a workpiece carrier is now picked up by this second embodiment of the workpiece carrier pickup frame 506, the latter, analogous to the process of the first exemplary embodiment, is initially positioned again by the control system of the loading device 500 as centered as possible above the workpiece carrier WT to be picked up ( 10A) . Contrary to any positioning of additional support elements, the pick-up process of the second embodiment only provides for the further lowering of the workpiece carrier pick-up frame 506 in a next step ( 10B) , as a result of which the above-mentioned elements of the centering structure 518 are introduced into fixing elements on the surface of the workpiece carrier WT which are specially set up for connection to the latter.

Correspondingly, in this exemplary embodiment, the workpiece carriers WT include at least additional receptacles WT1 positioned at the corner points of the workpiece carrier WT and attached for mechanically fixing the locking bolts 518A described above, as well as a row of corner centering devices WT2 shaped to center the workpiece carrier receiving framework 506 in accordance with the angle elements 518B. If the workpiece carrier receiving frame 506, as described above, now continues to approach the respective workpiece carrier WT vertically, from a certain point in time the angle element 518B of the suspension structure 518 engages in the corner centering WT2 of the workpiece carrier WT, as a result of which the workpiece carrier receiving frame 506 effectively moves along the outer shape of the Workpiece carrier WT is guided along and thus effectively centered, in particular for uniform recording. In addition, the locking bolts 518A are thereby automatically aligned above the receptacles WT1, so that the former, by continuing Lowering the workpiece carrier receiving frame 506, likewise introduced into receptacles WT1 and thus a detachable fixing of the workpiece carrier WT to the workpiece carrier receiving frame 506 can be generated.

Accordingly, the workpiece carrier pick-up process based on the second illustrated embodiment of the workpiece carrier pick-up frame 506 has the advantage of transferring a respective workpiece carrier WT both through the previously described automatic alignment of the workpiece carrier pick-up frame 506 centrally and with a uniform weight distribution to the workpiece carrier pick-up frame 506, and this alone by connection at the top to fix load-bearing, whereby an extremely compact and thus particularly suitable for hard-to-reach machining areas workpiece (carrier) changing process can be generated. In addition, the underside of the respective workpiece carrier WT remains free at all times during transport through the transport system, so that any contact with a structure holding the workpiece carrier WT, such as the above-mentioned locking structure 204 or 304, is significantly simplified. In a last step ( 10C ) In this case, too, by releasing the connection structures created by the clamping modules 306 and raising the workpiece carrier receiving frame 506 by actuating the crane device 502, the workpiece carrier WT can be detached from the locking structure 304 and thus be moved through the transport system for effective onward transport.

As can thus be seen from the illustrated exemplary embodiments of various elements of the processing system 100, a large part of the present invention focuses on the implementation of a transport and processing system which has a workpiece changing process that is as precise as possible and therefore suitable for implementation in an automatable control mechanism for heavy and workpieces to be used on large machines are generated. In this respect, it is equally understandable that each of the above-mentioned features of the various elements of the processing system 100 shown, which are particularly suitable for storage, processing and transport, can also be controlled automatically by an external control system, for example the control system already mentioned and which can be integrated into the loading device and thus, in conjunction with the signal exchange also described above and the dynamic time sequences of individual transport processes that can be created as a result, enables a workpiece processing system that is far more effective, error-free and, in particular, automated to be operated compared to the prior art.

Existing features, components, and specific details may be interchanged and/or combined to create further embodiments, depending on the required use. Any modifications that are within the knowledge of a person skilled in the art are implicitly disclosed with the present description.

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• WO 2018190052 A1 [0004]

Claims (17)

Transport system for the automated transport of workpiece carriers (WT) between at least one machine tool (200; 300) that can be loaded vertically and a workpiece carrier storage facility (400) that can be loaded vertically, the workpiece carrier storage facility (400) preferably having a heavy-duty rack for storing workpieces, in particular for large machines, wherein the transport system includes: - one or more workpiece carriers (WT) for receiving at least one workpiece, - a loading device (500) for overhead transport of workpiece carriers (WT) between the machine tool (200; 300) and the workpiece carrier storage devices (400) and - a crane device (502) attached to the loading device (500) for the vertical loading of the machine tool (200; 300) and the workpiece carrier storage device (400) with a workpiece carrier (WT), the loading device (500) being equipped with an automatable control system which to control the loading process, exchanges signals with the machine tool (200; 300) and/or the workpiece carrier storage device (400) in order to control the transport of the workpiece carrier (WT) through the loading device (500) based on the exchanged signals, preferably automatically. Transport system according to claim 1 , wherein the loading device (500) comprises a guide device (501) for moving the crane device (502) along at least one horizontal direction; and the crane device (502) is set up to move the workpiece carrier (WT) vertically from a transport position to a loading position and back for loading the machine tool (200; 300) and the workpiece carrier storage device (400). Transport system according to any one of the preceding claims, wherein the loading device (500) comprises an internal positioning system for positioning the workpiece carrier (WT) at a workpiece processing position; the internal positioning system comprises a position sensor device for determining the position of a received workpiece carrier (WT); and the positioning system is set up, based on the determined position of the picked-up workpiece carrier (WT) and predefined coordinates of the workpiece processing position, to move the workpiece carrier (WT) along a travel path to the workpiece processing position. Transport system according to one of the preceding claims, wherein the sensors of the position sensor device are attached directly to the movement axes of the loading device (500). Transport system according to at least one of the preceding claims, wherein the crane device (502) comprises a workpiece carrier receiving frame (506) for receiving and delivering at least one workpiece carrier (WT) by the crane device (502); the workpiece carrier receiving frame (506) is provided hanging on the crane device (502); and wherein the workpiece carrier receiving framework (506) preferably comprises at least two movable support elements (508) which enclose the workpiece carrier (WT) in a supporting manner from at least one side when the workpiece carrier is being transported. Transport system according to at least one of the preceding claims, wherein the at least two movable support elements (508) for receiving the workpiece carrier (WT) horizontally at least from a first receiving position for safe movement of the workpiece carrier receiving frame (506) to the workpiece processing position to a second receiving position for receiving the workpiece carrier ( WT) can be moved through the support elements (508) and back. Transport system according to at least one of the preceding claims, wherein the workpiece receiving frame (506) is set up such that after receiving the workpiece carrier (WT), the underside of the workpiece carrier (WT) is exposed, preferably completely. Transport system according to at least one of the preceding claims, wherein the loading device (500) comprises a weight sensor device for checking the pick-up position of a workpiece carrier (WT) picked up by the crane device (502); the weight sensor device is set up to determine the weight distribution directly on the workpiece carrier receiving frame (506) of the crane device (502) and to compare it with a predefined limit value; and in the event that at least one determined value exceeds the predefined limit value, to transmit a warning signal to the loading device (500) to check the receiving position. Processing system (100) for the automatic processing of workpieces, comprising at least one machine tool (200; 300) that can be loaded vertically, which is preferably a portal machining center, a workpiece carrier storage device (400) that can be loaded vertically, and a transport System according to at least one of the preceding claims, wherein the automated control system of the loading device (500) is set up to exchange signals with the machine tool (200; 300) and the workpiece carrier storage device (400); and the machine tool (200; 300), the workpiece carrier storage device (400) and the loading device (500) are set up to carry out the processing, storage and transport of the workpieces by means of workpiece carriers (WT) based on the exchanged information, preferably automatically. Processing system (100) according to any one of the preceding claims, wherein a locking structure (204; 304) for locking the workpiece carrier (WT) is provided in the machine tool (200; 300) and/or the workpiece carrier storage device (400); and the locking structure (204; 304) is set up to position the workpiece carrier (WT) in the machine tool (200; 300) and/or the workpiece carrier storage device (400) by releasably fixing a workpiece carrier (WT), preferably on the underside. Processing system (100) according to at least one of the preceding claims, wherein the guide device (501) of the loading device (500) is arranged above the at least one machine tool (200; 300) and/or the workpiece carrier storage device (400); and the loading device (500) is set up to move the workpiece carrier (WT) in the transport position above the machine tool (200; 300) and workpiece carrier storage device (400). Processing system (100) according to at least one of the preceding claims, wherein the locking structure (204; 304) is provided with at least one clamping module (206; 306) for releasably fixing the workpiece carrier (WT) to the locking structure (204; 304); whereby the clamping module (206; 306) can be engaged with a clamping body attached to the underside of the workpiece carrier (WT), so that the workpiece carrier (WT), after the workpiece carrier (WT) has been moved into the processing position, by clamping the clamping body (204; 304) in the clamping module (206; 306) is releasably fixed; and the clamping module (206; 306) is set up to clamp the clamping body mechanically, electrically and/or pneumatically. Processing system (100) according to at least one of the preceding claims, wherein the at least one machine tool (200; 300) and/or the workpiece carrier storage device (400) is equipped with an optical sensor system for the precise determination of the position of the workpiece carrier (WT) along the vertical travel path of the workpiece carrier (WT) by the crane device (502); and the optical sensor system comprises at least one light barrier device attached to the vertical travel path of the crane device (502). Processing system (100) according to at least one of the preceding claims, wherein the workpiece carrier storage device (400) comprises a heavy-duty rack for storing workpieces, in particular workpieces for large machines, accommodated on a workpiece carrier (WT); whereby the heavy-duty shelf is provided with at least one pull-out drawer element (402) for storing a workpiece carrier (WT); and preferred the workpiece carrier storage device (400) is set up in such a way that the workpiece carrier (WT) is transferred to a setup station of the pulled-out drawer element (402) by the crane device (502) moving the workpiece carrier (WT) vertically from the transport position to the loading position. Method for automated workpiece carrier changing in a processing system (100) comprising at least one vertically loadable machine tool (200; 300), a vertically loadable workpiece carrier storage device (400) and a transport system, provided with a loading device (500) and a crane device attached to the loading device (502). (502), comprising the steps: - Moving the crane device (502) by means of a guide device (501) along at least one horizontal direction; - Positioning of the crane device (502) by the loading device (500) above a locking structure (204; 304) of the machine tool (200; 300) and/or the workpiece carrier storage device (400); - Positioning a workpiece carrier (WT) in the direction of the locking structure (204; 304) by vertically moving the crane device (502) from a transport position to an assembly position. procedure after claim 15 , having at least one additional step of the steps: - contacting a clamping body of the workpiece carrier (WT) picked up by the crane device (502) in the loading position with a clamping module (206; 306) attached to the locking structure (204; 304); - Locking the workpiece carrier (WT) to the locking structure (204; 304) by releasably fixing the clamping body to the clamping module (206; 306); - Horizontal movement of at least two movable support elements (508) of the workpiece carrier receiving frame (506) at least from a first receiving position for safe movement of the workpiece carrier receiving frame (506) to a workpiece processing position to a second receiving position for receiving the workpiece carrier (WT) by the supporting elements (508) and return. Method according to at least one of the preceding claims, further comprising at least one of the steps: - Determining the workpiece carrier position by direct position measurement on the movement axes of the loading device (500); - Determination of the traversing path of a picked-up workpiece carrier (WT) by comparing the current workpiece carrier position with a predefined workpiece processing position; - Automated movement of the workpiece carrier (WT) based on the determined travel path; - Automated control of the processing system (100) on the basis of a signal exchange regarding work processes of the machine tool (200; 300), the workpiece carrier storage device (400) and the loading device (500).

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