DE202005012039U1 - Handling device for at least one processing machine - Google Patents

Abstract

Handling device for at least one Processing machine (1), with a shelf-like magazine (2) with several magazine locations (3), with a on the magazine (2) arranged first horizontal Movement path (4), with a on the first trajectory (4) movable support unit (5), which has a second, to the first horizontal trajectory (4) transversely arranged second movement path (6) and one along this carrying a movable first arm (7), and one at the end portion of the first arm (7), vertical, vertically movable, with a gripper unit (8) provided second arm (9).

Description

The The invention relates to a handling device for at least one processing machine or a processing machine handling device.

Out The prior art discloses various multi-axis handling devices, For example, 3-axis linear handling devices. These are usually for Equip and Loading of processing machines, machine tools or the like used.

The Arrangement of such handling devices is made of a variety of Embodiments known. So these are for example about the to be equipped or unloading processing machines arranged, with the vertical Axle designed as a telescopic axis can be to the overall height to reduce.

Farther Prior art handling devices often have axes of rotation, around the workpieces to be handled or turning tools.

Of the The prior art still has different configurations of magazines, for example for storing workpieces and / or Tools. The magazines can be designed as linear magazines or as rotary magazines.

adversely it turns out in the arrangements known from the prior art, that this relatively much space between the magazine or shelf and the processing machine need.

at a direct combination of a processing machine with a handling device and a magazine, this is a self-contained asset, so that the interaction with other magazines and / or others Machining is not or only insufficiently possible.

Of the Invention is based on the object, a handling device or a Processing machine with handling device of the type mentioned to create, with a simple design and easier, cheaper Design avoids the disadvantages of the prior art and in particular have a small space requirement.

According to the invention Problem solved by the feature combination of the main claim. The under claims show further advantageous embodiments of the invention.

The inventive solution provides thus a favorable one spatial Arrangement in which the handling device saves space both to the magazine for workpieces and / or Tools as well as to the at least one processing machine arranged can be.

This is according to the invention Handling device preferably as linear handling device trained and mounted on a shelf-like magazine, which is preferably designed as a shelf or shelving system. The handling device can be longitudinal in one axis of the shelving system along the first horizontal trajectory move become. Vertically or transversely to this is a second trajectory provided to the second arm and the gripper unit provided thereon both in front of the respective magazine locations and in the editing room to enter the respective processing machine.

At the vertically arranged, vertically movable second arm are preferably one or more rotary axes (axes of rotation) provided to position the gripper unit accordingly. It is understood that according to the invention, the gripper unit as well Coupling element can be formed to workpieces or To pick up or place pallets or tools. In a cheap one Further development of the invention it can also be provided, a Change gripper to transport different workpieces or tools to be able to.

The magazine places of the shelf-like magazine are used to store workpieces, pallets with workpieces and / or tools for the processing in one or more processing machines, machine tools or similar.

Of the Distance between the inventively provided magazine and the processing machine according to the invention must only be so large a workpiece removed from the magazine is turned and transported can be. This results in a very space-saving arrangement, which also from the working height optimized and adapted to the respective circumstances.

Especially it is inventively favorable that the shelf-like magazine can be designed as a shelving system. Consequently Is it possible, prefabricated shelving system elements arbitrarily in horizontal and / or vertical alignment.

If several processing machines are to be loaded and / or unloaded, they can be placed along the shelf-like magazine in a row. The shelf-like magazine is thus virtually endlessly extendable. For this it is only necessary to put some shelf systems or shelf elements together and the first horizonta le movement corresponding to adapt their length.

The first horizontal trajectory (linear axis) is for example with two guide rails and a rack to ensure a safe movement to be able to realize.

It is according to the invention thus possible To position any number of processing machines next to each other and to automate by means of a single shelf-like magazine and the handling device according to the invention.

An assembly of a processing machine using the handling device according to the invention can take place, for example, as follows:
The handling device moves to the magazine location in the shelf-like magazine on which the workpiece to be processed is located. The gripper unit is pivoted in the direction of the workpiece or pallet on which the workpiece is arranged, and engages this or these. Subsequently, the handling device removes the workpiece from the magazine location by first lifting it slightly and then moving out of the magazine. The handling device then pivots the workpiece through 180 ° in the direction of the processing machine so that it no longer points in the direction of the magazine, but in the direction of the processing machine. The handling device then moves into the working space of the desired processing machine and brings the workpiece or the pallet with the workpiece into the chuck provided for this purpose on the machine table.

Of the Removal process from the processing machine back into the magazine is analogous vice versa.

The the same procedure results in a tool change.

It is understood that it is also possible according to the invention, by means of the handling device workpiece from a processing machine directly to the next processing machine for the next operation to transport and to dispense with a clipboard on the magazine.

Farther can on the front pages of the shelf-like magazine also processing machines stand. Also an arrangement of processing machines on both sides the magazine is possible. For this purpose, only the handling device with a corresponding Be provided turning or pivoting device.

By is the modular structure of the handling device according to the invention it also possible economical to expand existing plants.

in the Below, the invention is based on an embodiment in connection described with the drawing. Showing:

1 1 a schematic side view of a handling device according to the invention with a processing machine in the loading / unloading state of the processing machine,

2 a side view, analog 1 , in the loading or unloading of the magazine, and

3 a plan view of the arrangement of 2 ,

According to the invention is a processing machine 1 with a workroom 10 intended. This processing machine 1 corresponds to the prior art and is designed for example as a milling machine. A detailed description in this respect can therefore be dispensed with.

Adjacent to the processing machine 1 is a shelf-like magazine 2 provided, which has a variety of magazine locations 3 includes. On the top of the magazine 2 is a first trajectory 4 arranged in the form of second, mutually parallel rails, on which a carrier unit 5 along the magazine 2 is movable. On the representation of the drive and other auxiliary units has been omitted for clarity.

On the carrier unit 5 is by means of a second trajectory 6 , which also several rails o.ä. may include a first arm 7 stored, which, as shown by the arrow, horizontally and transversely to the longitudinal axis of the magazine 2 is movable.

At the free end of the first arm 7 is a second arm 9 attached, which is vertically movable as shown by the arrows and / or is additionally telescopic. At the free end of the second arm 9 is a gripper unit 8th arranged around the vertical axis of the second arm 9 is pivotable. In the embodiment shown the 1 grips the gripper unit 8th a pallet 11 or a workpiece.

The magazine 2 stores different pallets / workpieces in its magazine locations 11 , Tools 12 and / or workpieces 13 ,

The 2 shows the state after removal of the workpiece or the pallet 11 from the workroom 10 and rotation of the gripper unit 8th , so that the pallet 11 or the workpiece 11 in a magazine place 3 is retractable.

The 3 shows a plan view from which the longitudinal extent of the magazine with the juxtaposed magazine places 3 results.

1

processing machine

2

magazine

3

magazine location

4

first trajectory

5

support unit

6

second trajectory

7

first poor

8th

gripper unit

9

second poor

10

working space

11

Palette / workpiece

12

Tool

13

workpiece

Claims (8)

Handling device for at least one processing machine ( 1 ), with a shelf-like magazine ( 2 ) with several magazine locations ( 3 ), with one on the magazine ( 2 ) arranged first horizontal trajectory ( 4 ), with one on the first trajectory ( 4 ) movable carrier unit ( 5 ), which has a second, to the first horizontal trajectory ( 4 ) transversely arranged second trajectory ( 6 ) and one along this one movable first arm ( 7 ) and with one at the end of the first arm ( 7 ), vertical, vertically movable, with a gripper unit ( 8th ) second arm ( 9 ). Handling device according to claim 1, characterized in that the magazine ( 2 ) is designed as a shelf. Handling device according to claim 1 or 2, characterized in that the magazine ( 2 ) is designed as a shelving system. Handling device according to one of claims 1 to 3, characterized in that the first horizontal trajectory ( 4 ) at least one on the magazine ( 2 ) arranged rail comprises. Handling device according to one of claims 1 to 4, characterized in that the gripper unit ( 8th ) is designed as a turning gripper. Handling device according to one of claims 1 to 5, characterized in that the first arm ( 7 ) for entering a working space ( 10 ) of the processing machine ( 1 ) is formed extended. Handling device according to one of claims 1 to 6, characterized in that the first trajectory ( 4 ), the carrier unit ( 5 ), the second trajectory ( 6 ), the first arm ( 7 ), the second arm ( 9 ) and / or the gripper unit ( 8th ) are designed as linear handling device. handling device according to one of the claims 1 to 7, characterized in that this is a processing machine handling device.