EP2783768B1 - Method for removing workpieces from a processing machine and processing machine - Google Patents

Description

The invention relates to a method according to the preamble of patent claim 1 for removing workpieces from a processing machine and a processing machine according to the preamble of claim 9, wherein the workpieces of a plate-shaped material which rests on a workpiece support in the processing machine with a processing device Cutting edges are produced.

In a processing of the plate-shaped material is carried out so far each individually a removal of the produced workpiece from the processing area, which is removed after a free cutting with a removal device from the processing area and fed to an unloading station. The required cycle time for the removal and unloading of the cut-free workpiece by means of the removal device is usually greater than the processing time for cutting the subsequent workpiece. This leads to waiting times and to a deterioration in the degree of automation, especially for small workpiece parts.

From the EP 1 967 301 A1 Disclosing a method according to the preamble of claim 1 and a processing machine according to the preamble of claim 9, a processing machine for processing plate-shaped material is known. This processing device comprises a workpiece support for receiving a plate-shaped material to be processed as well as a removal device in which the produced workpieces can be transferred from the processing device into an unloading station. The removal device has four holding elements, which are arranged together on a support structure. These holding elements can be moved via the support structure together in a removal position for removal of the machined workpiece and again herausführbar.

From the US 2010/0040450 A1 a Mehrächsenroboter with a gripping device is known in which the gripping device comprises a plurality of arranged in a plane suction nozzles, which are individually controllable. For removal of workpieces, the entire gripping device is several times transferred to a removal position to remove the individual workpieces, wherein for picking up further workpieces, the removal device is rotated about a vertical axis to the plane of the suction nozzles, so that workpieces can be added to the other free positions of the gripping device.

The invention has for its object to provide a method for removing workpieces from a processing machine and a processing machine by which an increase in the cycle time and thus an improvement in productivity with a particular skeletal free processing of the plate-shaped material is made possible.

This object is achieved by a method according to claim 1, wherein after the cutting of the first workpiece, a removal device is positioned with a holding member in a receiving position for the first workpiece, the workpiece receives and then the removal device in a waiting position outside the receiving position and adjacent is moved to the processing area, so that after the cutting of the further workpiece, the removal device is moved from the waiting position to the receiving position to remove with another holding element of the removal device, the further workpiece and then moved back from the receiving position to the waiting position. The removal device is moved after receiving at least two workpieces in succession or after the processing of the plate-shaped material in an unloading station, wherein the machined workpiece by cutting cutting leaving a residual compound cut and the removal device is moved into the receiving position to the workpiece, so that subsequently a fixation performed the workpiece to be removed with the holding element of the removal device and subsequently the workpiece is cut free before removal from the processing area. This allows a secure gripping of the workpiece with the holding element of the removal device and a safe removal from the Editing area. Furthermore, the cycle times for the removal of the workpieces from the processing area can be significantly shortened, since the removal device remains adjacent to a waiting position to the processing area until a plurality or all holding elements of the removal device, which are provided for receiving workpieces, carry a workpiece in order subsequently to perform only one movement movement between the waiting position and the unloading station in order to deposit a plurality or all of the picked-up workpieces in the unloading station. As a result, a multi-part removal is created directly with respect to the processing area of the processing machine, in which the removal device is repeatedly moved between the receiving position of the processing machine in the processing area and the adjacent, waiting position and moves only after the inclusion of multiple workpieces or after complete processing of the plate-shaped material in the unloading ,

As a result, a substantially shorter cycle time can be made possible in skeleton-free machining as well as during machining with skeletal remains than in the production of workpieces which are removed individually into the unloading station after which have been separated from the plate-shaped material of the workpiece and a residual workpiece remains.

Furthermore, the removal device with the picked workpiece is preferably raised in the Z direction after the free cutting and moved into a subsequent receiving position for the subsequent workpiece or in the waiting position in the X direction, Y direction or X / Y direction and the processing for Production of the subsequent workpiece continued. As a result, short cycle times can be achieved.

A further preferred alternative of the method provides that the travel path of the removal device in the subsequent receiving position on the X-axis dimension of the subsequent Workpiece is adjusted. As a result, a reduction of the travel distance can also be achieved.

A further alternative embodiment of the method provides that the travel path of the removal device is oriented in the subsequent receiving position on the grid dimension of the holding elements of the removal device. In this way it can be ensured that in each case the free holding element is supplied with a short movement to the workpiece produced last and a safe removal is made possible.

The workpieces are preferably produced in succession along one side edge of the plate-shaped material, which faces outwards relative to the preferably stationary processing device, and the workpieces are received in succession and in the same order by the holding elements of the removal device. As a result, the workpieces can be stored in an unloading station in the same order, whereby an assignment and sorting of the individual workpieces is simplified, if they differ, for example, in size from each other.

A further preferred embodiment of the method provides that the travel path between the waiting position and the receiving position is determined by the grid dimension of the holding elements and the size of the workpieces. If, for example, a removal device with holding elements has the same longitudinal extent as the plate-shaped material, the plate-shaped material is transported in the X direction by the same path as the removal device is moved.

For unloading the workpiece picked up by the removal device, the workpieces are preferably all deposited simultaneously in the unloading station or are preferably deposited one after the other, preferably on a stack. The common storage of all workpieces simultaneously has a time advantage over the stacking of the workpieces.

To further increase the productivity of the cut workpieces after removal in an intermediate buffer of Removal device stored. As a result, a plurality of workpieces can be stored in a relatively small-sized removal device.

Furthermore, the successive separation cutting of the workpieces is preferably carried out by a skeleton-free processing of the plate-shaped material. This is a particularly preferred embodiment and particularly useful if the removal device has holding elements that can not be moved individually in the Z-axis. This grid-free processing may also be necessary if collision monitoring in the Z-direction is not possible.

The object underlying the invention is further achieved by a processing machine according to claim 9 for processing a plate-shaped material having a removal device with a plurality of holding elements, through which successively the workpieces from a processing area of the machine removably and positioned in a waiting position adjacent to the processing area and the holding elements can be actuated successively for receiving the further workpieces, wherein at least one holding element of the removal device can be moved individually at least along the Z axis and the processing machine is provided for cutting away the workpiece processed by cutting while leaving a remaining connection free the receiving position is moved to the workpiece, the workpiece to be removed is fixed with the holding element and that for removing the workpiece, the remaining compound is severed. As a result, the removal device can be moved several times from a waiting position into a receiving position in order to receive a further workpiece after the respective cutting of the workpiece until all receiving positions of the removal device are occupied, in order subsequently to transfer the picked-up workpieces together to the unloading station. Due to the movable along the Z-axis holding element only this needs to be lowered for removal of the workpiece.

Preferably, the removal device has at least two holding elements arranged one behind the other in a row. As a result, a narrow and elongate removal device can be provided, which can extend over the entire length of the plate-shaped material, so that all workpieces that are processed in series one behind the other can be picked up and transferred to the unloading station.

Furthermore, it can be provided that the removal device has two or more parallel aligned rows of holding elements. In this case, the rear row of holding elements arranged on the side edge of the plate-shaped material is first of all driven to pick up the workpiece and then the next front row or the front row of holding elements is moved.

The holding elements of the removal device are preferably equipped as suction grippers or vacuum suction grippers.

Preferably, all holding elements of the removal device are individually movable. This has the advantage that the removal device can be positioned in the receiving position above the workpiece to be removed and only the holding element is lowered, which removes the workpiece. As a result, both a skeleton-free processing and a processing with skeleton grid is possible, especially in the case of processing with skeletons due to this configuration, the skeleton grid does not interfere with the removal.

A further preferred embodiment of the invention provides that the removal device has a discharge device or a handling robot, through which the workpieces are removed and fed to the temporary storage. By such a single removal by means of the handling robot can be given good accessibility for removal of the workpieces in the receiving position. In addition, a simple transfer of the workpieces can be done in an intermediate buffer. For example, an intermediate buffer may be formed above a suction frame for the removal device.

Furthermore, the removal device preferably has an intermediate buffer. As a result, the number of travel paths between the waiting position and the unloading and loading position can be further reduced.

• Figur 1 eine perspektivische Ansicht der erfindungsgemäßen Bearbeitungsmaschine,
• Figuren 2a bis 2c eine schematische Ansicht von oben auf einander folgende Arbeitsschritte zur Bearbeitung und Entnahme von Werkstücken,
• Figur 3 eine schematische Ansicht von oben auf eine alternative Ausführungsform zu den Figuren 2a bis 2c,
• Figur 4 eine weitere schematische Ansicht von oben auf eine alternative Ausführungsform zu Figur 3,
• Figur 5 eine schematische Seitenansicht einer alternativen Ausführungsform der Entnahmeeinrichtung, die nicht unter den Schutranspruch des Patentansprüche 9-12 fällt und
• Figur 6 eine schematische Seitenansicht einer weiteren alternativen Ausführungsform der Entnahmeeinrichtung.

The invention and further advantageous embodiments and developments thereof are described in more detail below with reference to the examples shown in the drawings and explained. The The description and the drawings to be taken features can be applied individually according to the invention or to several in any combination according to the invention. Show it:

• FIG. 1 a perspective view of the processing machine according to the invention,
• FIGS. 2a to 2c a schematic view from above of each other following steps for machining and removal of workpieces,
• FIG. 3 a schematic top view of an alternative embodiment of the FIGS. 2a to 2c .
• FIG. 4 a further schematic top view of an alternative embodiment to FIG. 3 .
• FIG. 5 a schematic side view of an alternative embodiment of the removal device, which does not fall under the Schutranspruch of claims 9-12 and
• FIG. 6 a schematic side view of another alternative embodiment of the removal device.

In FIG. 1 perspective view of a processing machine 11 is shown, which is formed for example as a punching machine. For the separating machining of a plate-shaped workpiece 12, for example in the form of a sheet, a preferably stationary machining device 21 is provided with a punching head 14 and with a punch, not shown. Alternatively, a laser punching machine can be used, in which adjacent to the punching head 14, a laser processing head is provided. The workpiece 12 to be machined rests on a workpiece support 16 during workpiece machining. The workpiece 12 is held during machining with a holding device 17, which preferably comprises clamps 18, and can be moved relative to the punching head 14 in the X direction of the workpiece plane (X / Y plane) by means of a conventional linear drive 19 indicated by an arrow , In the Y-direction of the workpiece plane, the workpiece 12 can be moved by the workpiece support 16 together with the holding device 17 relative to a base 24 on which the workpiece support 16 is mounted, by means of a direction indicated by an arrow conventional Linear actuator 20 is moved. The workpiece 12 can be moved in this way in the X and Y direction relative to the punching head 14, so that the respectively to be machined portion of the workpiece 12 can be positioned in the processing region of the punching head 14, if they are present. The processing area is between the punching head 14 and a punching die, not shown, which is replaceable. Accordingly, a laser optical system can be arranged in the stationary processing region of the laser processing head in a laser punching machine.

For workpiece support 16 of the processing machine 11, a handling device 26 is provided on an end side, which may include a removal device 27 along at least one linear axis 28 from a loading and unloading position 29, 30 for the plate-shaped material 12 in a removal position 32 and waiting position 32nd according to Figure 2c is movable.

The removal device 27 comprises a plurality of holding elements 34, which may be formed, for example, as a magnetic suction, vacuum suction or Elektroadhäsionssauger. In the exemplary embodiment, a holding element 34 is provided with a plurality of individual suckers, each of which forms the holding element 34 associated with each other ( Figure 2c ). There are a plurality of holding elements 34 arranged in series one behind the other, wherein the size or position and width of the holding elements 34 can be freely determined by the assignment of the sucker 35 and is adaptable to the workpiece size.

The holding elements 34 can in at least one other axis, ie in a Y and / or Z-axis, along the XYZ coordinate system, which in FIG. 1 is shown, with at least one linear drive driven to be driven.

In FIG. 2a are schematically enlarged, the plate-shaped workpiece 12 and the holding device 17 shown with the brackets 18 which receive the plate-shaped workpiece 12. In addition, symbolically, the punching head 14 is shown in a starting position. This workpiece 12 rests on the workpiece support 16, which - like the other Components of the processing machine 11 - are not shown.

To produce a workpiece 36 from the plate-shaped material 12, the plate-shaped material 12 is moved such that the punching head 14 is initially located at the position 38 to introduce from there a first cut in the plate-shaped material 12, which ends in position 39. Subsequently, the plate-shaped material 12 is moved such that the punching head 14 is in position 41 to perform from there a second cut, which ends in position 42. This leaves a remaining connection 43 for a Final Cut.

After the first and second cut according to FIG. 2a has been performed, for example, to cut free a rectangular workpiece 36, the removal of the workpiece 36 is initiated. The removal device 27 is from a loading or unloading position 29, 30 or preferably from a waiting position 32, the in Figure 2c is shown and already taken during the first cuts for the production of the workpiece 36, moved into a receiving position 45, so that a holding element, which includes, for example, three suckers, positioned to the workpiece 36 and gripped via the holding member 34. Subsequently, by means of the punching head 14 alternatively with the laser processing head of the Final Cut, which means that the remaining compound 43 is separated, so that the workpiece 36 is completely free.

Subsequently, the removal device 27 is lifted at least slightly in the Z direction and / or out in the Y direction out of the receiving position 45, so that the removal device 27 in turn the in Figure 2c shown waiting position 32 occupies.

Subsequently, as in Figure 2c is shown - the next workpiece 36 cut analogously to the first workpiece 36 by means of the first and second cut. Due to this procedure, a skeleton-free processing of the plate-shaped material 12 is made possible. After the first and second cut has been cut for the next workpiece 36 'with the exception of the remainder connection 43', the removal device 27 is again replaced by a Moving movement in the Y direction and / or a small movement in the Z direction by means of the further holding element 34 'in the receiving position 45 above the workpiece 36' positioned so that the holding element 34 'can attack it and the removal device now two workpieces 36, 36th 'takes up.

In the illustrated embodiment, the length of the plate-shaped material 12 preferably corresponds to the length of the removal device 27 or the holding elements 34 lined up with one another, so that a row of workpieces 36 arranged one behind the other can be picked up by the removal device 27. This forms an intermediate buffer. After, for example, a number of holding elements 34 is filled with workpieces 36, the removal device 27 can be moved via the handling device 26 from the waiting position 32 in an unloading 51, which is formed for example by a magazine 52, which is positioned below the workpiece holder 16. Alternatively, the unloading station 51 can also be positioned adjacent to the loading and unloading station 29, 30 in the working area of the linear axis 28, which can be operated via the handling device 26. In the unloading station 51, the workpieces 36 can be stored stacked, for example. Alternatively, the workpieces can also be deposited simultaneously on the magazine 52, in the manner in which they are removed from the removal device 27 from the respective receiving position 45.

At the in Figure 2c shown removal device 27, for example, two successively arranged rows of holding elements 34 are provided. For example, a frame receiving the holding elements 34 can be provided, which can be rotated through 180 °, so that after the filling of the first row of holding elements 34, the second row of holding elements 34 is subsequently filled.

Due to this Entladestrategie, in which the removal device 27 between the receiving position 45 and the waiting position 32 back and forth can be moved without each workpiece is removed after removal from the processing area in the unloading station 51, an increase in productivity and the degree of automation can be achieved. The long travels in the X direction for unloading the workpieces 36, 36 'can be reduced in frequency.

The above-described removal device 27 has holding elements 34, wherein the individual holding elements 34 in the Z-direction individually or in groups can be moved and controlled. This allows an analogous operation as the above-described operation. The holding elements advantageously consist of one or more suckers 35. In addition, instead of a skeleton-free processing of the plate-shaped material 12, a machining for the production of the workpieces 36 with a remaining skeletal grid done. Due to the mobility of the holding elements 34 along the Z-axis, the suckers 35 can be lowered onto the workpiece 36 to be removed.

Alternatively, in the case of a removal device 27 with holding elements 34, which comprise, for example, suckers 35 or magnetic grippers, a removal of workpieces 36 during processing can be carried out with a remaining skeleton without the holding elements 34 being movable in the Z direction. The suction force of the suckers 35 or the magnetic force of a magnetic gripper can bridge a remaining distance which remains in a positioning of the removal device 27 with an already recorded workpiece 36 for removal of another workpiece 36 ', since a complete lowering of the removal device 27 due to the remaining skeleton not is possible.

In FIG. 3 an alternative embodiment is shown to allow a multi-part removal with the removal device 27 in front of the punching head 14. In order to move the workpieces 36 on the punching head 14 in the X direction, it is proposed to equip the removal device 27 with a travel axis in the Y direction so that the removal device 27 also passes by the processing device 21 can be positioned to allow a multi-part removal- The movement of the removal device 27 can analogous to those in the FIGS. 2a to 2c Traversing movement described done. The holding elements 34 may be formed in this embodiment, for example, from a group of suckers 35, which may be arranged at a distance from each other.

In FIG. 4 a further alternative embodiment for a Entladestraategie is shown, in which a receiving position 45 and discharge position is provided adjacent to the punching head 14. The holding elements 34 are at a distance from one another in order to form a free space or a recess 55 therebetween, which makes it possible for at least partial immersion of the punching head 14 into the recess 55 when the removal device 27 moves in the Y direction. As a result, the holding elements 34 can be positioned laterally relative to the punching head 14 in order to remove workpieces 36, 36 '. For removal of the workpiece 36, 36 ', the removal device 27 is moved in the Y direction, wherein a small movement in the Z direction can be superimposed or initially carried out and then merges into a Y direction.

In FIG. 5 is a schematic side view of an alternative embodiment of the removal device 27 is shown, which does not fall under the Schutranspruch of claims 9-12. This removal device has, instead of a plurality of arranged in a plane holding elements 34 with suction 35 a circulating belt or chain 61 on which a plurality of suckers 35 are arranged. This removal device 27 is transferred into the receiving position 45, so that the next free vacuum cleaner 35 can remove the workpiece 36. Subsequently, the removal device 27 is again moved to the waiting position 32 and the chain 61 weiterergetaktet in the direction of arrow 62, so that the next free vacant 35 is provided for recording. This arrangement has the advantage that in turn an intermediate buffer 67 has been created by such a chain 61 with suckers 35 or grippers. About that In addition, such a chain 61 can be formed narrow with suction cups 35 arranged thereon. There is also the possibility that a plurality of chains 61 with suckers 35 arranged thereon are arranged in series next to one another and form a removal device 27, which are used successively.

In FIG. 6 a further alternative embodiment of the removal device 27 is shown. This embodiment of the removal device 27 comprises a holding element 34, which is designed as a suction frame, for example, to remove the plate-shaped material 12 from the loading position 29 and supply the processing area. In addition, an unloading device or a handling robot 66 is arranged on the suction frame, which is designed, for example, as a single or multi-axis robot, which comprises a gripper. The gripper can be designed as a suction gripper or magnetic gripper. After removal of the workpiece 36 this is transferred via the handling robot 66 in the intermediate buffer 67. This can be provided for example by a storage area on the back or top of the suction frame of the holding elements 34 for receiving the produced workpieces 36.

The two embodiments of the removal devices 27 are suitable both for a skeleton-free processing and a processing of the plate-like material in which a skeleton remains, which leads out of the processing area after the production of the workpieces or crushed already after the production of the respective workpiece and a Opening in the workpiece support 16 is continuously removed.

Claims (12)

1. Method to discharge workpieces (36, 36') from a processing machine (11), which is produced from a planar material (12), which lies on a workpiece support (16), by being cut apart with a processing device (21), wherein

   - after cutting apart the first workpiece (36), a discharge device (27), which has several holding elements (34) to receive one workpiece respectively, is positioned with the holding element (34) in a receiving position (45) for the first workpiece (36), which is received by the holding element (34), characterised in

   - that the discharge device (27) is moved from the receiving (45) position to a waiting position (32) outside and adjacent to the processing region of the processing device (21),

   - that after the at least one further workpiece (36') is cut apart, the discharge device (27) is moved from the waiting position (32) to the receiving position (45) and a further holding element (34') receives the further workpiece (36') and the discharge device (27) is moved to the waiting position (32),

   - that the discharge device (27) is moved to the unloading station (51) after receiving at least two workpieces (36, 36') produced one after the other or after the planar material (12) is completely processed,

   - that the workpiece (36) that is processed by being cut apart is cut free, leaving a residual connection (43),

   - that the discharge device (27) is moved to the receiving position (45) for the workpiece (36, 36'),

   - that the workpiece (36, 36') to be discharged is fixed with the holding element (34) and

   - that the residual connection (43) is cut through to discharge the workpiece (36, 36').
2. Method according to claim 1, characterised in, that after the workpiece (36) is cut free, the discharge device (27) having the received workpiece (36) is lifted in the Z-direction and is moved into a subsequent receiving position (45) for the subsequent workpiece (36') or to the waiting position (32) in the X-direction, in the Y-direction or the X/Y-direction and the processing to produce the subsequent workpiece (36') is resumed.
3. Method according to claim 2, characterised in, that the movement path of the discharge device (27) from the receiving position (45) of the processed and discharged workpiece (36) to the subsequent receiving position (45) is adjusted to the X-dimensions of the subsequent workpiece (36') or that the movement path of the discharge device (27) is orientated in the subsequent receiving position (45) towards the contact spacing of the holding elements (34, 34') of the discharge device (27).
4. Method according to one of the preceding claims, characterised in, that the workpieces (36, 36') are produced successively from the planar material (12) along a lateral edge of the planar material (12) and the workpieces (36, 36') are received by the holding elements (34, 34') of the discharge device (27) one after the other and in the same order.
5. Method according to one of the preceding claims, characterised in, that a movement path between the waiting position (32) and the receiving position (45) is determined by the contact spacing of the holding elements (34 ,34') and the size of the workpieces (36, 36').
6. Method according to one of the preceding claims, characterised in, that all workpieces (36, 36') received by the discharge device (27) are deposited in an unloading station (51) simultaneously or are deposited individually one after the other, preferably onto a stack.
7. Method according to claim 1, characterised in, that the workpieces (36) are stored in an intermediate buffer (67) of the discharge device (27) after the discharge from the receiving position (45).
8. Method according to claim 1, characterised in, that the successive cutting-apart of the workpieces (36) is carried out by a skeleton-free processing of the planar material (12).
9. Processing machine to process planar material (12), having a processing device (21) and a workpiece support (16) to receive the planar material (12) and having a discharge device (27), with which the produced workpieces (36, 36') are able to be transferred from the processing device (21) to an unloading station (51), wherein the discharge device (27) has several holding elements (34, 34'), through which the workpieces (36, 36') are removable successively from the processing region of the processing device (21) and which are able to be positioned in a waiting position (32) adjacent to the processing region and the holding elements (34, 34') of the discharge device (27) are controllable one after the other to receive the workpieces (36, 36'), characterised in that at least one holding element (34) of the discharge device (27) is moveable at least along the Z-axis and the processing machine is provided

   - that the workpiece (36) that is processed by being cut apart is cut free, leaving a residual connection (43),

   - that the discharge device (27) is moved to the receiving position (45) for the workpiece (36, 36'),

   - that the workpiece (36, 36') to be discharged is fixed with the holding element (34) and

   - that the residual connection (43) is cut through to discharge the workpiece (36, 36').
10. Processing machine according to claim 9, characterised in, that the discharge device (27) comprises several holding elements (34 ,34') that lie in a row one behind the other and preferably two or more rows having holding elements (34, 34') one behind the other.
11. Processing machine according to claim 9, characterised in, that the holding elements (34, 34') are formed as a suction gripper.
12. Processing machine according to claim 9, characterised in, that the discharge device (27) has an intermediate buffer (67) and preferably an unloading equipment or a handling robot (66), whereby the workpieces (36) are dischargeable and supplyable to the intermediate storage (67).

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