WO2006089625A1 - Systeme de machine-outil, dispositif de chargement/dechargement deplaçable et procede pour amener des objets a des stations d'usinage d'un systeme de machine-outil et les en retirer - Google Patents

Systeme de machine-outil, dispositif de chargement/dechargement deplaçable et procede pour amener des objets a des stations d'usinage d'un systeme de machine-outil et les en retirer Download PDF

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Publication number
WO2006089625A1
WO2006089625A1 PCT/EP2006/000898 EP2006000898W WO2006089625A1 WO 2006089625 A1 WO2006089625 A1 WO 2006089625A1 EP 2006000898 W EP2006000898 W EP 2006000898W WO 2006089625 A1 WO2006089625 A1 WO 2006089625A1
Authority
WO
WIPO (PCT)
Prior art keywords
loading
machine tool
tool system
unloading device
unloading
Prior art date
Application number
PCT/EP2006/000898
Other languages
German (de)
English (en)
Inventor
Ralf Haug
Original Assignee
Ex-Cell-O Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ex-Cell-O Gmbh filed Critical Ex-Cell-O Gmbh
Publication of WO2006089625A1 publication Critical patent/WO2006089625A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B23Q7/1415—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with a series disposition of working devices not corresponding with the sequence of the working
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table

Definitions

  • Machine tool system movable loading / unloading device
  • the invention relates to a machine tool, comprising a plurality of processing stations, at least one movable loading / unloading device and a travel path on which the at least one loading / unloading device can be moved, wherein the processing stations through the at least one loading / unloading device are approachable.
  • Transfer machines are known from the prior art, in which workpieces can be fed to different processing stations via a gantry device.
  • the invention has for its object to provide a machine tool system of the type mentioned, which is easy to use.
  • the at least one loading / unloading device is assigned at least one depositing device for gripping objects which can be moved with the loading / unloading device.
  • the at least one loading / unloading device is assigned at least one depositing device for gripping objects, which can be moved with the loading / unloading device. Gripping objects can then be temporarily stored on a depositing device, so that journeys to a feeding station (on which gripping objects can be removed) or to a pick-up station (where gripping objects can be delivered) can be saved. This reduces the cycle time.
  • the loading / unloading device can be moved on an underground (such as, for example, a driveway or one or more rails).
  • the machine tool system according to the invention can be modularly constructed, since no portal device has to be provided.
  • the individual processing stations can be trained separately and independently. It is only necessary to provide an arrangement on the route and the processing stations must be within the control of a gripping arm of the at least one loading / unloading device.
  • the at least one loading / unloading device expediently has at least one gripping arm.
  • one or more robotic devices with one or more robot arms are provided as gripping arms.
  • the processing stations or a subset of processing stations are arranged in a row. This makes it easy to form a route over which individual processing stations can be approached. For example, a plurality of rows is provided. As a result, a machine tool system in the manner of a transfer machine can be constructed in a space-saving manner, with opposing processing stations, for example, being deliverable by a route.
  • one route is assigned one or more rows. This can achieve a space-saving design.
  • the at least one storage device has at least one storage area for gripping objects, which lies in an area of influence of a gripping arm of the associated loading / unloading device.
  • the storage area can be "loaded” or “unloaded” as an intermediate storage facility via the loading / unloading device.
  • gripping objects can be fed from the storage area of a processing station or gripping objects removed from a processing station can be fed to a storage area for temporary storage.
  • the at least one depositing device is arranged in the direction of travel and / or the opposite direction of travel following a driving device of the associated loading / unloading device.
  • the at least one depositing device is arranged in the direction of travel and / or the opposite direction of travel following a driving device of the associated loading / unloading device.
  • the storage device has a storage area which is arranged on one side or on opposite sides of the associated loading / unloading device. It is fundamentally possible for one or more bearing areas to be arranged on one side of the driving device and one or more bearing areas to be arranged on the opposite side. But it can also be arranged storage areas only on one side.
  • the at least one storage device is firmly connected to the associated loading / unloading device. For example, sitting on a driving device of the assigned loading / unloading device, a holding element which can receive gripping objects.
  • the abutment device is releasably connected to the associated loading / unloading device.
  • tender cars or tender carriages can be provided, which can be coupled to the loading / unloading device and can be moved therewith.
  • the at least one depositing device is arranged at a distance from the driving route on the driving device. It can also be provided that the at least one storage device itself a Has driving device for movability. It is then guided, for example, like the loading / unloading device.
  • the at least one depositing device is designed as a carriage, which is connected to the loading / unloading device.
  • a feed station and / or a discharge station is arranged on the route.
  • gripping objects such as workpieces can be picked up by the loading / unloading device and fed to processing stations.
  • machined workpieces can be removed from the machine tool system via the removal station.
  • the invention further relates to a movable loading / unloading device with at least one movable gripper arm.
  • At least one storage device is provided for gripping objects, which is movable with the loading / unloading and is within the influence of the at least one gripping arm.
  • gripping articles can be temporarily stored in the at least one depositing device, so that overall travel times for feeding or delivery of gripping articles can be minimized.
  • the moveable loading / unloading device according to the invention can be used in particular in connection with a machine tool system according to the invention.
  • the at least one depositing device has at least one storage area for gripping objects. This makes it possible to provide an intermediate storage for such gripping objects in order to be able to minimize, in particular, total travel times.
  • the at least one depositing device is arranged in the direction of travel and / or the opposite direction of travel following a driving device of the loading / unloading device.
  • the transverse dimensions of the loading / unloading device can be kept low.
  • the at least one storage device has a storage area which is arranged on one side or on opposite sides of a driving device. Such a storage area can be provided in a simple manner.
  • the at least one storage device is firmly connected.
  • it is mounted on a driving device of the loading / unloading device.
  • the at least one depositing device can be detachably connectable. For example, it can be detached from the loading / unloading device by uncoupling. As a result, for example, a simple way Storage device adapted to certain gripping objects are provided.
  • the at least one storage device has a driving device for its mobility.
  • the storage device is designed as a carriage, which is movable on a corresponding slide guide together with the loading / unloading device.
  • the invention further relates to a method for providing articles to and / or for removing articles from processing stations of a machine tool system.
  • This object is achieved in accordance with the invention in that a loading / unloading device is moved to a corresponding processing station and one or more objects are fed to and / or removed from the processing station via at least one gripping arm Loading / unloading movable storage device are stored.
  • the provision of objects or the removal of objects in a machine tool system can be carried out with a plurality of processing stations, whereby the total travel time can be minimized in relation to the number of objects to be delivered or picked up, since not every item must be driven to the feeding station or pick-up station.
  • the method according to the invention has already been explained in connection with the machine tool system according to the invention.
  • the loading / unloading device pick up items from a supply station. From the feeding station, the objects are then distributed to the processing stations via the loading / unloading device.
  • the loading / unloading device is moved to the feed station in order to be able to pick up objects accordingly and to be able to feed them to the processing stations.
  • the loading / unloading device delivers articles to a discharge station. For example, objects can then be removed from the discharge station after they have been processed accordingly.
  • the loading / unloading device is moved to the discharge station in order to remove the objects from the machine tool system.
  • Figure 1 is a perspective view of an embodiment of a machine tool system according to the invention.
  • Figure 2 is a perspective view of an embodiment of a loading / unloading device according to the invention.
  • FIG. 1 An exemplary embodiment of a machine tool system according to the invention is shown in FIG. 1 and designated there as a whole by 10.
  • This machine tool system 10 comprises a plurality of independent processing stations 12.
  • six processing stations 14a, 14b, 14c, 16a, 16b and 16c are provided.
  • workpieces are processed.
  • the processing is to be understood in the broadest sense. It may be, for example, a mechanical machining such as a machining material processing. It is also possible, for example, for a workpiece to be provided with a coating in a corresponding processing station 12 or to be painted.
  • a plurality of processing stations such as the processing stations 14a, 14b, 14c are arranged in a first row 18.
  • the processing stations 14a, 14b, 14c are arranged side by side.
  • the processing stations 16a, 16b, 16c are arranged in a second row 20.
  • processing stations of the first row 18 and the second row 20 are aligned with each other and, for example, at least approximately aligned with each other; In the illustrated embodiment, the processing stations 14a and 16a, the processing stations 14b and 16b and the processing stations 14c and 16c are aligned with each other.
  • the processing stations 12 are basically independent of each other and separated from each other.
  • first row 18 and the second row 20 are arranged parallel to each other.
  • the processing stations 12 are arranged linearly successive.
  • a route 22 for (at least) one loading / unloading device 24 is arranged.
  • the route 22 is a linear direction 26 before.
  • the loading / unloading device 24 can be moved in the direction of travel 26, the loading / unloading device 24 being provided with a driving device 28 (FIG. 2) for this purpose.
  • the loading / unloading device 24 is movable on a base (ie a base) such as a road or one or more rails, so that no portal is necessary.
  • the loading / unloading device is designed, for example, as a robot device.
  • the travel distance 22 of the loading / unloading device 24 is not linear.
  • it may be curved or have one or more bends.
  • the driving route 22 is formed, for example, by a rail 30, on which the driving device 28 of the loading / unloading device 24 is guided.
  • the rail 30 has, for example, a step region 32, which rises above a guide surface 34.
  • the driving device 28 is designed, for example, as a carriage 36, which is guided on the guide surface 34 of the rail 30.
  • the carriage 36 is driven, for example via one or more ball screws or driven by one or more linear motors. It can also be provided, for example, a rack drive. Conveniently, drive elements are covered, for example, against contamination.
  • the driving device 28 may be driven via a motor, for example an electric motor, seated on the loading / unloading device 24.
  • the driving device 28 has wheels, by means of which it is guided on the driving route 22.
  • a Zunaturalstation / Abcrystallinestation 40 At one end 38 of the route 22 sits a Zunaturalstation / Abcrystallinestation 40.
  • About the Zunaturalstation / Abcrystallinestation 40 can provide workpieces and / or tools or dissipate workpieces and / or tools.
  • the loading / unloading device 24 comprises at least one gripping arm, such as a robot arm 42, which is movably mounted on the driving device 28.
  • the robot arm 42 as a gripping arm is rotatably mounted on the driving device 28, for example, about an axis of rotation 44, which is substantially perpendicular to the direction of travel 26.
  • the robot arm is pivotally mounted about an axis of rotation 46, which is oriented substantially perpendicular to the axis of rotation 44.
  • the robot arm may have one or more arm regions 48, which are rotatably mounted about an axis of rotation 50, which is in particular parallel to the axis of rotation 46.
  • gripping elements 52 which can grasp gripping objects
  • the loading / unloading device 24 is assigned (at least) one depositing device 54 which can be moved on the driving path 22 with the loading / unloading device 24 and on which gripping objects 56 (FIG. 1) can be temporarily stored.
  • the depositing device 54 comprises, as shown in Figure 1, a first tender 58 and a second tender 60.
  • the two tenders 58 and 60 are formed as carriages which are guided on the rail 30 and on the relative to the passage the driving distance 22 driven loading / unloading device 24 are movable.
  • the first tender 58 and the second tender 60 each have a storage area on which the gripping objects 56 can be stored.
  • the corresponding storage areas may be provided with a fixing device to secure stored gripping articles 56.
  • the first tender 58 and the second tender 60 follow each other in the direction of travel 26, with the driving device 28 to which they are connected lying between the first tender 58 and the second tender 60.
  • the storage device 54 may be fixedly connected to the loading / unloading device 24 or detachably connected to the loading / unloading device 24.
  • a coupling for an associated tender is provided on the loading / unloading device 24, and the corresponding tender has a counter-coupling element. Via the coupling and the mating coupling element, a connection between the loading / unloading device 24 and the corresponding tender 58 or 60 can be established and released again.
  • a storage device 62 is provided, which is mounted at a distance from the rail 30 to the driving device 28.
  • This storage device 62 comprises, for example, a holding plate 64, which sits on the driving device 28 at a distance from the rail 30.
  • workpieces can be picked up at the feed station / removal station 40 and fed to the individual processing stations 12.
  • Corresponding gripping articles are received by the gripping element 52 of the robot arm 42 and, after the robotic device 24 has been moved to the corresponding processing station (in the example shown, to the processing stations 14a and 16a), the processing station 12 is delivered.
  • the loading / unloading device 24 can be loaded with a plurality of workpieces at the feed station 40. If a plurality of processing stations 12 must be supplied with workpieces, then the loading / unloading device 24 need not be moved back to the feed station 40 for each workpiece, but can remove workpieces which are stored on the storage device 54 and 62, respectively.
  • Workpieces machined at a processing station 12 are removed from the loading / unloading device 24 and fed to the discharge station 40.
  • the loading / unloading device 24 at the corresponding Positioning processing station positioned, a workpiece is removed and then the loading / unloading device 24 is moved on the route 22 to the discharge station 40.
  • the loading / unloading device 24 does not have to run through the route 22 separately for each workpiece, but it is possible to process workpieces on the depositing device 54 or 62 interim storage and a V flesh to the discharge station 40 is only necessary if the intermediate storage the storage device 54 and 62 "filled" is.
  • the first tender 58 is "filled" at the feed station 40 with workpieces to be machined.
  • the loading / unloading device 24 then moves as a whole to the individual processing stations, removing processed workpieces and places them on the second tender 60. Workpieces still to be processed are taken from the first tender 58 and fed to the corresponding processing station.
  • Driving time is saved by the depositing device 54 or 62 with the corresponding intermediate storage, which is moved along with the loading / unloading device 24. As a result, the cycle time of the workpiece feed or workpiece pickup can be shortened. W 2
  • a machine tool system which is a transfer tool machine system; Workpieces can be transported between a plurality of processing stations.
  • the machine tool system according to the invention can be modular. As a result, a large number of design options can be realized, whereby, for example, the route 22 can also be curved. A corresponding machine tool system can be realized in a cost effective manner.

Abstract

L'invention concerne un système de machine-outil qui comprend une pluralité de stations d'usinage, au moins un dispositif de chargement/déchargement déplaçable, ainsi qu'un parcours sur lequel peut se déplacer le dispositif de chargement/déchargement. Selon l'invention, les stations d'usinage peuvent être desservies par le dispositif de chargement/déchargement auquel est affecté au moins un dispositif de réception qui est destiné à des objets à saisir et qui est déplaçable avec le dispositif de chargement/déchargement.
PCT/EP2006/000898 2005-02-22 2006-02-02 Systeme de machine-outil, dispositif de chargement/dechargement deplaçable et procede pour amener des objets a des stations d'usinage d'un systeme de machine-outil et les en retirer WO2006089625A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200510009283 DE102005009283A1 (de) 2005-02-22 2005-02-22 Werkzeugmaschinensystem, verfahrbare Belade-/Entladevorrichtung und Verfahren zur Bereitstellung/Entnahme von Gegenständen von/an Bearbeitungsstationen eines Werkzeugmaschinensystems
DE102005009283.7 2005-02-22

Publications (1)

Publication Number Publication Date
WO2006089625A1 true WO2006089625A1 (fr) 2006-08-31

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PCT/EP2006/000898 WO2006089625A1 (fr) 2005-02-22 2006-02-02 Systeme de machine-outil, dispositif de chargement/dechargement deplaçable et procede pour amener des objets a des stations d'usinage d'un systeme de machine-outil et les en retirer

Country Status (2)

Country Link
DE (1) DE102005009283A1 (fr)
WO (1) WO2006089625A1 (fr)

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DE102007029233B3 (de) * 2007-06-22 2008-08-28 MAG Industrial Automation Systems, LLC., Sterling Heights Werkstück-Bearbeitungs-Anlage
CN101941165A (zh) * 2009-07-07 2011-01-12 美格工业自动化系统有限公司 机床系统
CN102756277A (zh) * 2012-01-13 2012-10-31 上海三一精机有限公司 臂架零件加工专用柔性单元及其批量加工臂架零件的方法
CN110539195A (zh) * 2019-09-06 2019-12-06 烟台大学 一种多工位上下料方法

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DE102007008480A1 (de) * 2006-09-20 2008-04-03 Grob, Margret Bearbeitungslinie
ITBO20060092U1 (it) * 2006-11-06 2008-05-07 Hbse S R L Unita' di tornitura
DE102007018368B4 (de) * 2007-04-18 2017-11-02 Isog Technology Gmbh & Co. Kg Werkzeugmaschinenanordnung mit automatischem Werkstück- und Werkzeugwechsel
JP5863857B2 (ja) * 2014-03-07 2016-02-17 ファナック株式会社 ワークの供給と排出を行うロボットを制御するロボット制御装置
DE102015110453A1 (de) * 2015-06-29 2016-12-29 EasyRobotics ApS Beschickungssystem für Werkstücke
DE102015118516B4 (de) 2015-10-29 2020-08-06 Wilhelm Diemer Vorrichtung zur Handhabung und Bearbeitung von Werkstücken sowie Vorrichtung und Verfahren zum Fügen wenigstens eines Fügeteils mit einem Werkstück
US10850387B2 (en) * 2016-09-16 2020-12-01 Fuji Corporation Automatic workpiece transfer machine
CN107081759B (zh) * 2017-06-14 2023-08-08 南京信息职业技术学院 碟形奖盘柔性装配系统
DE102018107194A1 (de) 2018-03-26 2019-09-26 SW Automation GmbH Be- und/oder Entladeeinrichtung sowie Verfahren zum Betreiben einer Be- und/oder Entladeeinrichtung
CN112476062A (zh) * 2020-11-24 2021-03-12 宁波赛伯微芯精机制造有限公司 一种立体结构的制造设备

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
DE102007029233B3 (de) * 2007-06-22 2008-08-28 MAG Industrial Automation Systems, LLC., Sterling Heights Werkstück-Bearbeitungs-Anlage
US8114001B2 (en) 2007-06-22 2012-02-14 Mag Ias, Llc Workpiece processing plant
DE102007029233C5 (de) * 2007-06-22 2015-09-03 Mag Powertrain Gmbh Werkstück-Bearbeitungs-Anlage
CN101941165A (zh) * 2009-07-07 2011-01-12 美格工业自动化系统有限公司 机床系统
CN102756277A (zh) * 2012-01-13 2012-10-31 上海三一精机有限公司 臂架零件加工专用柔性单元及其批量加工臂架零件的方法
CN110539195A (zh) * 2019-09-06 2019-12-06 烟台大学 一种多工位上下料方法
CN110539195B (zh) * 2019-09-06 2021-08-10 烟台大学 一种多工位上下料方法

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