WO2024110437A1 - Procédé d'enlèvement séquentiel et procédé d'enlèvement de pièces dans une pluralité de cycles d'enlèvement - Google Patents

Procédé d'enlèvement séquentiel et procédé d'enlèvement de pièces dans une pluralité de cycles d'enlèvement Download PDF

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Publication number
WO2024110437A1
WO2024110437A1 PCT/EP2023/082493 EP2023082493W WO2024110437A1 WO 2024110437 A1 WO2024110437 A1 WO 2024110437A1 EP 2023082493 W EP2023082493 W EP 2023082493W WO 2024110437 A1 WO2024110437 A1 WO 2024110437A1
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WO
WIPO (PCT)
Prior art keywords
workpieces
holding
removal device
workpiece
removal
Prior art date
Application number
PCT/EP2023/082493
Other languages
German (de)
English (en)
Inventor
Nikola BURSAC
Tim Gottschalk
Pascal KULL
Philipp Nagel
Magnus Deiss
Frank Schmauder
Maik Fiedler
Ralf Stockburger
Thomas Eisele
Original Assignee
TRUMPF Werkzeugmaschinen SE + Co. KG
J. Schmalz 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 TRUMPF Werkzeugmaschinen SE + Co. KG, J. Schmalz Gmbh filed Critical TRUMPF Werkzeugmaschinen SE + Co. KG
Publication of WO2024110437A1 publication Critical patent/WO2024110437A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom

Definitions

  • the invention relates to a method for sequentially removing at least two workpieces from a production level of a processing machine by means of a removal device with a plurality of holding elements, wherein the workpieces are lifted by moving the removal device along a global vertical movement direction of the removal device, and wherein the workpieces are only put down after all of the at least two workpieces have been lifted.
  • the invention further relates to a method for removing workpieces from a processing machine by means of a removal device with at least two removal cycles.
  • the workpieces are sorted after production using removal devices.
  • the workpieces are picked up in a processing area of the processing machine and placed in a designated storage area of the removal device - usually next to the processing area.
  • a common procedure is that all workpieces are first manufactured by the processing machine and then removed by the removal device
  • the workpieces can be sorted individually (single removal) or in groups (multiple part removal).
  • EP 2 832 469 B1 discloses a device for handling several workpieces at the same time, which is suitable for multi-part removal.
  • Several holding elements can be moved relative to one another and positioned over different workpieces to be removed. By lowering the holding elements together, the workpieces can be picked up or lifted simultaneously by the removal device and then placed in the storage area. This generally allows sorting to take place more quickly.
  • the previously described multi-part removal carries the risk that workpieces will be displaced, which can delay or even completely prevent sorting. This has an adverse effect on process reliability.
  • the workpieces are removed individually by the removal device after they have been produced and are initially held by it. Once a certain number of workpieces have been picked up, the removal device is moved to the storage area.
  • Such a procedure for the sequential removal of several plate-like workpieces from a processing machine and a processing machine are known from EP 2 783 768 Bl and DE 10 2013 103 123 B4.
  • the workpieces produced by means of separating cutting are picked up by a removal device after production and transferred to a waiting area outside the processing area of the processing machine.
  • the method described is only suitable for sorting panels or workpieces with small dimensions while maintaining a predetermined sorting sequence from the outside of the panel to the inside of the panel. Otherwise there is a risk of a collision between the removal device and the panel. This greatly limits the flexibility of the method.
  • the object is achieved by a method for sequentially removing at least two workpieces from a production level of a processing machine by means of a removal device with a plurality of holding elements, wherein the workpieces are lifted by moving the removal device along a global vertical movement direction of the removal device, and wherein the workpieces are only put down after all of the at least two workpieces have been lifted, which is characterized in that a first workpiece is lifted by a first holding element and held in a first holding plane of the removal device, and then a second workpiece is lifted by a second holding element and held in a second holding plane of the removal device, wherein the second holding plane extends parallel to the first holding plane and wherein the first holding plane is further spaced from the production plane in the vertical direction than the second holding plane.
  • the workpieces are held in different holding planes of the removal device, with first workpieces being held in a first holding plane that is further away from a panel to be sorted (from which the workpieces were separated) than the second holding plane parallel to the first holding plane.
  • the removal device can advantageously be moved or displaced completely over a panel to be sorted, so that panels with large dimensions can also be sorted, in particular when there is a residual skeleton. It is also possible to remove or sort workpieces that are unstructured or arranged randomly in the panel or in any order in which the workpieces are removed.
  • the proposed method therefore has a particularly high level of flexibility.
  • the method according to the invention is suitable for removal devices with at least two holding elements.
  • the holding elements can preferably have grippers, which can be designed as magnetic grippers, vacuum grippers or electro-adhesion grippers, for example. This allows the method to run particularly quickly and flexibly.
  • the method is preferably used in a removal device that removes workpieces from the processing area of punching machines, laser cutting machines or punch-laser combination machines. The advantageous effects of the method are particularly evident here. Sequential removal according to the invention is understood here and below to mean a successive removal of the workpieces, with a sequence ending with the setting down of at least one of the picked-up workpieces.
  • no individual and/or all of the picked-up workpieces are set down between the lifting of the at least one first workpiece and the at least one second workpiece. This saves time for setting down the workpieces during removal and the sorting can be carried out more quickly overall.
  • the workpieces are lifted from the production level by moving the removal device in a global vertical movement direction.
  • the production level is to be understood in particular as the processing level of the processing machine when manufacturing the workpieces.
  • a holding plane can be understood as a plane with a predetermined distance (offset) from a reference point, in particular a frame, of the removal device. In other words, the holding plane is moved to the same extent when the removal device is moved in the global vertical movement direction.
  • the holding planes are designed to be parallel to one another and differ in their distance from the reference point of the removal device.
  • the first holding element is movable along a first local vertical movement direction relative to the frame of the removal device and the local vertical movement direction of the first holding element is fixed during contact with the first workpiece to be removed in the production plane.
  • a movement of the first holding element in the first local vertical movement direction relative to the frame is blocked after the first holding element has been placed on the first workpiece.
  • the local vertical movement direction of the holding elements is each set up by a pneumatic cylinder, wherein the local vertical movement direction of the pneumatic cylinder is mechanically clamped and/or pneumatically blocked. This allows the workpiece to be held without further actuation of the local vertical drive of the holding element, which can reduce the operating costs of the process.
  • a preferred development of the method for sequentially removing workpieces is one in which the second holding element can be moved along a second local vertical movement direction relative to the frame in a similar way to the first holding element, and in which the local vertical movement direction of the second holding element is fixed in the production plane during contact with the second workpiece to be removed.
  • movement of the second holding element in the second local vertical movement direction relative to the frame is blocked after the second holding element has been placed on the second workpiece. This allows the operating costs of the method to be reduced even further.
  • an offset of the holding planes to the frame and the other holding planes of the removal device can be set by a local vertical movement carried out on the holding elements. This allows the lifting of the workpieces by moving the entire removal device in the global vertical movement direction. For example, if a first workpiece is lifted by a first holding element, it is then held in a first holding plane with a predetermined offset. A second workpiece subsequently picked up is held in a second holding plane that has a larger offset to the frame. This can prevent a collision of the first workpiece held in the first holding plane with the second workpiece and/or the panel.
  • the local vertical movement direction of the holding elements is divided into sections, each section having a holding plane.
  • the sections can each extend vertically over the thickness of the workpieces to be picked up and a safety distance.
  • the sections are preferably adaptable to the thickness of the workpieces to be sorted. This allows the number of available holding levels to be determined before removal and the process to be adapted to the number of workpieces to be removed sequentially.
  • the workpieces picked up by the removal device can be deposited simultaneously in a deposit area of the removal device. This allows the depositing to take place particularly quickly and further reduces the total time required to sort the workpieces.
  • the parts are deposited sequentially.
  • the workpieces are deposited in the opposite order to the order in which they were removed.
  • the workpieces can be deposited one on top of the other on a common stack and/or a common transport box in the deposit area. This allows the deposited workpieces to be further processed particularly quickly.
  • the method for holding workpieces is designed in three or more, in particular at least ten, holding levels. This allows the time required for sorting to be further reduced.
  • at least one further first workpiece is lifted simultaneously to the first workpiece by at least one further first holding element of the removal device and is held in the first holding plane.
  • several first workpieces are lifted simultaneously and held in a common first holding plane. This allows the number of workpieces that can be removed to be increased and the time for sorting to be further reduced.
  • the several first workpieces are deposited together.
  • the plurality of second workpieces are deposited together, usually before or after the first workpiece or workpieces are deposited.
  • Another preferred embodiment of the method for sequentially removing workpieces is one in which a single workpiece is lifted by a plurality of holding elements of the removal device and held in one of the holding planes.
  • a workpiece whose dimensions are too large for a single holding element can be lifted with the assistance of another holding element and held in a holding plane.
  • the object underlying the invention is further achieved by a method for removing a plurality of workpieces from a processing machine by means of a removal device, having at least two removal cycles, each of which begins with aligning a holding element over a workpiece to be removed and ends after at least one workpiece has been deposited by assuming a waiting position, wherein at least one removal cycle contains the previously described method according to the invention for the sequential removal of workpieces.
  • the method according to the invention enables a particularly flexible response to the manufacturing process of the workpieces by the processing machine. For example, by selecting the method described above for sequential removal of the workpieces in at least one removal cycle, the manufacturing time can be accelerated if necessary, so that a larger number of workpieces can be manufactured during a peak load of the processing machine.
  • At least one removal cycle has a method for removing at least one workpiece by the removal device with only one holding plane.
  • this or these are deposited in the deposit area of the removal device. This allows the method for removing workpieces to be flexibly adapted to the production time of the workpieces by the processing machine.
  • each removal cycle has a depositing time which extends over the period from the lifting of at least one workpiece in the first holding level workpiece until it assumes a waiting position, wherein a workpiece to be removed is manufactured with a production time during one of the removal cycles, and wherein the method for sequentially removing the workpieces is used when the depositing time exceeds the production time of the workpiece to be removed.
  • the method for sequentially removing the workpieces is used when the depositing time exceeds the production time of the workpiece to be removed.
  • At least one workpiece can be deposited. This can improve the availability of the removal device for subsequent removal cycles,
  • the method for sequentially removing the workpieces can still be used.
  • a loading level of the removal device or the number of holding elements and holding levels available for removal is preferably taken into account. This can reduce the energy consumption of the removal device for depositing the workpieces.
  • the waiting position of the removal device is preferably located in the immediate vicinity of a workpiece to be removed, but outside of a production area occupied by the processing machine during the production of the workpiece. After the workpiece has been produced, the production area is released by the processing machine and the removal device can be moved to a position above the workpiece to be removed. This can further accelerate the absorption time for the workpieces.
  • a preferred development of the method for removing workpieces is one in which the previously described method for sequentially removing the workpieces is automatically continued if the depositing time exceeds the production time of another workpiece to be removed that is manufactured within the removal cycle.
  • the The fastest production process is determined and a decision is made as to whether the removal device places workpieces that have already been picked up in the storage area or whether the removal device waits in the immediate vicinity of another workpiece for its completion. This can prevent unwanted downtime of the processing machine while waiting for the finished workpiece to be removed.
  • the previously described method for sequentially removing workpieces is only used if confirmed by an operator of the removal device.
  • the decision on whether to carry out the method for sequentially removing workpieces is made by the operator.
  • the operator is preferably prompted to select the respective method by the removal device, for example via an output on a user-machine interface of the removal device. This allows the production process and removal process to be adapted even better.
  • the operator is provided with additional information to help him decide on the selection of the removal method.
  • the operator receives information on the accelerated production process, for example in the form of a predicted time saving. This allows the operator to make a more reliable decision on the selection of the removal method.
  • the method for sequentially removing workpieces is only applied when released by a higher-level unit.
  • the higher-level unit can be a master computer system for a production plant with the processing machine and the removal device.
  • Fig. 1 shows a first removal device during a method for the sequential removal of workpieces in a waiting position above a panel to be sorted.
  • Fig. 2 shows the removal device from Fig. 1 during the process for the sequential removal of workpieces with the first holding element deflected.
  • Fig. 3 shows the removal device from the previous figures, during the method for sequentially removing workpieces in a lowered state of the first holding element.
  • Fig. 4 shows the removal device from the previous figures, during the method for the sequential removal of workpieces with a first workpiece held in a first holding plane.
  • Fig. 5 shows the removal device from the previous figures, during the method for sequential removal of workpieces in a lowered state of a second holding element.
  • Fig. 6 shows the removal device from the previous figures, during the method for the sequential removal of workpieces with a second workpiece held in a second holding plane.
  • Fig. 7 shows a second removal device with two holding units connected via a traverse during the method for the sequential removal of workpieces with two first holding elements lowered into a receiving plane.
  • Fig. 8 shows the second removal device from Fig. 7 during the method for sequentially removing workpieces, wherein the two first holding elements are each in contact with a first workpiece.
  • Fig. 9 shows the second removal device from Figs. 7 and 8 during the method for sequentially removing workpieces, wherein the first two workpieces are held in the first holding plane.
  • Fig. 10 shows the second removal device from Figs. 7 to 9 during the method for sequentially removing workpieces, wherein the second holding element is moved along the traverse and lowered into the receiving plane.
  • Fig. 11 shows the second removal device from Figs. 7 to 10 during the method for sequentially removing workpieces, wherein the second holding element is in contact with the second workpiece.
  • Fig. 12 shows the second removal device from Figs. 7 to 11 during the method for sequentially removing workpieces, wherein the second workpiece is held in the second holding plane.
  • Fig. 13 shows the schematic sequence of an exemplary removal cycle for a method for removing workpieces with at least two removal cycles.
  • Fig. 1 shows a schematic representation of a removal device 10.
  • the removal device 10 has a first holding element 12 and a second holding element 14.
  • the holding elements 12, 14 can each be moved along a guide 16 relative to a frame 18 of the removal device 10. In other words, the holding elements 12, 14 can each be moved in a local vertical movement direction 20.
  • the first holding element 12 has a single gripper 22.
  • the second holding element 14 has two gripper units 24 with three grippers 22 each (from For reasons of clarity, only one gripper 22 of the second holding element 14 is provided with a reference number.
  • the number of grippers 22 on the holding elements 12, 14 is to be understood as an example in the embodiment shown.
  • a holding element 12, 14 can have two or more grippers 22.
  • a gripper unit 24 can have more than three grippers 22, in particular nine or more grippers 22.
  • the gripper units 24 can be moved together with the second holding element 14 along the guide 16 of the second holding element 14.
  • the removal device 10 is located in a position above a panel 26 to be sorted.
  • the panel 26 lies on a workpiece table 28 of a machine tool (not shown in detail).
  • the panel 26 has a first workpiece 30 and a second workpiece 32, which are arranged between a residual grid 34 of the panel 26.
  • the workpieces 30, 32 are already manufactured by the machine tool or processing machine and separated from the residual grid 34.
  • the position of the removal device 10 in Fig. 1 corresponds to a standby position for sorting the workpieces 30, 32.
  • the removal device 10 is moved in advance from a waiting position or rest position away from the table 26 over the table 26.
  • the removal device 10 can be positioned over the workpieces 30, 32 to be removed from the table 26.
  • the removal device 10 can preferably be moved in a plane parallel to the table 26.
  • Fig. 2 shows the removal device 10 from Fig. 1, wherein the first holding element 12 is moved along the guide 16 in the local vertical movement direction 20 towards the panel 26.
  • the position of the frame 18 is opposite to the position in Fig. 1 unchanged and is located in a global zero position 36 of the removal device 10.
  • the global zero position 36 also represents a reference position 38 of the removal device 10 in an undeflected state of the frame 18.
  • the first holding element 12 is deflected relative to the position in Fig. 1, with the gripper 22 located in a receiving plane 40.
  • the receiving plane 40 preferably represents the plane of maximum deflection of the holding elements 12, 14. This makes it possible to achieve the greatest possible distance between the receiving plane 40 and the removal device 10, whereby the risk of a collision of the removal device 10 with the panel 26 can be avoided.
  • the workpieces 30, 32 are located in a production plane 42 of the processing machine ready for removal according to Fig. 2.
  • Fig. 3 shows the removal device 10, which is moved along a global vertical movement direction 44 towards the panel 26.
  • the first holding element 12 is in a deflected state analogous to Fig. 2, with the entire removal device 10 being lowered towards the panel 26.
  • the reference plane 38 is therefore spaced from the global zero position 36.
  • the gripper 22 of the first holding element 12 is in contact with the first workpiece 30.
  • the receiving plane 40 and the production plane 42 are minimally spaced apart, preferably approximately congruent.
  • the gripper 22 - in the case of a vacuum gripper by generating a negative pressure - the first workpiece 30 can be attached to the gripper 22.
  • Fig. 4 shows the removal device 10 from the previous figures, wherein the removal device 10 has been raised in the global vertical movement direction 44 together with the first workpiece 30, so that the global zero position 36 and the reference position 38 coincide again.
  • the first holding element element 12 together with the gripper 22 and the first workpiece 30 located thereon is drawn in in the local vertical movement direction 20.
  • the first workpiece 30 is held in a first holding plane 46 of the removal device 10.
  • the first holding element 12 in Fig. 3 is brought into the first holding plane 46 by further lowering the removal device 10 along the global vertical movement direction 44. It can then be provided to fix the local vertical movement direction 20.
  • the position shown in Fig. 4 can also be achieved by raising the removal device 10 along the global vertical movement direction 44.
  • the second holding element 14 is also lowered in its local vertical movement direction 20, or is arranged further away from the reference plane 38.
  • the grippers 22 of the gripper units 24 are extended so that the second holding element 14 is located in the receiving plane 40.
  • the picking up of the second workpiece 32 by the second holding element 14 takes place.
  • the removal device 10 is lowered along the global vertical movement direction 44, or the reference plane 38 is deflected from the global zero position 36 in order to establish contact between the grippers 22 of the second holding element 14 and the second workpiece 32.
  • the grippers 22 for example by applying a negative pressure
  • the second workpiece 32 is attached to the grippers 22 of the second holding element 14.
  • the local vertical movement direction 20 of the second holding element 14 is fixed in order to prevent a vertical movement of the second workpiece 32 during lifting.
  • Fig. 6 shows the removal device 10, which is raised together with the second workpiece 32.
  • the second workpiece 32 is held by the second holding element 14 in a second holding plane 48 of the removal device 10.
  • the second holding plane 48 is at a smaller distance from the table 26 or the production plane 40 than the first holding plane 46. This makes it possible to avoid a collision of the first workpiece 30 held in the first holding plane 46 with the table 26 and/or the second workpiece 32 held in the second holding plane 48.
  • the removal device 10 is moved in a plane parallel to the table 26 to a storage area of the removal device 10 in order to deposit the workpieces 30, 32.
  • FIG. 7 shows a further embodiment of a removal device 50 with a first holding element unit 52 and a second holding element unit 54, which are coupled by means of a crossbar 56.
  • a holding element unit 52, 54 can be, for example, the removal device 10 (see Figs. 1 to 6).
  • the holding element units 52, 54 are each attached to the crossbar 56 so as to be movable in a longitudinal direction 57 of the crossbar 56. In other words, the holding element units 52, 54 can be spaced closer or further apart from one another. Further crossbars with further holding element units can be movable on the frame 18 of the removal device 50 (not shown in more detail).
  • the traverse 56 and the holding element units 52, 54 can be raised and lowered together along a global vertical movement direction 44 of the removal device 50.
  • the removal device 50 is located in a global zero position 36 above a panel 26 to be sorted.
  • the panel 26 rests on a workpiece table 28.
  • Two first workpieces 30 and a second workpiece 32 are arranged between a residual grid 34.
  • the first holding element unit 52 has two first holding elements 12, each of which is deflected along its guide 16 in the local vertical movement direction 20 into the receiving plane 40.
  • Fig. 8 shows the removal device 50 from Fig. 7 in a state lowered along the global vertical movement direction 44, so that the reference position 38 is deflected from the global zero position 36.
  • the grippers 22 of the first holding elements 12 are in contact with the first workpieces 30 located in the production level 42. For reasons of clarity, only one gripper 22 is provided with a reference number for each first holding element 12. A releasable attachment of the first workpieces 30 can be achieved upon contact with the grippers 22, for example by applying a negative pressure.
  • Fig. 9 shows the removal device 50 after the first workpieces 30 have been lifted.
  • the removal device 50 is further spaced from the table 26 in the global vertical movement direction 44, starting from the position in Fig. 8.
  • the first holding elements 12 of the first holding element unit 52 are retracted in their local vertical movement directions 20, so that the first holding element unit 52 or the removal device 50 takes on compact dimensions.
  • the first workpieces 30 are held by the first holding elements 12 in a first holding plane 46.
  • the local vertical movement directions 20 of the first holding elements 12 are fixed, preferably pneumatically locked, in order to reliably prevent an unintentional lowering of the first workpieces 30 from the first holding plane 46.
  • Fig. 10 shows the removal device 50, wherein the second holding element unit 54 has been moved in the longitudinal direction 57 of the cross member 56 in order to position the second holding element 14 with the gripper 22 of the second holding element unit 54 above the second workpiece 32 of the panel 26 to be removed.
  • the first holding element unit 52 has remained unchanged in its position. However, provision can be made to change the position of the first holding element unit 52 in order to enable positioning of the second holding element unit 54 above a workpiece 30, 32 to be removed.
  • the second holding element 14 is in a deflected state as shown in Fig. 10 and the gripper 22 is located in the receiving plane 40.
  • the receiving plane 40 is positioned between the first holding plane 46 and the production plane 42.
  • Fig. 11 shows the removal device 50 in a state lowered along the global vertical movement direction 44.
  • the gripper 22 of the second holding element 14 is in contact with the second workpiece 32.
  • the gripper 22 By actuating the gripper 22, the second workpiece 32 can be attached to the gripper 22.
  • the removal device 50 is lowered further in the global vertical movement direction 44, whereby the second holding element 14 is inserted along its local vertical movement direction 20.
  • the distance between the reference position 38 and the second holding plane 48 can be adjusted by the global movement of the removal device 50 without the local vertical movement of the second holding element 14 having to be actuated.
  • the first holding plane 46 is located above the table 26 so that a collision between the first workpieces 30 and the table 26 is avoided.
  • Fig. 12 shows the removal device 50 from Fig. 11, which has been raised with the second workpiece 32 in the global vertical movement direction 44 compared to the position in Fig. 11.
  • the reference position 38 of the removal device 50 is now in the global zero position 36.
  • the second workpiece 32 is held by the second holding element 14 in the second holding plane 48.
  • the second holding plane 48 is positioned in the vertical direction between the first holding plane 46 and the production plane 42.
  • both the first workpieces 30 and the second workpiece 32 are located in holding planes 46, 48 above the table 26. This can effectively prevent a collision with the table 26.
  • the workpieces 30, 32 are deposited in a deposit area of the removal device 50.
  • further workpieces are previously lifted by further holding elements and held in further holding planes (not shown).
  • Fig. 13 shows a schematic representation of an exemplary sequence for a removal cycle 58 of a method for removing workpieces 30, 32.
  • a first removal cycle 58 can begin as shown with the method step 60 "Lifting the first workpiece", wherein the first workpiece 30 is lifted by the first holding element 12 of the removal device 10, 50. This is followed by method step 62 "Holding the first workpiece 30 in the first holding plane".
  • method steps 60, 62 it can be provided that several first workpieces 30 are held by several first holding elements 12 in a single first holding plane 46. It can also be provided that a single first workpiece 30 is held in a first holding plane 46 by means of a plurality of first holding elements 12.
  • a method step 64 it can then be decided whether second workpieces 32 should be removed by the removal device 10, 50.
  • the first workpieces 30 are deposited in a deposit area of the removal device 10, 50 following the removal in a method step 66.
  • the removal device 10, 50 is then moved in a method step 68 into a waiting position for the renewed removal of first workpieces 30. This ends the removal cycle 58.
  • second workpieces 32 are lifted after their production by the processing machine in a method step 70 and held in the second holding plane 48 of the removal device 10, 50 in a method step 72. This can be advantageous if the time for depositing the first workpiece 30 is longer than the production time of the second workpiece 32.
  • the method for sequentially removing workpieces 30, 32 can then provide a decision in a method step 74 that the picked up first and second workpieces 30, 32 are deposited by the removal device 10, 50 according to method step 66.
  • the removal device 10, 50 is then moved to a waiting position according to method step 68 and the removal cycle 58 ends.
  • a decision can alternatively be made to continue the method for sequentially removing workpieces 30, 32.
  • third workpieces (not shown) can be lifted in a method step 76 and held in a third holding plane (not shown) according to a method step 78.
  • the first and second workpieces 30, 32 are then deposited together with the third workpieces, in particular simultaneously, in accordance with method step 66 in the deposit area of the removal device 10, 50.
  • the removal device 10, 50 is then moved into a waiting position in accordance with method step 68 and the removal cycle 58 ends.
  • the method steps 64, 74 can preferably be influenced by the operator.
  • the operator specifies before the start of the removal cycle 58 or during the removal cycle 58 whether removal should take place using only the first holding plane 46 or using several holding planes 46, 48.
  • the operator is preferably given a decision aid in the form of a predicted process benefit as a result of the decision by the removal device 10, 50.
  • the operator can be a natural person or an appropriately programmed control device.
  • the method for sequential removal of workpieces 30, 32 is activated by the operator for a fee. This allows the costs to be kept low in a conventional process sequence with removal using only a first holding level 46. If necessary, for example when the processing machine is under high utilization, a faster removal of the workpieces 30, 32 by the removal device 10, 50 can be added in this way.
  • the previously described processes of the removal cycle 58 can be carried out in any order in a method for removing workpieces 30, 32.
  • the method has at least two, but in particular a plurality of of removal cycles 58. This allows the process to be adapted particularly flexibly to changing production processes.

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  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
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Abstract

L'invention se rapporte à un procédé pour l'enlèvement séquentiel d'au moins deux pièces (30, 32) d'un niveau de production (42) d'une machine de traitement au moyen d'un dispositif d'enlèvement (10) présentant une pluralité d'éléments de maintien (12, 14), les pièces (30, 32) étant mises en place après que les au moins deux pièces (30, 32) ont été levées, une première pièce (30) étant levée par un premier élément de maintien (12) et étant maintenue dans un premier niveau de maintien (46) du dispositif d'enlèvement (10), et une seconde pièce (32) étant ensuite levée par un second élément de maintien (14) et maintenue dans un second niveau de maintien (48) du dispositif d'enlèvement (10), et le premier niveau de maintien (46) étant plus éloigné du niveau de production (42) dans une direction verticale que le second niveau de maintien (48). L'invention se rapporte également à un procédé d'enlèvement de pièces (30, 32) dans au moins deux cycles d'enlèvement, au moins un cycle d'enlèvement (58) comportant le procédé d'enlèvement séquentiel de pièces (30, 32).
PCT/EP2023/082493 2022-11-22 2023-11-21 Procédé d'enlèvement séquentiel et procédé d'enlèvement de pièces dans une pluralité de cycles d'enlèvement WO2024110437A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022212462.6 2022-11-22
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013103123B4 (de) 2013-03-27 2015-06-18 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zum Entnehmen von Werkstücken aus einer Bearbeitungsmaschine sowie Bearbeitungsmaschine
EP2783768B1 (fr) 2013-03-27 2016-06-22 TRUMPF Werkzeugmaschinen GmbH + Co. KG Procédé de prélèvement de pièces à partir d'une machine d'usinage et machine d'usinage
EP2832469B1 (fr) 2013-07-30 2017-05-17 Trumpf Sachsen GmbH Dispositif de manipulation de pièces à usiner ainsi qu'installation mécanique dotée d'un tel dispositif
CN111346981A (zh) * 2020-03-03 2020-06-30 苏州领裕电子科技有限公司 转盘式连续折弯装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013103123B4 (de) 2013-03-27 2015-06-18 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zum Entnehmen von Werkstücken aus einer Bearbeitungsmaschine sowie Bearbeitungsmaschine
EP2783768B1 (fr) 2013-03-27 2016-06-22 TRUMPF Werkzeugmaschinen GmbH + Co. KG Procédé de prélèvement de pièces à partir d'une machine d'usinage et machine d'usinage
EP2832469B1 (fr) 2013-07-30 2017-05-17 Trumpf Sachsen GmbH Dispositif de manipulation de pièces à usiner ainsi qu'installation mécanique dotée d'un tel dispositif
CN111346981A (zh) * 2020-03-03 2020-06-30 苏州领裕电子科技有限公司 转盘式连续折弯装置

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