Gripping unit for operating devices of processing machines

Abstract

The invention relates to a gripping unit for an operating device (26) of a machining machine (11), in particular for operating a plate-shaped workpiece (12), comprising a plurality of vacuum cups (35) arranged on a main body (33) in such a way that at least one cup area (39) is formed, and the at least one cup area (39) is subjected to underpressure for operating the workpiece (12), wherein at least one holding unit (41) is arranged on the main body (33), the holding unit having at least one sealing element (42) and surrounding the at least one cup area (39), and the holding unit having at least one actuating unit (47) for subjecting the at least one sealing element (42) to underpressure for acting on the plate-shaped workpiece (12).

Description

Technical Field

[0001] The invention relates to a gripping unit for a handling device of a processing machine, in particular a machine for processing plate-shaped workpieces. Background Art

[0002] EP 1 967 301 A1 discloses a machine assembly for machining plate-shaped workpieces, comprising a machining unit and a handling device for the machined product. The machining machine is used to machine plate-shaped workpieces, in particular metal sheets. The machining is preferably performed by punching and / or cutting. For handling the workpiece, the handling device includes a gripping device.

[0003] This gripping device has one or more suction cups, each equipped with multiple vacuum cups. To grip a workpiece, the vacuum cups are placed against the workpiece. A vacuum is then applied, causing the workpiece to be gripped by the cups. The workpiece can then be manipulated. Each of these vacuum cups consists of a suction element that acts on the workpiece and a valve for controlling the vacuum cup.

[0004] DE 10 2014 215 102 A1 discloses a large-area suction gripper for suctioning and manipulating workpieces. These large-area suction grippers comprise a closed housing with a firmly integrated gripping plate on which a plurality of suction ports are arranged. A sealing body is arranged within the housing, each of which has a sealing portion. The sealing portion connects one or more suction ports to the closed body and can apply negative pressure to these ports, depending on the number of surrounding suction ports. In this way, multiple groups of suction ports can be actuated within a single gripping plate. Summary of the Invention

[0005] The object of the present invention is to provide a gripping unit for a handling device of a processing machine, which gripping unit is capable of adjusting the gripping force for transporting plate-shaped workpieces.

[0006] This object is achieved by a gripping device for a manipulation device, the gripping device comprising a plurality of vacuum suction cups on a main body, the plurality of vacuum suction cups being arranged relative to each other to form at least one suction cup area, and negative pressure being applied to the at least one suction cup area to manipulate a workpiece, at least one holding unit being arranged on the main body, the holding unit having at least one sealing element and surrounding the at least one suction cup area, and the holding unit having an actuating unit for applying additional negative pressure to the at least one sealing element to act on the plate-shaped workpiece.

[0007] The advantage of this arrangement is that, in situations of high force, such as when loading or transporting unprocessed sheet-like workpieces, in addition to the vacuum cups of the at least one suction cup area, the gripping unit can also be subjected to an additional holding force generated by at least one sealing element of the holding unit, which surrounds the at least one suction cup area. Thus, the holding force can be increased by the area to which negative pressure can be applied and which is defined by the sealing element. The sealing element surrounds the at least one suction cup area, thereby generating the additional force over a larger area than the suction cup area. This arrangement also allows the individual vacuum cups and / or suction cup areas of the gripping device to be optimally positioned on the sheet-like workpiece to be handled, depending on the geometry.

[0008] Preferably, the sealing element circumferentially surrounds all suction cup areas provided on the body. This allows for increased holding force with a structurally simple design. In this embodiment, the arrangement and design of the suction cup areas of known gripping elements, as well as their actuation methods, can be retained.

[0009] Alternatively, a sealing element of the outer circumference can be provided for each suction cup area or at least one group of suction cup areas. In this way, the braking of the holding force can be carried out and increased individually for each suction cup area.

[0010] Furthermore, the actuation unit of the holding unit includes at least one valve for applying negative pressure, which is arranged separately from the at least one valve for actuating the vacuum cups in the suction cup area. This makes it possible to actuate the holding unit as required while retaining the existing gripping function of the gripping unit.

[0011] Another preferred embodiment of the actuation unit provides that at least one valve of the actuation unit is arranged in or associated with the suction cup region. This allows for a compact design of the gripping unit. Preferably, the valve of the actuation unit can be integrated in the suction cup region at the location of the vacuum suction cup.

[0012] At least one sealing element associated with at least one suction cup area can be arranged in a fixed orientation relative to the gripping plane of the vacuum suction cup. The vacuum suction cup is preferably also positioned fixedly in the gripping plane. This allows for an arrangement with reduced installation space.

[0013] Alternatively, at least one sealing element of the holding unit can be actuated to be movable up and down relative to one of the gripping planes formed by the vacuum cups. This arrangement has the advantage that, when not in use, the at least one sealing element is elevated relative to the gripping plane of the vacuum cups. This can result in reduced wear on the at least one sealing element.

[0014] Preferably, at least one sealing element of the holding unit is actuated by a drive so that the sealing element can be moved vertically relative to the main body, the sealing element being arranged in a starting position above the gripping plane formed by the vacuum suction cup. With the help of the drive, the sealing element can be transferred to a gripping position located in the gripping plane of the vacuum suction cup or positioned to a gripping position protruding from the gripping plane of the vacuum suction cup. This arrangement and construction enable the at least one sealing element to firmly abut and grip the plate-like workpiece to be operated in order to generate additional holding force. The individual suction cup areas can also move their vacuum suction cups from a non-use position to a gripping position. This individual actuation of the vacuum suction cups and / or suction cup areas also allows gripping of deformed plate-like workpieces.

[0015] Advantageously, after the at least one suction cup area of ​​the gripping unit has been placed on the plate-like workpiece to be handled, the at least one sealing element can be transferred to the gripping position, wherein the vacuum cups of the at least one suction cup area and the at least one sealing element can be applied with negative pressure sequentially. Alternatively, the vacuum cups of the at least one suction cup area placed on the plate-like workpiece and the at least one sealing element can also be applied with negative pressure simultaneously. In the latter case, a shortened process cycle can be achieved.

[0016] According to a preferred embodiment of the gripping unit, the drive for moving the at least one sealing element up and down is designed, for example, as a reciprocating piston drive, in particular a pneumatic cylinder, or as a linear drive, an electric drive, or an electromagnetic drive. Preferably, at least two reciprocating piston drives are provided, which act on the body on the one hand and on the holding frame accommodating the sealing element on the other hand to actuate the up and down movement of the sealing element.

[0017] The at least one sealing element of the retaining unit is preferably designed as a circumferential sealing lip. According to a first embodiment, the sealing lip can be made of a thermoplastic elastomer. Such a sealing lip can also be formed from a foam material. In particular, the design of the foam material allows the geometric shape of the sealing element to be easily adapted to the structural contours of the main body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The invention and further advantageous embodiments and developments of the invention are described and explained in more detail below with reference to the examples shown in the accompanying drawings. The features derived from the description and the drawings can be used according to the invention individually or in any combination. The drawings show:

[0019] Figure 1 is a perspective view of a handling device and a processing machine having a gripping device including a vacuum suction cup according to the prior art;

[0020] Figure 2 According to the prior art, it is viewed from below Figure 1 Schematic diagram of the suction cup of the gripping device;

[0021] Figure 3 is a perspective view of the gripping device;

[0022] Figure 4 It is based on the view from below Figure 3 A schematic diagram of a gripping device;

[0023] Figure 5 is based on Figure 3 A schematic side view of a gripping device, wherein the additional holding unit is in a starting position;

[0024] Figure 6 is based on Figure 5 A schematic cross-sectional view of a gripping device, wherein the holding unit is in a gripping position;

[0025] Figure 7 Is the basis of another structure in the grasping position Figure 6 A schematic diagram of a gripping device;

[0026] Figure 8 It is based on the view from below Figure 3 A schematic diagram of an alternative embodiment of a gripping unit;

[0027] Figure 9 It has multiple bases Figure 3 A perspective view of a gripping device of a gripping unit;

[0028] Figure 10 It has multiple bases Figure 3 The gripping unit is based on Figure 9 A perspective view of an alternative embodiment of a gripping device. DETAILED DESCRIPTION

[0029] Figure 1A processing machine 11 is shown in perspective view, which is designed as a punching machine, for example. A preferably stationary processing unit 21 having a punch 14 and a die (not shown in detail) is provided for the separation-based processing of a plate-like workpiece 12, for example in the form of a metal sheet. Alternatively, a laser punching machine can also be used, in which the laser processing head is arranged adjacent to the punch 14. The workpiece 12 to be processed rests on a workpiece support 16 during processing. During processing, the workpiece 12 is held by a holding unit 17, which preferably includes a clamp 18, and can be moved relative to the punch 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 moving the workpiece support 16, including the holding unit 17, relative to a base 24 on which the workpiece support 16 is mounted, by means of a conventional linear drive 20, indicated by an arrow. In this way, the workpiece 12 can be moved relative to the punch 14 in the X and Y directions so that the area of ​​the workpiece 12 to be processed can be positioned within the processing area of ​​the punch 14. The processing area is located between the punch 14 and the die, which is not shown in detail and can be replaced. Accordingly, the laser optics can be arranged in the fixed processing area of ​​the laser processing head in the laser stamping machine.

[0030] For the workpiece support 16 of the processing machine 11, an operating unit 26 is provided at one end, which also includes a gripping unit 27, which can be moved along at least one linear axis 25 from the loading position and unloading position 22, 23 for the sheet material 12 into a removal position or a waiting position in order to pick up the processed workpiece 36 and, for example, guide it out of the processing machine 11 or store it in a magazine 50.

[0031] Alternatively, the processing machine 11 can also be designed as a laser processing machine or a laser punching processing machine, which has a closed body, in particular a circumferential frame, instead of an open body, which preferably extends in the Y direction.

[0032] Figure 2 A perspective view from below shows a gripping unit 27 according to the prior art. The gripping unit 27 comprises a body 33, which comprises, for example, three suction cup areas 39, in which one or more suction elements 31 are arranged. In the illustrated embodiment, for example, five vacuum suction cups 35 are assigned to each suction cup area 39. These vacuum suction cups 35 are jointly actuated by a valve (not shown in detail) with negative pressure in order to generate the holding force 12 for the plate-like workpiece.

[0033] Figure 3 A perspective view of a gripping unit 27 according to the invention is shown. Figure 4 Shown from below Figure 3 Schematic diagram of the gripping unit. Figure 5 Shown according to Figure 3 Schematic cross-sectional view of the gripping unit 27.

[0034] The gripping unit 27 comprises a body 33 which has fastening elements and / or fastening portions 34 on its upper side, for example in order to fix the gripping unit 27 to a gripping frame 28 ( Figure 8 and Figure 9 ).according to Figure 4 The view of FIG. 2 shows that the gripping unit 27 comprises, for example, eight suction cup areas 39 , to each of which are assigned, for example, four vacuum cups 35 .

[0035] The holding unit 41 is arranged on the gripping unit 27 and comprises a sealing element 42 and an actuating unit 47. The actuating unit 47 consists of at least one drive 53 and at least one valve 48, via which the negative pressure for the sealing element 42 can be actuated. The valve 48 is actuated by a control system (not shown in detail). The control system (not shown in detail) can also actuate the vacuum cups 35 of the suction cup area 39.

[0036] According to the exemplary embodiment shown, the sealing element 42 is shown as a peripheral sealing element 42 which surrounds all suction cup areas 39 of the gripping unit 27 .

[0037] The circumferential sealing element 42 is held by a retaining frame 43. This retaining frame 43 is guided so as to be movable up and down relative to the main body 33. To actuate this up and down movement, the actuating unit 47 includes a driver 53, one end of which is securely mounted on the main body 33 and the other end of which engages the retaining frame 43. Preferably, the driver 53 is designed as a reciprocating piston driver. Advantageously, a plurality of pneumatic lifting cylinders are used to actuate the uniform up and down movement of the sealing element 42. The driver 53 is preferably actuated by a control system (not shown in detail) and cooperates with the operation of at least one valve for the sealing element 42 and a valve for actuating the vacuum suction cup 35.

[0038] The circumferential sealing element 42 is Figure 5 Shown in the starting position 44. The vacuum cup 35 is also Figure 5 In the embodiment shown, the vacuum suction cups 35, which are assigned to each other to form the suction cup area 39, can be moved vertically from the idle position shown to the gripping position 45, for example Figure 6 and Figure 7 Each suction cup area 39 can be actuated individually. When operating a flat workpiece 12, all suction cup areas 39 can be positioned Figure 5 The illustrated inactive position or the entire gripping position 45 is extended. If the plate-shaped workpiece 12 to be gripped has been reshaped and has projections or protrusions, only individual suction cup areas 39 can be transferred to the gripping position 45, e.g. Figure 6 shown.

[0039] According to one embodiment, for example, all vacuum cups 35 may be arranged in a common gripping position 45, such as Figure 5 As shown. If lightweight plate-like workpieces 12 are to be handled, only the vacuum cups 35 of the suction cup areas 39 are activated. For example, only individual suction cup areas 39 can be activated because other suction cup areas 39 are located in recesses or gaps in the plate-like workpiece 12 and are therefore unable to perform a gripping function. When handling heavier plate-like workpieces 12, negative pressure can be applied to the sealing element 42 in addition to the vacuum cups 35.

[0040] Figure 6 A sectional view of the gripping unit 27 is shown, with the sealing element 42 and the individual suction cup areas 39 moved to a gripping position 45. When the sealing element 42 is positioned in the gripping position 45, it lies in the gripping plane 51 of the vacuum suction cup 35. According to a first embodiment, an actuation for handling a sheet-like workpiece can be provided, wherein the vacuum suction cup 35 is first subjected to negative pressure, and then the sealing element 42 is subjected to negative pressure. The individual suction cup areas 39 of the gripping unit 27 can also be subjected to negative pressure, with the selection of the suction cup areas 39 to be actuated being adapted to the geometry of the sheet-like workpiece 12 to be handled. For example, the sheet-like workpiece to be handled can have recesses or hollows associated with the suction cup areas 39, so that negative pressure need not be applied to these suction cup areas 39.

[0041] Figure 7 FIG. 4 shows a cross-sectional view of a gripping unit 27 in a gripping position 45 in another alternative embodiment. In this embodiment, instead of Figure 6 The individual suction cup areas 39 shown make it possible to transfer only individual vacuum suction cups 35 to the gripping position 45. This arrangement has the advantage that, depending on the geometry of the plate-like workpiece 12 to be handled, the individual vacuum suction cups 35 are transferred to the gripping position 45. In this transferred gripping position 45, vacuum is also applied to these vacuum suction cups 35. The vacuum suction cups 35 that are not extended can remain stationary.

[0042] according to Figure 6 and Figure 7 Combinations of exemplary embodiments are also possible, such that individual suction cup areas 39 and individual vacuum suction cups 35 adjacent thereto are moved to a gripping position 45 .

[0043] Alternatively, the holding unit 41 of the gripping unit 27 can be actuated so that at least one sealing element 42 is positioned to protrude relative to the suction cup area 39 having the vacuum suction cup 35, so that only the sealing element 42 rests on the plate-like workpiece 12 to be operated, and no negative pressure is applied to the vacuum suction cups 35 of at least one suction cup area 39.

[0044] In the above-described embodiment examples, the sealing element 42 is preferably formed as a sealing lip. A thermoplastic elastomer can be used for this purpose.

[0045] Figure 8 An alternative embodiment of a gripping unit 27 is shown. This gripping unit 27 comprises, for example, nine vacuum cups, which are assigned to one another within, for example, a square bottom area of ​​the gripping unit 27. A sealing element 42 is arranged circumferentially around the outside. This sealing element 42 can adapt to the square contour of the body 33. Furthermore, the sealing element 42 can extend at least partially into the intermediate space between two adjacent vacuum cups 35. This creates an enlarged sealing area.

[0046] The sealing element thus has a semicircular recess 56, towards which the vacuum cup 35 is oriented. In this embodiment, the sealing element 42 is preferably made of foam. This allows these semicircular recesses 56 or three-quarter circular indentations in the corner regions of the sealing element 42 to be introduced into the inner circumferential surface of the sealing element 42 in a simple manner.

[0047] Figure 9 A perspective view of a gripping device 29 is shown having a plurality of gripping units 27. The gripping device 29 comprises a gripping receiver 28 on which a mounting flange 61 is provided for attachment to the handling device 26. The gripping units 27 are preferably arranged in a grid pattern, in particular in rows and columns, on the gripping receiver 28. The gripping units 27 are fixed in their position and are arranged so as not to be movable on the gripping receiver 28.

[0048] Figure 10 Shown Figure 9 An alternative design of the gripping device 29 is provided. Preferably, linear axes 63 are provided on the gripping holder 28 of the gripping device 29, which linear axes can be individually actuated relative to the direction of travel, in particular in the Y direction. The gripping units 27 are provided on these linear axes 63 and, in particular, can also be provided so that they can be varied along the length of the linear axes 63 and / or at varying distances from one another.

[0049] The linear axis 63 can also be arranged on at least one further linear axis 64 oriented at right angles thereto, by means of which the distance between the gripping units 27 can be shifted in the X direction. Furthermore, the linear axis 63 carrying the gripping units 27 can be received by the at least one further linear axis 64, so that their distance from one another can be varied.

[0050] Reference Signs List

[0051] 11 Processing machines

[0052] 12 Plate-shaped workpieces

[0053] 14 Punch

[0054] 15 Laser processing head

[0055] 16 Workpiece support

[0056] 17 Holding unit

[0057] 18 Clip

[0058] 19 Linear Drives

[0059] 20 linear actuators

[0060] 21 processing units

[0061] 22 Loading position

[0062] 23 Uninstall location

[0063] 24 base

[0064] 25 linear axes

[0065] 26 operating units

[0066] 27 gripping units

[0067] 28 Frame

[0068] 29 Grabbing device

[0069] 31 Suction element

[0070] 33 Subject

[0071] 34 Fastening part

[0072] 35 Vacuum suction cup

[0073] 36 workpieces

[0074] 39 Suction Cup Area

[0075] 41 Holding unit

[0076] 42 Sealing element

[0077] 43 Keep the frame

[0078] 44 Starting Position

[0079] 45 Grab position

[0080] 47 Actuation unit

[0081] 48 valve

[0082] 50 libraries

[0083] 51 Grab plane

[0084] 53 Driver

[0085] 56 recess

[0086] 61 Mounting flange

[0087] 63 linear axes

[0088] 64 linear axes

Claims

1. A gripping unit for a handling device (26) for handling a plate-shaped workpiece (12) of a processing machine (11), the gripping unit comprising a plurality of vacuum suction cups (35) arranged on a body (33), the plurality of vacuum suction cups being arranged relative to one another to form at least one suction cup area (39), the at least one suction cup area (39) being subjected to negative pressure for handling the workpiece (12), It is characterized in that At least one holding unit (41) is arranged on the main body (33), the holding unit having at least one sealing element (42) and surrounding the vacuum suction cup (35), and the holding unit (41) having at least one actuating unit (47) for applying additional negative pressure to the at least one sealing element (42) to act on the plate-shaped workpiece (12), wherein The vacuum suction cups (35) are moved vertically from the rest position to the gripping position (45) individually or in combination with each other to form a suction cup area (39). The at least one sealing element (42) is arranged on the main body (33) so as to be movable up and down relative to a gripping plane (51) formed by the vacuum suction cup (35), the at least one sealing element (42) is arranged to be movable vertically relative to the main body (33) by means of a driver (53) of an actuating unit (47), and in a starting position (44), the at least one sealing element (42) is arranged above the gripping plane (51) formed by the vacuum suction cup (35), and in a gripping position (45), the at least one sealing element (42) can be positioned in the gripping plane (51) formed by the vacuum suction cup (35) or protrude relative to the gripping plane (51).

2. The gripping unit according to claim 1, characterized in that The suction cup area (39) provided on the body (33) is arranged within the outer peripheral sealing element (42).

3. The gripping unit according to claim 1, characterized in that A peripheral sealing element (42) is provided on the body (33) for each suction cup area (39) or for at least one group of a plurality of suction cup areas (39).

4. The gripping unit according to claim 1, characterized in that The actuation unit (47) has at least one valve (48) for applying vacuum, which can be actuated separately from at least one valve for actuating the vacuum suction cup (35) or the at least one suction cup area (39) or for actuating the vacuum suction cup (35) and the at least one suction cup area (39).

5. The gripping unit according to claim 4, characterized in that The at least one valve (48) of the actuation unit (47) is arranged in the suction cup region (39) or is assigned to the suction cup region (39) surrounded by the sealing element (42).

6. The gripping unit according to claim 1, characterized in that The at least one sealing element (42) is arranged on the body (33) in a fixed orientation relative to a gripping plane (51) formed by the vacuum suction cup (35).

7. The gripping unit according to claim 6, characterized in that After the at least one suction cup area (39) and the sealing element (42) are placed on the workpiece (12) to be operated, negative pressure is applied to the vacuum suction cup (35) and the sealing element (42) of the at least one suction cup area (39) in sequence or simultaneously.

8. The gripping unit according to claim 1, characterized in that The at least one suction cup area (39) is vertically movable relative to the body (33).

9. The gripping unit according to any one of claims 1 to 8, characterized in that: After the at least one suction cup area (39) is placed on the workpiece (12) to be operated, the at least one sealing element (42) can be transferred to a gripping position (45), and the vacuum suction cups (35) and the sealing element (42) of the at least one suction cup area (39) are subjected to negative pressure sequentially or simultaneously.

10. The gripping unit according to claim 1, characterized in that The drive (53) is designed as a reciprocating piston drive, or as a linear drive, an electric drive or an electromagnetic drive.

11. The gripping unit according to claim 10, characterized in that The drive (53) is designed as a pneumatic cylinder.

12. The gripping unit according to claim 1, characterized in that The sealing element (42) is formed as a circumferential sealing lip made of an elastic material.

13. The gripping unit according to claim 12, characterized in that The sealing element (42) is formed of an elastomer or foam.

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