Method for transporting and / or manipulating components

Abstract

The invention relates to a method for transporting and / or manipulating components (4), in particular sheet metal parts, and a production plant (1), comprising: a robot structure (2) having a first robot (5) and at least one second robot (6), wherein the first robot (5) and the at least one second robot (6) are designed to pick up, transport, hold and / or place the component (4); at least one processing device (3) for performing processing steps on the component (4), wherein after a first processing cycle, the component (4) is transferred from the first robot (5) to the at least one second robot (6) within a predetermined transfer time, the transfer time being between the first processing cycle and the at least one second processing cycle, wherein the component (4) rests at least partially on the processing device (3) during the transfer time and is supported in a load-distributing manner only by the processing device (3).

Description

Technical Field

[0001] The invention relates to a method for transporting and / or handling components and to a production plant as specified in the claims. Background Art

[0002] In modern production facilities, the transport of workpieces and / or components is usually performed in a fully automatic manner. For this purpose, the use of different manipulators with gripping devices (eg, vacuum grippers) has been established.

[0003] In this regard, various methods are known to those skilled in the art in order to increase the throughput and to increase the speed of component transport and / or component handling during processing operations.

[0004] For example, with a view to reducing cycle times, it is known from the prior art that as part of sheet metal processing a plurality of gripping devices may be provided for handling the workpieces.

[0005] DE8817048U1 shows a device for handling, in particular transporting, workpieces between two adjacent processing stations, for example in the form of two sheet metal presses. In this respect, two handling robots are arranged one above the other between the two processing stations, wherein the handling robots work in opposite directions and can be controlled individually by adjusting the movement sequence to one another.

[0006] EP3284547A1 discloses that gripping devices can cooperate in the process of sheet metal processing operations. In this respect, for example, a workpiece can be collected by a first gripping device and then bent by a second gripping device.

[0007] US2015217359A1 shows a stacking device for metal plates, which has a plurality of gripping robots, wherein the plurality of robots can, for example, grip and transport metal plates simultaneously.

[0008] DE 10 2004 035 797 B3 shows that a workpiece can be transferred from a first handling device to a second handling device in a transfer position.

[0009] EP 0 461 275 B1 discloses a device for processing metal sheets, which has a main robot unit and an auxiliary robot unit, for example to collect a workpiece from a metal processing machine and to transfer another workpiece to the machine. Summary of the invention

[0010] The object of the present invention is to overcome the disadvantages of the prior art and to provide a method by which the speed and / or productivity of production can be increased.In addition, the object of the present invention is to allow part preparation of workpieces for one or more processing operations in parallel with the main time.

[0011] The above objects are achieved by a device and a method according to the claims.

[0012] The present invention relates to a method for transporting and / or manipulating components, in particular sheet metal parts, comprising: a robot structure having a first robot and at least one second robot, wherein the first robot and the at least one second robot are designed to grasp, transport, hold and / or place components; and at least one processing device for performing processing steps on the components, wherein after a first processing cycle, the components are transferred from the first robot to the at least one second robot within a predetermined re-gripping time, wherein the re-gripping time occurs between the first processing cycle and the at least one second processing cycle, and wherein during the re-gripping time, at least some parts of the components rest on the processing device and are supported in a load-distributing manner only by the processing device.

[0013] When the components are transferred within a predetermined and / or defined regripping time between two processing cycles, the cycle time can be reduced and thus the productivity of the processing of the components can be significantly increased. In this respect, the transfer of the components between the two manipulators can be carried out, wherein during the transfer the components are supported in a load-distributing manner only by the handling device and / or an integrated element of the handling device. The load-distributing support of the components can be resting on a holding device and / or on a placement part of the handling device.

[0014] A manipulator can be a manipulator for any type of component, such as a multi-axis industrial robot.

[0015] Instead of two manipulators, it is also conceivable in this respect to provide a plurality of manipulators in the area of ​​the production plant with at least one handling device, wherein the transfer and / or advancement of the components takes place between the plurality of manipulators. The at least one handling device can be, for example, a bending machine, such as a plate bender or a rotary bender. If a plurality of handling devices are provided in the production plant for handling the components, different types of handling devices can be provided, such as a plate bender and a rotary bender. In this respect, the individual handling devices can be used in a cooperative manner.

[0016] The re-gripping time is a time period and / or a period of time during which at least some parts of the component rest on the handling device and are supported in a load-distributing manner only by the handling device. During this time period, the first manipulator that has placed the component moves away from the component and the second manipulator that collects the component moves towards the component.

[0017] During the transfer of the component, it can be gripped by the second manipulator at a different component position than the first manipulator. Thereby, a position change of the component can be achieved, which is necessary and / or desired for a subsequent processing cycle. The position change can be a flipping and / or a rotation of the component to bring it to a position where further processing steps can be performed. Advantageously, the re-gripping time is set at a defined point in time at which a position change of the component is required. In this regard, multiple transfers and / or multiple re-gripping operations are conceivable.

[0018] In this respect, a processing step of a processing cycle may be a bending step on a sheet metal part. In this respect, a bending step requiring a first spatial position of the component may be performed in a first processing cycle and a bending step requiring a second spatial position of the component may be performed in a second processing cycle. When processing sheet metal parts on a bending machine, the first manipulator may be a loading and / or supply robot, which may preferably also support the bending process of the component. The at least one second manipulator may be a removal robot for a processed component relative to the bending machine, wherein the at least one second manipulator may also support the bending process of the component.

[0019] In addition to the repositioning of the component within a defined regripping time, the method according to the invention also allows for component preparation parallel to the main time, wherein a processing step can be carried out on one component while another component is transported to the processing device. Furthermore, a completely processed component can be transported away from the processing device while a processing step is being carried out on another component. As a result, the cycle time can be further shortened and the productivity of the processing device can be increased. Furthermore, a consistent workload and / or work distribution between a plurality of manipulators can be achieved.

[0020] In order to save travel and further increase productivity, according to the invention, the transfer of the component is performed directly at the handling device. The transfer time is advantageously selected as the re-gripping time that requires a position change, in particular a rotation about the upper and lower sides of the component.

[0021] After the first manipulator has gripped the first component, a first processing cycle with a plurality of processing steps begins. In the process, a plurality of beveling and / or bending steps are performed on the sheet metal part. The component is then placed during the re-gripping time, wherein at least some parts of the component rest on the handling device and are supported in a load-distributing manner only by the handling device. In a next step, the second manipulator grips the component and a second processing cycle with a plurality of processing steps begins. At the same time, the first manipulator grips the second component. When the first component is put down by the second manipulator, the first processing cycle of the second component begins. Advantageously, therefore, both the collection of the components and the placement of the components are performed in parallel with the main time, which further leads to a reduction in production time and an increase in productivity.

[0022] When the method according to the invention is carried out, the time required for the re-gripping process during the transfer of components between a plurality of robots is reduced.

[0023] Furthermore, it is advantageous if both the first robot and the second robot can supply components to the processing device, can support and / or carry the components during the processing steps, and can reposition or remove components during the transfer process.

[0024] Furthermore, it may be advantageous if the component comprises a first gripping surface and a second gripping surface different from the first gripping surface, wherein the component is gripped by the first gripper at the first gripping surface and by the at least one second gripper at the second gripping surface.

[0025] The first and / or second gripping surface may in turn comprise a plurality of partial portions, on which the component is gripped and held during transport until being set down.

[0026] Advantageously, the first gripping surface is located in a different local area of ​​the component than the second gripping surface. For example, if in the case of a sheet metal part the first gripping surface is located on the upper side of the sheet metal part and the second gripping surface is located on the lower side of the sheet metal part, the sheet metal part can be held on the upper side of the sheet metal part by means of the vacuum suction cup during the first handling cycle. The sheet metal part can then be lowered during the re-gripping time, with at least some parts of the component resting on the handling device and supported in a load-distributing manner solely by the handling device.

[0027] As a further consequence, the second robot can grip the sheet metal part on the underside in order to carry out further processing steps and / or to start a second processing cycle.

[0028] In this respect, the position of the component can be advantageously changed. In addition, since the component is now held in a different position by the vacuum cups of the second manipulator, processing steps can be performed which require a new position of the component on the one hand and a repositioning of the holding and / or gripping device (e.g. vacuum cups) on the other hand.

[0029] In an advantageous development, it can be provided that the component is gripped on a first gripping surface formed on the upper side of the component and on a second gripping surface formed on the lower side of the component.

[0030] This development advantageously enables a multiplicity of conceivable variants for the treatment element.

[0031] Furthermore, it can be provided that during at least one second processing cycle the second component is gripped by the first robot.

[0032] In this respect, the component can be gripped from a stack or received from a supply unit. Advantageously, part preparation can still be performed in parallel with the main time, which can reduce cycle times and production times. Processing steps can be performed on a first component held by the second robot while the second component is gripped by the first robot. Furthermore, in the case of sheet metal parts, the robot can also be used as a bending aid.

[0033] Furthermore, it can be provided that the first component is placed by at least one second robot during the first processing cycle of the second component.

[0034] In this respect, it can be placed on a stack, a conveyor and / or another handling unit. Advantageously, since the parts are placed in parallel with the main time, the production time can be further reduced.

[0035] According to a likewise advantageous embodiment, it can be provided that the component is deposited at the re-gripping station by a first robot and the component is gripped from the re-gripping station by at least one second robot.

[0036] If the processing device is designed as a bending machine, the re-gripping station can also be a bending auxiliary device. In this respect, the re-gripping station is advantageously designed to be adjustable, for example pivotable and / or displaceable in the longitudinal direction of the processing device. During the re-gripping time, the re-gripping station can be moved and / or pivoted into the placement section and / or the re-gripping section. Thus, after the transfer to the second manipulator, the entire processing section and / or the processing area of ​​the processing device can be released, which increases the flexibility of the processing device. Thus, the placement section and / or the re-gripping section can be released while the processing steps are being carried out on the component.

[0037] The regripping station can therefore be designed to be flexible, so that it is only available during the regripping time.

[0038] In addition, it is conceivable to manipulate the component with the aid of a re-gripping station, for example by rotating the re-gripping station around a certain angle range, which is designed to be rotatable. In this respect, the rotatable re-gripping station can be a rotating plate.

[0039] Furthermore, it is provided that the re-gripping station is designed as a manipulator at a processing device, wherein the processing device comprises a waiting part and a re-gripping part for the manipulator, and wherein the manipulator leaves the waiting part and moves into the re-gripping part before a re-gripping time and leaves the re-gripping part and moves into the waiting part after the re-gripping time.

[0040] In this respect, the manipulator can be a bending aid or an additional manipulator, which is designed to be displaceable into the re-gripping section and / or the depositing section during the re-gripping time. In order to free up the entire processing section for carrying out the processing steps, the manipulator can advantageously be displaced into the waiting section, which can be arranged transversely on the processing device. As an alternative, the waiting section can also be a separate storage space for the manipulator.

[0041] The re-gripping section and / or the placement section, on which at least some parts of the component are placed during the re-gripping time and which are supported in a load-distributing manner only by the processing device and / or an integrated element of the processing device (e.g. a handling device), can be a defined location and / or position that is particularly advantageous for re-gripping. For example, the re-gripping section can be arranged along one and / or more processing sections of the processing device, so that the re-gripping section is the position for performing the second processing cycle.

[0042] In this respect, the re-gripping part can also be designed variably so that the handling device is designed to be displaceable on the guide rail or so that it can be folded and unfolded.

[0043] Furthermore, it may be advantageous if, when the component is gripped by the at least one second robot arm, at least some parts of the component rest on at least one tool of the handling device and are supported thereby in a load-distributing manner.

[0044] As an alternative to a re-gripping station and / or a manipulator for placing the component during the re-gripping time, one or more tools of the handling device can also be used to place the component. Advantageously, no additional structural means have to be provided in this regard. If the component is a sheet metal part and the handling device is a bending machine, the component can be placed on the lower tool of the bending machine and / or supported in a load-distributing manner. In this regard, the lower tool acts as a placement part and / or a re-gripping station. In this regard, it is also conceivable to clamp with the help of the upper tool and the lower tool of the bending machine to firmly hold the component during the transfer process.

[0045] According to a practical measure, it can also be provided that the component is formed by a sheet metal part, the at least one handling device is formed by a bending machine, and the at least one tool is formed by an upper tool and a lower tool of the bending machine, wherein the sheet metal part is clamped between the upper tool and the lower tool during gripping by the at least one second robot, and the sheet metal part does not contact or hinder the first robot during gripping by the at least one second robot.

[0046] In this respect, it is particularly advantageous if the upper tool and the lower tool of the bending machine are formed as corresponding upper bending tools and lower bending tools.

[0047] This advantageous measure of temporarily clamping the sheet metal part during the transfer to the second robot brings advantages, in particular, with regard to stability and safety during the transfer.

[0048] In addition, it is achieved that the first robot can be used for further processing steps of the subsequent components. As a result, the efficiency of the system is further increased and the interaction of the robots is additionally optimized in an advantageous manner.

[0049] According to one improvement, a predetermined re-gripping time between a first manipulator (5) and at least one second manipulator occurs between a first bending operation for producing a first deformation portion in a component and a second bending operation for producing a second deformation portion in a component, in particular before an extension portion with a substantially Z-shaped cross-section is formed in the component, the second deformation portion being extended in a mirror-inverted manner with respect to the first deformation portion.

[0050] In particular, the first deformation and the second deformation may be corner bends of the component. This refinement is considered advantageous, in particular because a mirror-inverted processing step can be effectively performed by re-gripping between two forming and / or corner bending steps.

[0051] Furthermore, it can be provided that the first robot and the at least one second robot are displaced in the longitudinal direction along a common travel path.

[0052] In this respect, it is advantageous to jointly use a single travel path. The travel path may be, for example, a guide rail configuration along which the robot can be guided and displaced in the longitudinal direction towards the handling device.

[0053] When the travel path is used in common, it is also advantageous in this respect that the floor rails can be used in common and the manipulators can be designed to be substantially identical. Thus, a number of common parts can be built into the manipulators, which makes maintenance and repair easier. In this respect, the manipulators can meet in any area of ​​the travel path where a transfer of parts can occur.

[0054] Furthermore, it can be provided that the first manipulator is displaced in the longitudinal direction along a first travel path and that the at least one second manipulator is displaced in the longitudinal direction along a second travel path extending parallel to the first travel path.

[0055] Advantageously, when two travel paths arranged parallel to each other are formed for the manipulator, the first manipulator and the second manipulator can pass over each other. Thus, the flexibility of the production equipment can be further improved, thereby further shortening the production time.

[0056] In addition, the second travel path can also be designed to be suspended above the first travel path. In this case, the second manipulator can be installed above the first manipulator in a suspended manner. In this case, the two manipulators can also be designed to be substantially identical.

[0057] According to a particular embodiment, at least one second processing cycle can be performed on a second processing device.

[0058] Advantageously, in this case, the second processing device can be equipped with tools that deviate from the tools of the first processing device, such as bending tools. Thus, after a first processing cycle on a component has been performed on the first processing device, a second processing cycle on the second processing device can be started immediately without an additional tool change.

[0059] In this respect, different types of processing devices are also conceivable. For example, the first processing device can be a plate bender and the second processing device can be a rotary bender. Thus, the production and / or manufacturing time can be further reduced and the flexibility of the production equipment can be increased.

[0060] The present invention also relates to a production device, comprising a robot structure with a first robot and at least one second robot and at least one processing device for performing processing steps on a component, wherein a placement part is arranged on the processing device, and the component can be supported in a load-distributed manner in the placement part during the re-gripping time.

[0061] With the production device according to the invention, the transfer of the component is carried out directly on the handling device, wherein the deposited part can be an integrated element and / or an assembly of the handling device. During the transfer, the component is placed down by the first manipulator and collected by the second manipulator. When neither the first manipulator nor the second manipulator grasps the component, the component is supported by the handling device in a load-distributing manner.

[0062] In order to grasp, transport and hold the components, a grasping device, such as a vacuum suction cup or a gripper, may be provided on the robot.

[0063] Advantageously, the component is gripped by the robot at different positions and / or gripping surfaces, whereby during the transfer process the component can undergo a position change and / or re-gripping. Thus, the component position required for the second processing cycle can be easily achieved.

[0064] If the second processing cycle is carried out with the aid of the second robot, the first robot can already grab a further component from the loading area and / or from the stack and transport it to the processing device. When the first component is placed on the unloading area and / or on the stack by the second robot, the processing cycle of the newly supplied component can already be started and / or carried out.

[0065] Since the components are transported to and away from the processing device in parallel with the main time, the cycle time is reduced according to the invention and the productivity of the production plant is thus increased.

[0066] Furthermore, it is provided that a re-gripping station is formed in the depositing section, by which the component can be supported in a load-distributing manner during the re-gripping time.

[0067] Advantageously, the re-gripping station is designed to be adjustable, for example pivotable and / or displaceable in the longitudinal direction of the processing device. During the re-gripping time, the re-gripping station can be moved and / or pivoted into the depositing section and / or the re-gripping section. Thus, after the transfer to the second manipulator is completed, the entire processing section and / or the processing area of ​​the processing device can be released, which increases the flexibility of the processing device. Thus, the depositing section and / or the re-gripping section can be released while a processing step is being performed on the component.

[0068] The regripping station can therefore be designed to be flexible, so that it is only available during the regripping time.

[0069] Furthermore, it is provided that the re-gripping station is designed as a handling device at a processing device, wherein the processing device comprises a waiting part for the handling device and a re-gripping part, and wherein the handling device can be moved out of the waiting part into the re-gripping part or vice versa.

[0070] In this respect, the manipulator can be a bending aid or an additional manipulator, which is designed to be displaceable into the re-gripping section and / or the depositing section during the re-gripping time. In order to free up the entire processing section for carrying out the processing steps, the manipulator can advantageously be displaced into the waiting section, which can be arranged transversely on the processing device. As an alternative, the waiting section can also be a separate storage space for the manipulator.

[0071] Furthermore, it may be provided that a common travel path is provided for the first robot and the at least one second robot.

[0072] In this respect, it is advantageous to jointly use a single travel path, wherein the manipulators displaceable thereon can meet in any region of the travel path where a transfer of components can take place.

[0073] According to a likewise advantageous embodiment, it can be provided that a first travel path is provided for the first robot and a second travel path is provided for the at least one second robot.

[0074] Advantageously, when two paths of travel arranged parallel to each other are formed for the manipulator, the first manipulator and the second manipulator can pass each other and / or can move at any point of the corresponding paths of travel. Thus, the flexibility of the production equipment can be further improved, thereby achieving a further reduction in production time.

[0075] According to a development, a second processing device can be provided, on which at least a second processing cycle can be carried out.

[0076] Thus, after a first processing cycle has been carried out on a component on a first processing device, a second processing cycle on a second processing device can be started immediately without an additional tool change. The second processing device can also be a processing device of a different type on which processing steps different from those on the first processing device can be carried out. Thereby, the production and / or manufacturing time can be further reduced and the flexibility of the production facility can be increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to better understand the present invention, the present invention will be explained in more detail through the following drawings.

[0078] They are represented in a very simplified schematic diagram:

[0079] Figure 1 is a production facility having a robot structure and a processing device, wherein a first processing cycle is performed on a first component;

[0080] Figure 2 A production plant with a robot structure and a handling device, wherein a first component is placed at a re-gripping station by a first robot;

[0081] Figure 3 A production plant with a robot structure and a handling device, wherein the first component is collected at a re-gripping station by a second robot;

[0082] Figure 4 A production device having a robot structure and a processing device, wherein the second component is grasped by the first robot and a second processing cycle is performed on the first component;

[0083] Figure 5 A production device having a robot structure and a processing device, wherein a first processing cycle is performed on a second component and the first component is put down;

[0084] Figure 6 is an embodiment of a production plant having a robot arrangement and a handling device, wherein a first robot is displaced along a first travel path and a second robot is displaced along a second travel path;

[0085] Figure 7is a side view of a component having a first gripping surface and a second gripping surface;

[0086] Figure 8 is a top view of a component having a plurality of partial portions of a first gripping surface;

[0087] Fig. 9 It is a flow chart of multiple processing cycles on multiple components. DETAILED DESCRIPTION

[0088] First, it should be noted that in the different embodiments described, the same parts have the same reference numerals and / or the same component names, wherein the disclosure contained throughout the specification can be similarly transposed to the same parts having the same reference numerals and / or the same component names. In addition, the position descriptions selected in the specification (e.g., at the top, at the bottom, at the side) refer to the drawings directly described and depicted, and in the event of a change in position, these position descriptions should be similarly transposed to the new position.

[0089] exist Figure 1 In FIG. 1 , a production plant 1 with a robot arrangement 2 and a processing device 3 is shown, wherein a first processing cycle is carried out on a first component 4 .

[0090] The manipulator structure 2 comprises a first manipulator 5 and a second manipulator 6 and / or at least one second manipulator 6, wherein the first manipulator 5 and the at least one second manipulator 6 are designed to grasp, transport, hold and / or place the component 4. For example, Figure 1 A plate bender 7 is shown as a processing device 3 for carrying out a processing step on a component 4. In order to grip, transport, hold and / or place the component 4, a plurality of vacuum suction cups 8 are provided on both the first robot 5 and the second robot 6.

[0091] according to Figure 1 , a processing step of a first processing cycle is being performed on a first component 4. In this regard, the first processing cycle may include one or more processing steps, wherein the exemplary embodiment shown shows a defined sequence of bending steps. During the first processing cycle, the first component 4 is held by a plurality of vacuum suction cups 8 of a first manipulator 5 and / or the first component 4 is moved by the first manipulator 5 to different processing sections 9 of a plate bender 7 to perform a series of bending steps on the component 4.

[0092] For the displacement of the first manipulator 5 and the second manipulator 6, a first travel path 10 is provided, along which the first manipulator 5 and the second manipulator 6 can be displaced in the longitudinal direction 11 towards the processing device 3 and / or the plate bender 7, so that the component 4 can be moved to different processing sections 9 of the processing device 3 and / or the plate bender 7. In the different processing sections 9 of the processing device 3 and / or the plate bender 7, which can be defined by bending tools of different designs and / or different lengths, individual processing steps and / or bending steps of the processing cycle are performed.

[0093] In doing so, the first manipulator 5 and the second manipulator 6 use the same and / or common travel path 10 having the guide rail configuration 12. In an exemplary embodiment not shown in greater detail, it is also conceivable that the first manipulator 5 and the second manipulator 6 can be displaced and / or moved in the longitudinal direction 11 along a defined area rather than along the guide rail configuration 12.

[0094] Figure 2 A production plant 1 with a robot arrangement 2 and a handling device 3 is shown, wherein a first component 4 is deposited at a re-gripping station 13 by a first robot 5, the component 4 being supported in a load-distributed manner at the re-gripping station 13 during the re-gripping time. In this respect, the re-gripping station 13 is formed in a supply section of the handling device 3 and / or in a placement section 14 of the production plant 1.

[0095] Thus, after the first processing cycle, the first component 4 is transferred from the first robot 5 to the at least one second robot 6 during a predetermined re-gripping time by at least one processing step. In this respect, the re-gripping time occurs between the first processing cycle and at least one second processing cycle, which likewise has at least one processing step and / or bending step.

[0096] During re-gripping, the position of the component 4 can be changed. For example, the component 4 can be turned and / or rotated so that it assumes the spatial position required for the second processing cycle.

[0097] During the regripping time, at least parts of the component 4 rest in the region of the placement section 14 of the handling device 3 and are supported in a load-distributing manner only by the handling device 3 and / or integrated elements of the handling device 3 .

[0098] In this respect, the first component 4 comprises a first gripping surface 15 and a second gripping surface 16 , wherein the component 4 is gripped on the first gripping surface 15 by the first robot 5 and / or is deposited at the re-gripping station 13 .

[0099] In an alternative embodiment not shown in further detail, the placement section 14 in which the component 4 can be supported in a load-distributing manner during the regripping time can also be a region in the processing section 9 in which the component 4 is supported in a load-distributing manner by means of a tool 17 of the processing section 3. In this respect, it is further conceivable to support and / or hold the component by means of a bending tool 18 of the plate bender 7, wherein additional clamping by means of the bending tool 18 is also conceivable.

[0100] Figure 3 A production plant 1 with a robot arrangement 2 and a handling device 3 is shown, wherein a first component 4 is gripped by a second robot 6 at a re-gripping station 13 and / or in a depositing section 14. In the process, the first component 4 is gripped by the second robot 6 on a second gripping surface 16.

[0101] Alternatively, according to an embodiment not shown in further detail, it is also conceivable that at least some parts of the first component 4 rest on at least one tool 17 of the processing device 3 and are supported thereon in a load-distributing manner while the first component 4 is gripped by at least one second robot 6.

[0102] Figure 4 A production plant 1 with a robot arrangement 2 and a handling device 3 is shown, wherein a second component 19 is gripped by the first robot 5 while a second handling cycle is being performed on the first component 4. For example, the second component 19 can be collected from a stack 26 storing components 4, 19 to be processed.

[0103] During the second processing cycle, the first component 4 is held by the vacuum suction cups 8 of the first robot 5 and / or moved by the first robot 5 along the travel path 10 in the longitudinal direction 11 to a different processing section 9 of the processing device 3 and / or the plate bender 7 .

[0104] Figure 5 A production plant 1 with a robot arrangement 2 and a production device 3 is shown, wherein a first processing cycle is carried out on a second component 19 while the first component 4 is being placed down by a second robot 6. In this respect, the first component 4 can be placed again on a stack 26 or a pallet and / or it is also conceivable to transport the first component 4 to a further production device 1 which is not shown in further detail.

[0105] Figure 6 A further possible independent embodiment of a production plant 1 is shown, wherein the same reference numerals and / or component names are used again as in the above Figures 1 to 5 To avoid unnecessary repetition, refer to the above Figures 1 to 5 Detailed description.

[0106] Figure 6 An embodiment of a production plant 1 with a robot arrangement 2 and a handling device 3 is shown, wherein a first robot 5 is displaced along a first travel path 10 and a second robot 6 is displaced along a second travel path 20 .

[0107] The first travel path 10 and the second travel path 20 can also each be a guide rail configuration 12 along which the first robot 5 and the second robot 6 can be displaced and / or moved in the longitudinal direction 11 .

[0108] In this respect, in one embodiment not shown in further detail, the second travel path 20 can be arranged above the first travel path 10 , wherein the second robot 6 is arranged suspended on the second travel path 20 .

[0109] according to Figure 6 , a first processing cycle with a plurality of processing steps is performed on the first component 4. The second manipulator 6 is in a waiting position. After the first component 4 has been placed at the re-gripping station 13, the second manipulator 6 can be displaced on the second travel path 20 so that the second manipulator 6 can collect the first component 4 from the re-gripping station 13 again to perform a second processing cycle.

[0110] As an alternative or in addition, the re-gripping station 13 can be formed as a manipulator 21 on a processing device 3, wherein the processing device 3 comprises a waiting section 22 and a re-gripping section 23 for the manipulator 21. In this respect, the manipulator 21 leaves the waiting section 22 and moves into the re-gripping section 23 before the re-gripping time, and leaves the re-gripping section 23 and moves into the waiting section 22 after the re-gripping time.

[0111] In this respect, the handling device 21 can also be, for example, a bending aid for the plate bending machine 7 , by which the component 4 , 19 can also be supported during the processing cycle.

[0112] According to an embodiment not shown in further detail, at least one second processing cycle can also be performed on the second processing device 24. The first processing device 3 can also be a plate bender 7, and the second processing device 24 can be a rotary bender or also a plate bender 7.

[0113] Figure 7 A side view of a component 4, 19 is shown with a first gripping surface 15 and a second gripping surface 16. In this respect, the component 4, 19 can be gripped, held and transported on the first gripping surface 15 by the first robot 5 and on the second gripping surface 16 by the second robot 6.

[0114] Figure 8A top view of a component 4, 19 is shown with a plurality of partial sections 25 of a first gripping surface 15. In this respect, the component 4, 19 can be gripped in the partial sections 25 by means of vacuum suction cups 8 provided on the first 5 and / or second 6 robot arm.

[0115] Fig. 9 A flow chart showing a number of processing cycles on a number of components 4 , 19 is shown.

[0116] At time t0, the first component 4 is gripped by the first robot 5. Subsequently, at time t1, a first processing cycle having at least one processing step is performed on the first processing device 3 for the first component 4. At time t2, the first component 4 is placed at the placement section 14 and / or the re-gripping station 13. At time t3, the first component 4 is gripped from the placement section 14 and / or the re-gripping station 13 by the second robot 6.

[0117] At time t4, the second component 19 is gripped by the first robot 5, for example from a stack 26, for example a stack 26 for starting material in the form of metal sheets. At the same time, a second processing cycle with at least one processing step is performed on the first component 4. At time t5, the first processing cycle is performed on the second component 19 while the first component 4 is placed by the second robot 6, for example, on a stack 26 for a final and / or intermediate product made of metal sheets.

[0118] At time t6, the second component 19 is further placed at the re-gripping station 13 and supported by the handling device 3 in a load-distributing manner. At time t7, the second component 19 is gripped from the re-gripping station 13 by the second robot 6, and at time t8, a second processing cycle is performed on the second component 19. At the same time, the third component 27 is gripped by the first robot 5. At time t9, the second component 19 is placed, for example, on a stack 26 for a final and / or intermediate product while the first processing cycle is performed on the third component 27. At time t 10 At the time point t, the third component 27 is further placed at the re-grasping station 13. Next, at the time point t 11 At time t, the third component 27 is grasped by the re-grasping station 13. 12 At t , during a second processing cycle on the third component 27, a fourth component 28 is taken, for example, from the stack 26 for starting and / or raw material, and at time t 13 The first processing cycle is performed on the fourth component 28. At the same time, the third component 27 is put down by the second robot 6.

[0119] Grabbing, executing a first processing cycle, placing at the re-grabbing station 13, grabbing from the re-grabbing station 13, executing a second processing cycle and putting down can be performed frequently on multiple parts 4, 19, 27, 28 and / or subsequently only when needed, wherein the grabbing and / or placing of the parts 4, 19, 27, 28 is performed in parallel with the main time of the individual processing cycles and / or processing steps.

[0120] The exemplary embodiments illustrate possible implementation variations, and in this regard it should be noted that the present invention is not limited to these specifically illustrated implementation variations, but rather various combinations of individual implementation variations are possible and the possibility of such variations is within the capabilities of a person skilled in the art with the aid of the technical teachings provided by the present invention.

[0121] The scope of protection is determined by the claims. However, the description and the drawings will be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described may represent independent inventive solutions. The underlying purpose of the independent inventive solutions can be derived from the description.

[0122] Finally, in terms of form, it should be noted that for ease of understanding the structure, elements are partially not drawn to scale and / or are exaggerated and / or reduced in size.

[0123] Reference numerals list

[0124] 1. Production Equipment

[0125] 2 Robot structure

[0126] 3. First processing device

[0127] 4. First Part

[0128] 5. The first robot

[0129] 6 Second robot

[0130] 7 Plate Bending Machine

[0131] 8 Vacuum suction cup

[0132] 9 Processing section

[0133] 10 First Travel Path

[0134] 11. Vertical direction

[0135] 12 Rail construction

[0136] 13 Re-catch Station

[0137] 14 Placement section

[0138] 15 First gripping surface

[0139] 16 Second gripping surface

[0140] 17 Tools

[0141] 18 Bending tools

[0142] 19 Second Part

[0143] 20 Second Travel Path

[0144] 21 Control device

[0145] 22 Waiting part

[0146] 23 Re-grab part

[0147] 24 Second processing device

[0148] 25 Partial

[0149] 26 Stacking

[0150] 27 Third Part

[0151] 28 Fourth Part

Claims

1. A method for transporting and / or manipulating a first component (4), comprising: A robot arrangement (2) having a first robot (5) and at least one second robot (6), wherein the first robot (5) and the at least one second robot (6) are designed to grasp, transport, hold and / or place the first component (4); and at least one processing device (3) for performing a processing step on said first component (4), wherein after the first processing cycle, the first component (4) is transferred from the first robot (5) to the at least one second robot (6) at a predetermined re-gripping time, wherein the re-grasp time point occurs between the first processing cycle and at least one second processing cycle, and wherein at the time of re-gripping, at least some parts of the first component (4) rest on the handling device and are supported in a load-distributing manner only by the handling device (3), wherein the first component (4) is placed at a re-gripping station (13) by the first robot (5), and the first component (4) is grabbed from the re-gripping station (13) by the at least one second robot (6), It is characterized in that the re-gripping station (13) is formed as a manipulator (21) at the processing device (3), and the manipulator (21) can move independently relative to the first manipulator (5) and the at least one second manipulator (6), wherein the processing device (3) includes a waiting part (22) and a re-gripping part (23) for the manipulator (21), and wherein the manipulator (21) leaves the waiting part (22) and moves into the re-gripping part (23) before the re-gripping time point and leaves the re-gripping part (23) and moves into the waiting part (22) after the re-gripping time point.

2. The method according to claim 1, characterized in that The first component (4) comprises a first gripping surface (15) and a second gripping surface (16) different from the first gripping surface (15), wherein the first component (4) is gripped by the first manipulator (5) on the first gripping surface (15) and is gripped by the at least one second manipulator (6) on the second gripping surface (16).

3. The method according to claim 2, characterized in that The first component (4) is gripped on the first gripping surface (15) formed on the upper side of the first component (4) and on the second gripping surface (16) formed on the lower side of the first component (4).

4. The method according to any one of claims 1 to 3, characterized in that During the at least one second processing cycle, a second component (19) is gripped by the first robot (5).

5. The method according to claim 4, characterized in that During the first processing cycle of the second component (19), the first component (4) is positioned by the at least one second robot (6).

6. The method according to any one of claims 1 to 3, characterized in that When the first component (4) is gripped by the at least one second robot (6), at least some parts of the first component (4) rest on at least one tool (17) of the handling device (3) and are supported thereby in a load-distributing manner.

7. The method according to any one of claims 1 to 3, characterized in that The first component (4) is formed by a sheet metal part, at least one of the handling devices (3) is formed by a bending machine, and the at least one tool (17) is formed by an upper tool and a lower tool of the bending machine, wherein the sheet metal part is clamped between the upper tool and the lower tool during gripping by the at least one second manipulator (6), and the sheet metal part does not contact or interfere with the first manipulator (5) during gripping by the at least one second manipulator (6).

8. The method according to any one of claims 1 to 3, characterized in that The predetermined re-gripping time point between the first manipulator (5) and the at least one second manipulator (6) occurs between a first bending operation for producing a first deformation portion in the first component (4) and a second bending operation for producing a second deformation portion in the first component (4), wherein the second deformation portion is extended in a mirror-inverted manner with respect to the first deformation portion.

9. The method according to claim 8, characterized in that The predetermined re-gripping time point between the first robot (5) and the at least one second robot (6) occurs before the extension of the substantially Z-shaped cross section is formed in the first component (4).

10. The method according to any one of claims 1 to 3, characterized in that The first robot (5) and the at least one second robot (6) are displaced in a longitudinal direction (11) along a common first travel path (10).

11. The method according to any one of claims 1 to 3, characterized in that The first robot (5) is displaced in a longitudinal direction (11) along a first travel path (10), and the at least one second robot (6) is displaced in the longitudinal direction (11) along a second travel path (20) extending parallel to the first travel path (10).

12. The method according to any one of claims 1 to 3, characterized in that The at least one second processing cycle is performed on a second processing device (24).

13. The method according to any one of claims 1 to 3, characterized in that The first component (4) is a sheet metal part.

14. A production plant (1) for carrying out the method according to any one of claims 1 to 13, comprising: A robot structure (2) having a first robot (5) and at least one second robot (6); at least one processing device (3) for performing a processing step on the first component (4), A placement portion (14) is provided on the processing device (3), and the first component (4) can be supported in the placement portion (14) in a load-distributed manner at the time of re-grasping. A re-gripping station (13) is formed in the placement portion (14), and the first component (4) can be supported by the re-gripping station (13) in a load-distributed manner at the re-gripping time point. It is characterized in that the re-gripping station (13) is formed as a manipulator (21) at the processing device (3), and the manipulator (21) can move independently relative to the first manipulator (5) and the at least one second manipulator (6), wherein the processing device (3) includes a waiting part (22) and a re-gripping part (23) for the manipulator (21), wherein the manipulator (21) can leave the waiting part (22) and move into the re-gripping part (23) or vice versa.

15. The production plant (1) according to claim 14, characterized in that A common first travel path (10) is provided for the first robot (5) and the at least one second robot (6).

16. The production plant (1) according to claim 14 or 15, characterized in that A first travel path (10) is provided for the first robot (5) and a second travel path (20) is provided for the at least one second robot (6).

17. The production plant (1) according to claim 14 or 15, characterized in that A second processing device (24) is provided which is capable of performing at least a second processing cycle.

18. The production plant (1) according to claim 16, characterized in that A second processing device (24) is provided which is capable of performing at least a second processing cycle.

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