Handling system and handling apparatus for handling workpiece pallets

Abstract

The invention relates to a handling system (1000) comprising a handling device (100) with a carrier device (20) and a handling device (30) carried by the carrier device for handling workpiece pallets (101, 101a, 101b) and comprising a displacement device (40) with at least two accommodation spaces (41a, 41b) designed to receive workpiece pallets (101, 101a, 101b), and the handling device (30) is designed to move the displacement device (40) relative to the carrier device (20) in a first movement direction X such that the two accommodation spaces (41a, 41b) move together, characterized in that the handling device (30) is further designed to separate a workpiece pallet (101a, 101b) handled by the handling device (30) and received in one of the at least two accommodation spaces (41a, 41b) from the displacement device (40) by means of at least one separation device (42a, 42b) such that the separated workpiece pallet (101a, 101b) essentially maintains its position relative to the carrier device (20) during the movement of the displacement device (40) in the first movement direction X.

Description

Technical Field

[0001] The present invention relates to a handling system including a handling device for handling workpiece pallets, a handling device used with the handling system, and a machine tool including the handling system. Background Technology

[0002] Handling systems for transporting workpiece pallets, used in partially or fully automated production processes, are known from the prior art. Therefore, there is a desire to provide a handling system that, on the one hand, can transport workpiece pallets in the most versatile and efficient manner possible, and on the other hand, is characterized by a relatively compact design.

[0003] Possible applications of this material handling system include handling workpiece pallets on machine tools, particularly during pallet changes within the machine tool's workspace, or handling related to pallet storage or setup stations.

[0004] One problem with known handling systems is that typically only one workpiece pallet is moved by the handling equipment of the handling system, which means that pallet replacement, for example, in a machine tool workspace, requires a combination of multiple moves. In this process, the workpiece pallet to be removed is first picked up by a receiving device in the workspace and transferred to a storage location before a new workpiece pallet to be inserted can be picked up from another storage location and transferred to a receiving device in the workspace of the storage location.

[0005] Other existing handling systems rely on handling two workpiece pallets essentially simultaneously to address the aforementioned problems, especially to reduce the number of moves required.

[0006] However, the more workpiece pallets being handled simultaneously, the more detrimental it is to the handling equipment itself, as the equipment will bear an additional load, which must be considered when configuring and using the handling system. Summary of the Invention

[0007] Therefore, one object of the present invention is to provide a handling system with an improved ability to simultaneously handle multiple workpiece pallets.

[0008] To achieve this objective, a handling system is proposed, comprising a handling device according to the present invention and a handling device for a handling system according to the present invention.

[0009] Another object of the present invention is to provide a machine tool that has improved the possibility of changing workpiece pallets in the workspace of the machine tool.

[0010] To achieve this objective, a machine tool including a handling system according to the present invention is proposed.

[0011] The various embodiments relate to preferred embodiments of the handling system according to the invention, the handling equipment according to the invention, and the machine tool according to the invention, which may be provided individually or in combination.

[0012] According to a first aspect of the invention, a handling system for handling a workpiece pallet is provided, comprising a handling device. The handling device includes a carrying device and a handling means for handling the workpiece pallet, the handling means being carried by the carrying device and including a displacement means having at least two receiving spaces configured to receive the workpiece pallet. The handling means is further configured to move the displacement means relative to the carrying device along a first direction of movement, such that the two receiving spaces move together. The handling system is characterized in that the handling means is further configured to separate the workpiece pallet, which is handled and received in one of the at least two receiving spaces, from the displacement means using at least one separating means, such that the separated workpiece pallet substantially maintains its position relative to the carrying device during movement of the displacement means along the first direction of movement.

[0013] The workpiece tray should be understood as a tray configured to carry workpieces, which can be used in many receiving devices that typically have standardized receiving interfaces.

[0014] The movement of the displacement device along the first direction of movement should be understood as forward and backward movement. In other words, the displacement device can move back and forth along the first direction of movement.

[0015] Maintaining the separated workpiece pallet "substantially" in position relative to the carrier means that the numerical position of the separated workpiece pallet relative to the carrier does not need to remain constant throughout the movement of the replacement device, but it can move within typical deformation and storage limits. For example, changes in the positional information caused by deformation of the elastic components of the handling equipment or by the floating mounting of the separated workpiece pallet should be permissible during the movement of the replacement device, as long as these changes do not conflict with the purpose of moving the replacement device during lateral movement relative to the carrier, without needing to move the separated workpiece pallet to a degree similar to the magnitude of the lateral movement.

[0016] The handling system according to the invention, including a handling device, is advantageously used to handle at least two workpiece pallets substantially simultaneously via the handling system, particularly via the handling device. In this way, the number of moves required in any handling process can be significantly reduced, because, for example, the first workpiece pallet does not need to be placed before the second workpiece pallet can be handled by the handling device.

[0017] Furthermore, the second of at least two accommodating spaces can also be used as additional storage space for workpiece pallets, meaning that the maximum number of workpiece pallets in the handling system can be increased by at least one. For example, in the case where a pallet library is associated with a handling system, the number of workpiece pallets that can be stored or placed in the handling system can be increased without making the pallet library itself larger.

[0018] The possibility of receiving multiple additional workpiece pallets inevitably increases the load on the entire handling equipment, as the weight of a single workpiece pallet to be handled can typically reach 1.5 tons or more. The additional weight of the additional workpiece pallets not only results in an additional static load on the handling equipment but also an additional dynamic load during lateral movement, which is advantageously addressed by the configuration according to the invention with a separation device, as explained in detail below.

[0019] In the initial state of the replacement device, the accommodating space is preferably arranged relative to the rest of the transport equipment such that the workpiece pallets received in the accommodating space are arranged as symmetrically as possible, particularly relative to the load-bearing device. In other words, when the transport equipment is in its initial state, the accommodating space is preferably arranged symmetrically relative to the load-bearing device.

[0020] In this way, since the individual tilting moments of the workpiece pallets in the symmetrically arranged accommodating space almost compensate for each other, the tilting moment caused by the weight of the workpiece pallets, acting on the handling device and thus also on the bearing device, can be greatly reduced in the initial state.

[0021] During the movement of the replacement device from its initial state to its extended state, a redistribution of the load-bearing mass inevitably occurs because the replacement device also moves the workpiece pallet received in the accommodating space to an asymmetrical arrangement. This, among other things, leads to a significant increase in the resulting tilting moment, as the movement path of the replacement device typically must cover a considerable distance, resulting in a relatively long lever arm between the carrying device of the transport device and the extended accommodating space of the replacement device. Coupled with the typically large mass of the workpiece pallet, the resulting tilting moment represents a quantity particularly relevant to the configuration.

[0022] The additional load acting on the handling device and therefore also on the load-bearing device in its extended state leads to an increase in material load (in the sense of material stress) and increased deformation of the handling device components, particularly in the form of bending and / or torsion. This not only negatively impacts the overall service life of the handling device but also has a negative effect on the accurate handling of workpiece pallets, especially when the handling device interacts with other receiving devices used for workpiece pallets.

[0023] The separation device according to the invention allows at least one workpiece pallet to be kinematically separated from the replacement device before movement, such that movement of the replacement device along the first direction of movement is not transmitted to the separated workpiece pallet. While the transport device continues to carry the workpiece pallet separated from the replacement device, the replacement device itself is relieved of its burden in such a way that it neither carries nor moves the mass of the separated workpiece pallet. During the movement of the replacement device along the first direction of movement, for example from the initial state to the extended state, the separated workpiece pallet remains substantially in place relative to the carrying device.

[0024] Therefore, during the displacement movement of the replacement device, less mass is moved that causes the tilting moment, resulting in a significant reduction in the aforementioned effect of increased tilting moment. Furthermore, the separated workpiece tray can advantageously be used as a counterweight for other workpiece trays moved by the replacement device, further reducing the resulting tilting moment.

[0025] In this way, the tilting moment generated in the extended state can be significantly reduced compared to the common movement of all workpiece pallets, which in turn has a positive impact on the load and deformation of the various components of the handling equipment, enabling, for example, replacement devices or load-bearing devices to be implemented in a more material-saving manner.

[0026] Furthermore, the dynamic load on the handling equipment can be advantageously reduced because the reduction in the mass to be moved also leads to a significant reduction in inertial effects (which are almost halved in the case of two accommodating spaces), resulting in, for example, lower drive power required for the displacement device's drive unit or shorter travel time, and more pronounced acceleration and / or braking processes. In other words, the reduction in the mass to be moved enables faster and more precise handling of workpiece pallets based on movement.

[0027] Therefore, the handling device of the handling system according to the invention provides the possibility of handling multiple workpiece pallets substantially simultaneously, while keeping the associated additional load as low as possible, so as to not only reduce the number of necessary lateral movements, but also ensure fast and accurate handling of workpiece pallets. In other words, the total mechanical load on the handling device can be significantly reduced without giving up the possibility of handling multiple workpiece pallets substantially simultaneously.

[0028] The term "substantially simultaneous handling" does not mean that the workpiece pallets must always move simultaneously. Rather, it should be understood as the basic possibility that multiple workpiece pallets received and handled by the handling device can be moved partially together or rapidly and continuously during the lateral movement of the handling and replacement devices.

[0029] The separation device is also configured to reconnect the separated workpiece trays so that they can be moved again by the replacement device in the first direction of movement.

[0030] Preferably, the first direction of movement of the replacement device is horizontal, parallel to the floor surface.

[0031] Therefore, the workpiece tray to be moved by the replacement device along the first moving direction always moves perpendicular (or at least almost perpendicular) to the Earth's gravitational field, so that the drive device of the replacement device does not have to directly resist the gravity acting in the vertical direction to work.

[0032] The directions “vertical” and “horizontal” should always be understood as relative to the floor surface. In the conveying system according to the invention, which is arranged on the floor surface, “horizontal” essentially means a parallel direction, while “vertical” means a direction perpendicular to the floor surface. The vertical direction generally extends parallel to the direction of the Earth's gravitational field.

[0033] The handling equipment preferably includes a first drive unit, by which the displacement device is driven to move along a first direction of movement. The drive unit preferably includes a chain drive, which allows for space-saving transmission of driving force and / or driving torque.

[0034] In a preferred embodiment, the handling device is configured to transfer a workpiece tray received in one of at least two receiving spaces to at least one target device, the at least one target device being configured to receive the workpiece tray and / or receive the workpiece tray received by the at least one target device in one of at least two receiving spaces.

[0035] This creates the possibility for the handling equipment to interact with other equipment or target devices, during which workpiece pallets can be moved or replaced between them. Thus, the handling system can comprehensively, and especially automatically, handle workpiece pallets that can be moved or replaced between the handling equipment and one or more target devices. In this way, in areas of fully and / or partially automated production, the necessary replacement processes for workpiece pallets can be optimized to reduce production time and costs.

[0036] Here, the target device is always configured to receive and carry a workpiece pallet. Preferably, the target device includes a receiving device for a positioning device arranged on the workpiece pallet, by which the workpiece pallet can be uniquely positioned relative to the target device in a predetermined manner, thereby improving subsequent interactions with any other equipment, which typically depends heavily on the correct and unique positioning of the workpiece pallet. Alternatively, the target device may also include a positioning device, and the workpiece pallet may include an associated receiving device.

[0037] Preferably, at least one target device is (but is not limited to) one of a group of target devices, the group of target devices comprising:

[0038] -The receiving device of the machine tool,

[0039] – Set up the receiving device at the station,

[0040] – Holding devices for transport equipment used to transport workpiece pallets.

[0041] – Storage and / or storage space for temporarily storing workpiece trays.

[0042] The handling equipment is preferably configured to interact with each of the target devices mentioned in the target device group in the manner described (receiving and / or conveying workpiece pallets).

[0043] In a particularly preferred embodiment, at least one target device is a receiving device arranged in the workspace of a machine tool, which is adjacent to a transport system.

[0044] Therefore, the workpiece pallet transported by the handling equipment can, among other things, be directly brought into the machine tool's workspace and positioned suitable for subsequent workpiece processing. Alternatively, it can be directly removed from the workspace after the workpiece has been processed by the machine tool. In this way, the process of replacing the workpiece pallet during the automatic processing of workpieces clamped on it can be greatly shortened.

[0045] The transport system is preferably configured as part of the machine tool. Therefore, the machine tool or its workspace and the transport equipment of the transport system can be coordinated from the outset, thereby reducing, for example, the installation space occupied in the production workshop, or optimizing the sealing of the interface between the workspace and the transport device.

[0046] Alternatively, the handling system can also be provided as an add-on solution to existing or installed machine tools, so that the option for handling workpiece pallets provided by the handling system according to the invention can be added to these machine tools without question.

[0047] The application of the handling system according to the invention is by no means limited to use on machine tools, but is particularly applicable to storage systems, such as those set up in production workshops or separate storage workshops. For example, in this case, the handling system can advantageously improve (substantially accelerate) the automatic loading (and / or removal) of transport equipment configured, among other things, for transporting workpiece pallets between machine tools and / or machining centers, thereby saving time and associated costs.

[0048] In a particularly preferred embodiment, at least one separating device includes a lifting device configured to separate a workpiece tray received in a receiving space associated with the at least one separating device from a replacement device by a vertically oriented lifting motion.

[0049] The accommodating space associated with the separating device should be understood as the accommodating space of the replacement device, which has a workpiece tray received therein, the workpiece tray being detachable from the replacement device by the separating device in a specific state of the replacement device. Specifically, the specific state of the replacement device is the initial state of the replacement device.

[0050] Lifting the workpiece pallet via a lifting motion is an effective way to achieve kinematic separation from the replacement device, for example, by means of a translationally movable actuator (linear actuator). In this way, the kinematics required for separation can be kept simple and inexpensive by means of a lifting device.

[0051] Of course, the lifting device is also configured to connect the separated workpiece tray back to the replacement device by a downward motion opposite to the lifting motion, thereby allowing the motion of the replacement device to be transmitted again.

[0052] The replacement device preferably includes a plurality of supports, in each of at least two receiving spaces, on which a workpiece tray, respectively, is supported. Furthermore, the replacement device may include a limiting portion configured to restrict movement of the corresponding workpiece tray resting on the supports relative to the supports. This reliably prevents the workpiece tray from slipping during movement of the replacement device and / or the transport device itself through positive locking. The supports are typically arranged horizontally, and the limiting portion is at an angle to the supports—particularly vertically.

[0053] The lifting motion of the lifting device lifts the workpiece tray from the support, so that the movement of the replacement device along the first moving direction can no longer be transmitted to the lifted and thus separated workpiece tray.

[0054] Preferably, the lifting device of at least one separation device includes a plurality of lifting elements, particularly five, which are arranged symmetrically with respect to the separation device, and each includes a drive device configured to achieve lifting motion by translational motion.

[0055] Therefore, the load to be separated can be evenly distributed across multiple drive units. Furthermore, the symmetrical arrangement of the lifting elements reliably prevents the workpiece pallet from tilting during the lifting motion.

[0056] Preferably, the drive mechanism of the lifting device of at least one separating device, particularly the drive mechanism of each lifting element, is configured to be self-locking, such that the position of the lifting device remains independent of the energy supply to the drive mechanism of the lifting device.

[0057] Therefore, the drive or lifting device of the separation unit does not require a continuous power supply to keep the separated workpiece tray in place. This not only reduces energy costs but also prevents the lifting device from descending in the event of a potential power supply interruption.

[0058] In a particularly preferred embodiment, the at least one separating device includes at least one receiver for a positioning device configured to engage the positioning device during the lifting movement in such a way that the positioning device is arranged below a workpiece tray received in an associated receiving space, such that the position and orientation of the workpiece tray separated by the lifting movement are clearly defined relative to the at least one separating device.

[0059] The separation device preferably includes one to six receivers for the positioning device, particularly four, which are arranged symmetrically with respect to the separation device.

[0060] Therefore, the position of the separated workpiece pallet or its center of gravity on the handling device is clearly defined, thereby preventing or at least reducing uneven loading of the handling equipment during the separation process.

[0061] Furthermore, during the reconnection of the separated workpiece trays, they can be placed in a controlled manner at a fixed position within the receiving space. This not only avoids deviations from the target position within the receiving space that may be caused by separation, but the separation device can also be advantageously used to correct the position of the workpiece tray, which may have been incorrectly received (i.e., placed in a position inconsistent with the target position) after being received in one of at least two receiving spaces.

[0062] In a particularly preferred embodiment, the transport device includes a plurality of separation devices, wherein each accommodating space of the replacement device is associated with one of the plurality of separation devices.

[0063] Therefore, the workpiece trays received in each accommodating space of the replacement device can be advantageously separated from the replacement device. Thus, the advantages of using a separation device described above can be extended to each accommodating space of the replacement device.

[0064] In a particularly preferred embodiment, the replacement device is configured as a horizontally extendable telescopic device, comprising at least one telescopic bracket that is horizontally movable relative to at least one telescopic guide rail of the telescopic device in a first direction, and having the at least two accommodating spaces thereon.

[0065] For storage purposes, the telescopic mechanism of a telescopic device is usually equipped with two telescopic guide rails, i.e., a pair of telescopic guide rails, on which at least one telescopic bracket is installed and can move.

[0066] The telescopic device preferably includes two pairs of telescopic guide rails and two telescopic brackets, wherein a first telescopic bracket is installed in a first pair of telescopic guide rails so that it can move along a first direction of movement, and a second telescopic bracket (which is provided with the at least two accommodating spaces) is installed in a second pair of telescopic guide rails provided on the first telescopic bracket so that it can also move along the first direction of movement. In other words, the telescopic device preferably includes a double telescopic extension.

[0067] The replacement device is configured as a telescopic device, especially with double telescopic extension, which not only allows the replacement device to cover a relatively large distance in the first direction of movement when it is in the extended state, but also achieves a relatively rigid structure, thereby minimizing the bending of the replacement device in the extended state.

[0068] Preferably, the rigidity of the replacement device can be further improved by configuring the cross-sectional geometry of the telescopic bracket to be perpendicular to the extension direction (corresponding to the first movement direction), so that the telescopic bracket has high bending and / or torsional rigidity.

[0069] In a particularly preferred embodiment, the conveying device is configured to move the conveying device in a translating manner relative to the carrying device in a vertically oriented direction of movement via a translation drive.

[0070] Therefore, the possibilities for movement of the handling equipment are expanded with additional degrees of freedom (moving up and down along the vertical direction of movement), thus enabling more complex movement sequences to be executed when handling workpiece pallets.

[0071] Preferably, the translation drive device includes vertically aligned lead screws, which are driven by a second drive unit.

[0072] In a particularly preferred embodiment, the carrier is configured as a frame having a base element, two side elements, and a head element, wherein each of the two side elements includes at least two guide rails through which a transport device carried by the carrier is mounted, allowing it to move along a vertically oriented direction of movement.

[0073] The frame structure of the load-bearing device requires high bending and torsional stiffness to reduce load-related deformation, especially when the resulting tilting moment is applied in the extended state. The double support of the guide rails on both sides ensures optimal support for the entire handling equipment, including the replacement device, particularly in the extended state. Furthermore, it prevents the handling equipment from jamming during lateral movement along the vertical direction of travel.

[0074] The transport device is at least partially arranged in the area enclosed by the frame-shaped support structure. Specifically, the transport device protrudes from the front and rear boundary faces of the enclosed area. A first direction of movement extends parallel to the base and / or head element through the front and rear boundary faces. In other words, the transport device can move back and forth through openings in the frame-shaped support structure.

[0075] This integrated structure improves the uniform load distribution of the carrier equipment in its initial state, which, in addition to the high rigidity of the structure, also facilitates the precise placement of the workpiece pallet being transported.

[0076] In a particularly preferred embodiment, the conveying device includes a base device for supporting the carrier, wherein the conveying device is configured to rotate the carrier relative to the base device about a vertically oriented axis of rotation via a rotary drive.

[0077] Therefore, the mobility possibilities of the handling equipment are expanded with additional degrees of freedom, enabling more complex movement sequences to be executed when handling workpiece pallets, especially by means of the rotation of the entire load-bearing device including the handling device.

[0078] The handling equipment preferably includes a third drive unit for driving the rotary drive device.

[0079] The handling equipment of the handling system preferably includes an electronic control device, which is connected to the replacement device, the separation device and the rotation and / or translation drive device present in the corresponding embodiments, and is configured to control the connection device, particularly the first, second and / or third drive unit.

[0080] The control device is preferably configured to simultaneously control the connected replacement device, the connected drive device, and the connected separation device.

[0081] Therefore, during the handling process, the lateral movement of the handling equipment, especially the lateral movement of the accommodating space from the initial position to the target position, can be optimized in such a way that the execution sequence of individual drive devices is not controlled, but a combined movement sequence is possible. For example, when the handling equipment moves along a vertically oriented direction, the replacement device can return to its initial state. Alternatively, when the handling equipment is rotated to receive another workpiece pallet, the already received workpiece pallet can be separated. This significantly reduces the distance and number of movements required during the handling of workpiece pallets.

[0082] In a particularly preferred embodiment, the conveying device is configured to position one of at least two receiving spaces relative to the at least one target device in such a manner that a workpiece tray received from the target device can be received by the replacement device in the positioned receiving space, and / or a workpiece tray received in the positioned receiving space can be transferred to the target device by means of movement of the conveying device along a vertically oriented direction of movement and / or by torsional movement about a vertically oriented axis of rotation and / or by movement of the replacement device along a first direction of movement.

[0083] Therefore, there are three degrees of freedom (two translational degrees of freedom + one rotational degree of freedom) for aligning the received workpiece tray or empty accommodating space relative to the target device in three spatial directions. In principle, these movements can be performed forward and backward or up and down along the first direction of movement or along the vertical direction of movement, and in the case of torsional movement about the axis of rotation, they can also be performed clockwise or counterclockwise.

[0084] Preferably, the handling device is configured to store the workpiece pallet in one of at least two accommodating spaces by moving it in the target device along a vertical direction of movement, and / or to lift the workpiece pallet located in the target device by moving it from the target device along a vertical direction of movement.

[0085] In a particularly preferred embodiment, the handling system includes a pallet storage section with a large amount of storage space configured to receive workpiece pallets, each of which is a target device for handling equipment.

[0086] Due to the pallet storage section, the handling system includes a large amount of storage space where workpiece pallets can be stored and temporarily stored in each storage space before being received by handling equipment or handling devices. For example, this can optimize the replacement process on a machine tool, as the machine tool can be loaded directly from one of the many storage spaces with temporary workpiece pallets.

[0087] In a particularly preferred embodiment, the handling system includes a docking device configured to dock with an unmanned transport vehicle having at least one holding device configured to receive a workpiece pallet, wherein the unmanned transport vehicle is a target device of the handling equipment when at least one holding device of the transport vehicle docks with the docking device.

[0088] The possibility of connecting unmanned transport vehicles to a handling system via docking equipment further expands the options for handling workpiece pallets. New workpiece pallets can be advantageously supplied to the handling system via one or more unmanned transport vehicles, or unwanted workpiece pallets can be removed from the handling system. Therefore, the handling system can be expanded to include interfaces for connecting to partially or fully automated transport networks to transfer workpiece pallets in one or more production workshops. This has proven useful, particularly in conjunction with the configuration of the handling equipment according to the invention, enabling rapid, flexible, and precise handling of workpiece pallets, as the docked transport equipment allows for faster loading and / or unloading, making it possible to reduce the number of dockings (the time spent in docking state) of transport vehicles and achieve higher throughput of workpiece pallets throughout the transport network. For example, workpiece pallets transported by unmanned transport vehicles can be placed in the vacant storage space of the handling equipment or replacement device, and then workpiece pallets already in the replacement device and no longer needed can be handed over to the transport vehicle for transport without simultaneously storing one of the corresponding pallets via the handling equipment.

[0089] The handling system preferably also includes one or more driverless transport vehicles, each driverless transport vehicle including at least one holding device for workpiece pallets, and each driverless transport vehicle is configured to dock with the docking device of the handling system, such that at least one holding device serves as a target device of the handling system.

[0090] Therefore, the handling system according to the invention advantageously includes a transport network of one or more driverless transport vehicles, which can cover a large spatial distance during the handling of workpiece pallets. This also represents an improvement in handling multiple workpiece pallets simultaneously, which can be moved simultaneously by the transport vehicles and the handling devices of the handling system.

[0091] Unmanned transport vehicles should be understood as independent and automatically moving vehicles, preferably moving along a virtual guidance network independent of physical control or guidance devices.

[0092] According to another aspect of the present invention, a handling device is provided for use in a handling system according to the first aspect of the present invention.

[0093] According to another aspect of the present invention, a machine tool is provided, including a workspace and a transport system according to a first aspect of the present invention, the workspace including at least one receiving device disposed therein and configured to receive a workpiece pallet, the transport system being disposed adjacent to the workspace, wherein the at least one receiving device disposed in the workspace is a target device of the transport system.

[0094] Therefore, machine tools or machine tool workspaces and handling systems can be adapted to each other from the outset, especially for pallet replacement in workspaces.

[0095] With the help of a handling system, pallet replacement can be completed in a very short time because unnecessary movement, such as pre-storing workpiece pallets removed from the workspace, is avoided. For example, the handling equipment can receive a workpiece pallet from the workspace in one empty accommodating space of the replacement device, and then directly insert a workpiece pallet received in another accommodating space into the workspace without pre-storing the removed workpiece pallet.

[0096] Furthermore, the material handling system can be housed within the machine tool's casing, making the machine tool, including the material handling system, a single, externally enclosed component. Therefore, compared to separate configurations of the machine tool and the material handling system, this offers, among other advantages, cost savings and reduces the space required for installation in the production workshop.

[0097] Preferably, the passage from the transport equipment of the transport system to the working space of the machine tool can be closed by a baffle or door unit, so that contaminants that occur in the working space during processing will not enter the vicinity of the transport system, thereby avoiding damage to the transport system.

[0098] Further aspects and advantages thereof, as well as more specific exemplary embodiments of the aforementioned aspects and features, are described below using the illustrations shown in the accompanying drawings. Attached Figure Description

[0099] Figure 1 An embodiment of a handling system including handling equipment, pallet storage section and setting station is shown.

[0100] Figure 2 This shows the state without the workpiece tray loaded, compared to Figure 1 The basic handling equipment in the handling system corresponds to the lower part of the handling equipment.

[0101] Figures 3a to 3c The image shows the workpiece in its loaded state. Figure 2 The lower part of the conveying equipment.

[0102] The same or similar elements in the figure can be represented by the same reference numerals, but sometimes they can also be represented by different reference numerals.

[0103] It should be noted that the present invention is by no means limited to the embodiments and implementation features described below. The present invention also includes modifications to the exemplary embodiments mentioned, particularly those modifications and / or combinations thereof to one or more features of the exemplary embodiments described within the scope of the independent claims. Detailed Implementation

[0104] Figure 1 An embodiment of a handling system 1000 is shown, which includes a handling device 100, a pallet storage unit 200, and a setting station 300.

[0105] The handling equipment 100 includes a base 10, a frame-shaped support device 20 connected thereto, and a handling device 30 supported by the support device 20. The handling device 30 is used to handle workpiece pallets 101. In particular, in the illustrated state, the first workpiece pallet 101a and the second workpiece pallet 101b are currently being handled.

[0106] The base 10 is set on the floor surface and can be connected to it by appropriate fastening devices (not shown here) to increase the stability of the entire handling equipment 100.

[0107] The support device 20 is rotatably connected to the base 10 and can rotate relative to the base 10 about a vertically oriented axis of rotation R by means of a rotation drive (not shown).

[0108] The support device 20 itself is constructed in the shape of a frame, and the side elements of the frame are each formed by two separate side pillars 22. The side pillars 22 are merged with a base element on the lower side of the support device 20 and with a head element 23 on the upper side.

[0109] The frame structure of the load-bearing device 20 configured in this way has high rigidity in terms of bending and torsion, and is therefore particularly suitable for carrying the transport device 30 arranged in the frame.

[0110] Vertically extending guide rails 24 (one on each of the four side pillars 22) are arranged on opposite sides of each side pillar 22, on which the conveying device 30 or its load-bearing element 31 is mounted so as to be movable in the vertical direction of movement Y (Y direction). Thus, the guide rails 24 limit the possible relative movement of the load-bearing element 31 with respect to the load-bearing device 20 to vertical movement in the Y direction, and at the same time ensure that the load acting on the conveying device 30, especially the tilting moment caused by the weight of the workpiece pallets 101a, 101b being conveyed, is optimally introduced into the load-bearing device 20.

[0111] The movement of the conveying device 30 is achieved by a translation drive having a vertical shaft 25, which is driven by a shaft driver 26 arranged on the upper side of the head element 25.

[0112] The conveying device 30, which can move vertically along the Y direction, includes a carrying element 31 movably connected to the carrying device 20; a replacement device 40 having a first accommodating space 44a and a second accommodating space 44b for the workpiece trays; and a separation device (not shown in the given figures) through which the workpiece trays 101a and 101b carried by the conveying device 30 can be separated from the replacement device 40.

[0113] The replacement device 40, together with the two accommodating spaces 44a and 44b, can move horizontally relative to the supporting element 31 along the first moving direction X (X direction), and thus also horizontally relative to the supporting device 20. Figure 1 The state shown corresponds to the extended state, in which the second workpiece tray 101b, which receives the second workpiece tray in the second accommodating space 44b, moves in the X direction to transfer it to, for example, a target device (not shown here), which is configured to receive the second workpiece tray.

[0114] It should be noted that the chosen direction names X and Y, or X direction and Y direction, are not restrictive, but merely arbitrary names chosen to better distinguish the various directions.

[0115] The extension mechanism of the replacement device in the X direction is based on a double telescopic extension, wherein the first telescopic bracket 46a is telescopic relative to the bearing element 31, and the second telescopic bracket 46b is telescopic relative to the first telescopic bracket 46b. Two accommodating spaces 44a and 44b are provided on the second telescopic bracket 46b.

[0116] In the extended state shown, the first workpiece tray 101a has been pre-separated from the replacement device 40, so the first accommodating space 44a is empty.

[0117] Before the replacement device 40 moves to the extended state shown, the first workpiece tray 101a is separated from the replacement device 40 by a separation device associated with the first accommodating space 44a, so that the movement of the replacement device 40 to reach the state shown is not transmitted to the separated first workpiece tray 101a, and thus it remains in place.

[0118] Figure 1 As clearly shown, the separation of the first workpiece tray 101a significantly reduces the load acting on the handling device 30, and thus also reduces the load acting on the complete handling device 100 in the extended state shown. Without the separation device, the currently empty first accommodating space 44a would also be occupied by the workpiece tray (i.e., the first workpiece tray 101a), whose weight would add an additional burden to the entire structure, especially considering that such a long lever arm is in the extended state, which would inevitably lead to a relatively high tilting moment.

[0119] However, this is advantageously avoided by means of the configuration with a separation device according to the invention.

[0120] Furthermore, the weight of the separated workpiece tray 101a even acts as a counterweight for the replacement device 40 extending on the other side, causing the tilting moment in the opposite direction to be further reduced.

[0121] For handling workpiece pallets—receiving and / or transferring workpiece pallets from a target device configured for this purpose—the two receiving spaces 44a, 44b can be spatially positioned by moving the displacement device 40 in the X direction, by vertically moving the entire handling device 30 in the Y direction, or by rotating the carrier device 20, which includes the handling device 30, about the rotation axis R. These three movement options form a cylindrical movement system that allows spatial positioning in all three spatial directions (to the extent possible).

[0122] The handling device 100 is also configured to interact with the pallet storage section 200 and the setting station 300 of the handling system 1000, such that the handling device 100 is configured to transfer workpiece pallets 101 from the storage space 220 of the pallet storage section 200 or from the setting station 300 to the handling device 30 or the replacement device 40, or to transfer them from the handling device 30 or the replacement device 40 to the latter.

[0123] The pallet storage unit 200 includes a plurality of storage layers 210 arranged at different heights in a partial circle surrounding the handling device 100, wherein a plurality of storage spaces 220 are configured to receive workpiece pallets 101 on each storage layer 210, and each storage layer 210 is within the range of the cylindrical moving system of the handling device 100.

[0124] For ease of representation, Figure 1 The carrier device of a single storage layer 210 is not shown.

[0125] The setting station 300 is also set on the floor next to the handling equipment 100, and it includes a pallet receiver 310 configured to receive the workpiece pallet 101 and arranged on the upper side.

[0126] Setting up work, such as clamping the workpiece, can preferably be performed on the workpiece tray 101 received by the setting station 300.

[0127] The handling system 1000 according to the present invention can quickly and efficiently handle a large number of workpiece pallets 101, 101a, 101b by means of handling equipment 100. Its advantageous embodiments significantly reduce the load on handling equipment 100 by handling workpiece pallets that are usually very heavy, especially when handling two received workpiece pallets 101a and 101b at the same time.

[0128] Figure 2 The lower part of the conveying device 100 is shown, which basically corresponds to Figure 1 The conveying equipment of the conveying system is in a state where the replacement device 40 is not loaded with a workpiece pallet and is not extended, that is, in the initial state of the replacement device 40.

[0129] The initial state is characterized by the fact that the separation of the workpiece tray carried by the transport device 30 can be performed by means of the first separation device 34a and the second separation device 34b. The initial state is limited to the specific or initial position of the replacement device in the X direction, while the positioning of the transport device 30 in the Y direction or the positioning of the carrying device 20 about the rotation axis R is independent of this initial state.

[0130] Besides Figure 1 In addition to the description of the illustrated embodiments, Figure 2 A linear bracket 33 connected to the support element 31 is also shown, which engages in a guide rail 24 on the side support 22 of the support device and supports the transport device 30 so that it can move in the Y direction.

[0131] also, Figure 2 It shows in Figure 1 The diagram shows the base element 21 covered by the support device, with the base 10 below it.

[0132] Besides Figure 1 In addition to the description of the illustrated embodiment, a detailed view is also shown of two separation devices 34a, 34b for the two accommodating spaces 44a, 44b of the replacement device 40, and the telescopic mechanism of the replacement device 40 in its initial state.

[0133] In the initial state of the replacement device 40, the separation devices 34a and 34b are respectively arranged below the accommodating spaces 44a and 44b, and each includes a plurality of lifting elements 36 arranged on the carrying element 31 with a drive device. The lifting plate 37 can move vertically relative to the carrying element 31 via the lifting element 36, that is, it moves upward during the lifting movement and downward during the lowering movement, so as to contact the workpiece trays received in the corresponding accommodating spaces 44a and 44b above, and lift or lower the workpiece trays into the accommodating spaces 44a and 44b.

[0134] The lifting elements 36 of the separation devices 34a and 34b are configured as electric linear actuators that move the lifting plate 37 in the vertical direction, thereby separating the workpiece tray located above the initial state of the replacement device 40, so that subsequent movement of the replacement device 40 in the X direction can no longer be transferred to the separated workpiece tray.

[0135] Four symmetrically arranged receivers 38 for the conical positioning device are positioned on the upper side of the lifting plate, wherein during the separation process by the lifting motion, the corresponding counterpart (cone) is received on the lower side 37 of the workpiece tray. Therefore, in the separated state, the position and orientation of the separated workpiece tray are clearly defined relative to the corresponding separating devices 34a, 34b, and thus also clearly defined relative to the carrier element 31. In other words, due to the positioning device, the separated workpiece tray has only one possible arrangement (position and orientation) on the lifting plate 37.

[0136] The displacement device 40 is driven by a driver 47 arranged laterally between the side supports 22 to cause lateral movement, extension, or telescopic movement of the displacement device 40. Here, the displacement device 40 can move from the initial state shown along the X direction (indicated by a double arrow in the X direction) away from the observer and toward the observer.

[0137] The first telescopic bracket 46a is connected to the support element 31 via a telescopic guide rail 45 or a pair of telescopic guide rails 45, allowing it to move in the X direction. Another (second) telescopic guide rail 45 or a second pair of telescopic guide rails 45 is arranged on the first telescopic bracket 46a, and the second telescopic bracket 46b with accommodating spaces 44a, 44b can move relative to the first telescopic bracket 46a in the X direction via this other (second) telescopic guide rail 45 or the second pair of telescopic guide rails 45.

[0138] The telescopic brackets 46a and 46b are L-shaped in cross-section perpendicular to the X direction to achieve high bending and torsional stiffness.

[0139] When viewed in the vertical direction (Y direction), the second telescopic bracket 46b is also H-shaped, with the central transverse support and two longitudinal supports arranged thereon extending parallel to the second telescopic guide rail 45, so that the engagement of the workpiece tray to be received from below is not blocked by the other transverse supports.

[0140] In addition, the second telescopic bracket 46b also includes a support portion arranged on the upper side of the longitudinal support column at the two accommodating spaces 44a, 44b, and the received workpiece tray is then placed on the support portion in a connected (not separated) state.

[0141] Figure 3a It shows Figure 2 The lower part of the conveying device 100 is in a state where the replacement device 40 is loaded with the first workpiece tray 101a and the second workpiece tray 101b and is not extended.

[0142] The first workpiece tray 101a is received in the first receiving space 44a of the replacement device 40, while the second workpiece tray 101b is received in the second receiving space 44b of the replacement device 40.

[0143] The received workpiece trays 101a and 101b are placed on both sides of the support portion arranged on the upper side of the second telescopic bracket 46b. The received workpiece trays 101a and 101b are usually quite heavy, which results in a large static friction between the workpiece trays 101a and 101b and the second telescopic bracket 46b, preventing relative movement between them on the second telescopic bracket 46b until the adhesion limit is exceeded.

[0144] Figure 3b With Figure 3a Different perspectives show Figure 1 The lower part of the conveying equipment 100. The lower part has a first separation device 34a for partial lifting.

[0145] Apart from Figure 3a Outside the view, in Figure 3b The side perspective view shows a vertical shaft 25 for the lateral movement of the conveying device 30 in the Y direction. The conveying device 30 or the bearing element 31 is connected to the vertical shaft 25 via a shaft nut 32. The rotation of the vertical shaft 25 is converted into a vertical translational movement of the conveying device 30 in the Y direction through the shaft nut 32. The vertical shaft is self-locking.

[0146] Furthermore, in the illustrated figure, the first separation device 34a associated with the first receiving space 44a has been moved upwards to the underside of the first workpiece tray 101a received in the first receiving space 44a, without completely separating it from the replacement device 40. Therefore, the weight of the first workpiece tray 101a still falls at least partially on the replacement device 40.

[0147] Therefore, compared to the configuration shown in Figure 3, the lifting element 43 has vertically lifted the lifting plate 37 along the lower side of the workpiece tray 101a. Continuing this movement will cause the first workpiece tray 101a to separate, resulting in the ability to achieve... Figure 1 The configuration of the conveying device 100 shown.

[0148] Figure 3c It shows Figure 3a and Figure 3b The lower part of the conveying device 100 is shown in an extended state of the replacement device 40 and has a separate first workpiece tray 101a.

[0149] In the extended state shown, the displacement device 40 is extended by the driver 47 in such a way that the first telescopic bracket 46a moves almost halfway relative to the support element 31, and the second telescopic bracket 46b moves almost halfway relative to the first telescopic bracket 46b.

[0150] In the illustrated state, the first workpiece tray 101a has been completely separated or detached from the replacement device 40, so that it does not move during the lateral movement of the replacement device 40 in the X direction, but essentially maintains its position relative to the carrier device.

[0151] In order to separate, continue what has already been done. Figure 3b The lifting movement of the lifting element 36 shown in the figure is used to lift the first workpiece tray 101a from the support of the second telescopic bracket 46a. The weight of the separated first workpiece tray 101a now rests entirely on the lifting plate 37 and is evenly transferred to the carrying element 31 of the conveying device 30 by the five lifting elements 36 of the first separation device 34a, thereby reducing the burden on the replacement device 40 itself.

[0152] Five lifting elements 36 are symmetrically arranged relative to the lifting plate 37, with four lifting elements 36 located at the corners of the lifting plate 37 and one lifting element 36 located at the center of the lifting plate 37, thereby preventing the lifting plate 37 and the lifting elements 36 themselves from being subjected to uneven loads, provided that the separated workpiece tray 101a is centrally placed on the lifting plate 37 by the interaction of the positioning device and the associated receiver 38.

[0153] Due to the separation of the first workpiece tray 101a, during the subsequent movement of the replacement device 40 in the X direction, only the empty first receiving space 44a and the second receiving space 44b are moved together, including the second workpiece tray 101b received therein, to achieve... Figure 3c The extended state shown.

[0154] Therefore, the tilting moment caused by the weight of the workpiece trays 101a and 101b is lower than that in the case where the first workpiece tray 101a is received in the first receiving space 44a (i.e., before separation).

[0155] This reduces the load on the mounting and handling device 30, particularly the load on the guide rail 24 used for this purpose, as well as the load on the support structure carrying the handling device 30, the base 10 arranged below, and the load-bearing floor surface. This inevitably results in lower load (lower material stress) and lower component deformation, such as in the form of bending or torsion, which in turn improves the accuracy when handling the workpiece pallets 101a, 101b.

[0156] In particular, it reduces the mechanical stress on the telescopic mechanisms 45, 46a, and 46b of the replacement device 40, which are severely affected by bending in the extended state.

[0157] In other words, the total mechanical load on the handling equipment 100 can be greatly reduced by the configuration according to the invention, without giving up the possibility of simultaneously and accurately handling multiple workpiece pallets 101a, 101b.

[0158] It should be noted that the replacement device 40 can also extend or retract the first workpiece tray 101a, so that the second workpiece tray 101b can be separated by the corresponding second separation device 34b. The conveying device 30 is symmetrically configured such that the replacement device 40 can extend on both sides to extend or retract the first workpiece tray 101a or the second workpiece tray 101b. Of course, this also applies to lateral movements returning to the initial state.

[0159] Therefore, a single replacement device 40 with two accommodating spaces 44a, 44b and a single drive 47 is configured to transport two workpiece trays 101a, 101b from both sides, which means that the transport process can be accelerated and made more flexible without relying on other additional replacement devices.

[0160] Exemplary embodiments of the present invention and their advantages have been described in detail above with reference to the accompanying drawings.

[0161] It should be reiterated that the present invention is by no means limited to the exemplary embodiments and their features described above. The present invention also includes modifications to the mentioned exemplary embodiments, particularly those resulting from modifications and / or combinations of one or more features of the exemplary embodiments described within the scope of the independent claims.

[0162] List of reference numerals

[0163] 10 bases

[0164] 20 Frame-type load-bearing device

[0165] 21 Base components

[0166] 22 side pillars

[0167] 23 Head components

[0168] 24 guide rails

[0169] 25 Vertical axis

[0170] 26-axis driver

[0171] 30. Handling device

[0172] 31 Load-bearing element

[0173] 32 Shaft Nut

[0174] 33 Linear bracket

[0175] 34a Separation device for the first accommodating space

[0176] 34b Separation device for the second accommodating space

[0177] 36 Lifting Components

[0178] 37 Lifting Plate

[0179] Receiver for 38 Conical Positioning Device

[0180] 40 Replacement device

[0181] 44a First Accommodation Space

[0182] 44b Second Accommodation Space

[0183] 45 Telescopic guide rail

[0184] 46a First telescopic bracket

[0185] 46b Second telescopic bracket

[0186] 47 Drivers for replacement devices

[0187] 100 Handling Equipment

[0188] 101 Workpiece Pallet

[0189] 101a First workpiece tray

[0190] 101b Second workpiece tray

[0191] 200 Pallet Storage Department

[0192] 210 Storage Layer

[0193] 220 Storage space for workpiece trays

[0194] 300 Setting Station

[0195] 310 Tray Receiver for Setting Up Station

[0196] 1000 Handling System

[0197] X First movement direction

[0198] Y represents the vertical direction of movement.

[0199] R Rotation axis

Claims

1. Handling equipment (100), including The support device (20), and A conveying device (30) for moving workpiece pallets (101, 101a, 101b), the conveying device (30) being carried by the carrying device (20) and including a replacement device (40) having at least two accommodating spaces (44a, 44b) configured to receive workpiece pallets (101, 101a, 101b). Furthermore, the conveying device (30) is configured to move the replacement device (40) relative to the carrying device (20) along a first moving direction (X), so that the two accommodating spaces (44a, 44b) move together. Its features are, The transport device (30) is also configured to separate a workpiece tray (101a, 101b) transported and received by the transport device (30) in one of the at least two receiving spaces (44a, 44b) from the replacement device (40) by at least one separation device (34a, 34b), such that the separated workpiece tray (101a, 101b) maintains its position relative to the carrier device (20) during the movement of the replacement device (40) along the first moving direction (X).

2. The handling equipment (100) according to claim 1, characterized in that, The handling device (100) is configured to pass a workpiece tray (101a, 101b) received in one of the at least two receiving spaces (44a, 44b) to at least one target device (220, 310), the at least one target device (220, 310) being configured to receive a plurality of workpiece trays (101), and / or receive a workpiece tray (101) received by the at least one target device (220, 310) in one of the at least two receiving spaces (44a, 44b).

3. The handling equipment (100) according to claim 2, characterized in that, The at least one target device is a receiving device arranged in the working space of the machine tool, and the machine tool proximity handling system (1000) is provided.

4. The handling equipment (100) according to any one of claims 1 to 3, characterized in that, The at least one separation device (34a, 34b) includes a lifting device (36) configured to separate a workpiece tray (101a, 101b) in a receiving space (44a, 44b) associated with the at least one separation device (34a, 34b) from the replacement device (40) by a vertical lifting motion.

5. The handling equipment (100) according to claim 4, characterized in that, The at least one separating device (34a, 34b) includes at least one receiver (38) for a positioning device, the receiver (38) being configured to engage the positioning device disposed under a workpiece tray (101a, 101b) during the lifting motion, such that the position and orientation of the workpiece tray (101a, 101b) separated by the lifting motion are clearly defined relative to the at least one separating device (34a, 34b).

6. The handling device (100) according to any one of claims 1 to 3, characterized in that, The transport device (30) includes a plurality of separation devices (34a, 34b), and each accommodating space (44a, 44b) of the replacement device (40) is associated with one of the plurality of separation devices (34a, 34b).

7. The handling device (100) according to any one of claims 1 to 3, characterized in that, The replacement device (40) is configured as a horizontally extendable telescopic device, which includes at least one telescopic bracket (46b) that is horizontally movable relative to at least one telescopic track (45) of the telescopic device in the first direction of movement (X), and the at least two accommodating spaces (44a, 44b) are arranged on the telescopic bracket (46b).

8. The handling device (100) according to any one of claims 1 to 3, characterized in that, The transport device (100) is configured to move the transport device (30) in a translational manner relative to the carrier device (20) in a vertically oriented direction of movement (Y) by a translation drive device (25).

9. The handling equipment (100) according to claim 8, characterized in that, The support device (20) is constructed in the form of a frame and has a base element (21), two side elements (22) and a head element (23). Each of the two side elements (22) includes at least two guide rails (24). The transport device (30) supported by the support device (20) is mounted through the at least two guide rails (24) so ​​that the transport device (30) can move along the vertical direction of movement (Y).

10. The handling device (100) according to claim 8, characterized in that, The transport device (100) further includes a base device (10) for carrying the carrier (20), wherein the transport device (100) is configured to rotate the carrier (20) about a vertically oriented axis of rotation (R) relative to the base device (10) by a rotation drive.

11. The handling device (100) according to claim 10, characterized in that, The transport device (100) is configured to position one of the at least two receiving spaces (44a, 44b) relative to the at least one target device (220, 310) in such a way that a workpiece tray (101) received by the target device (220, 310) can be received by the replacement device (40) in the positioned receiving space (44a, 44b), and / or a workpiece tray (101a, 101b) received in the positioned receiving space (44a, 44b) can be transferred to the target device (220, 310).

12. A conveying system (1000), characterized in that, Includes the handling equipment (100) according to any one of claims 1-11.

13. The conveying system (1000) according to claim 12, characterized in that, The handling system (1000) includes a pallet storage unit (200), which includes a plurality of storage spaces (220) configured to receive workpiece pallets (101), and each of the plurality of storage spaces is a target device for the handling equipment (100).

14. The conveying system (1000) according to any one of claims 12-13, characterized in that, The handling system (1000) includes a docking device configured to dock with an unmanned transport vehicle having at least one holding device configured to receive a workpiece pallet (101), wherein the at least one holding device of the transport vehicle in the state of docking with the docking device is a target device for the handling equipment (100).

15. A machine tool, comprising: A workspace having at least one receiving device for receiving a workpiece tray (101) arranged therein. The handling system (1000) according to any one of claims 12 to 14 is arranged adjacent to the workspace; The at least one receiving device arranged in the workspace is the target device of the transport system (1000).

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