Discharging method and machine-type discharging assembly for discharging machined products for workpiece machining, production method and machine-type production assembly

Abstract

In the context of a machine-based unloading method for unloading machined products (11) of workpiece machining, in particular sheet metal machining, from product carriers (7), a reference point (19) is defined in an unloading region (3) of the machine-based unloading assembly, from which an unloading region delimiting section (14) has a delimiting section distance (DL). A reference length (LR) is defined for the processed product (11), said reference length being at least as large as the actual product length. The distance (D) between the reference point (19) and the front end point of the reference length (LR) of the processed product (11) facing the unloading area limit part (14) is compared with the limit part distance (DL) from the reference point (19). The unloading method is then continued only under the condition that the distance (D) between the reference point (19) and the front end point of the reference length (LR) of the processed product (11) is smaller than the limit part distance (DL) from the reference point (19). The above unloading method is used in the scope of machine-type production methods. The machine-type unloading assembly and the machine-type production assembly are configured to carry out the above mentioned method.

Description

Technical Field

[0001] The invention relates to a method for unloading a processed product from workpiece processing, in particular sheet metal processing, from a product receiving element.

[0002] wherein the processed products are provided for unloading by being moved with a conveying movement along a conveying axis into an unloading area, which has a spatial unloading area delimitation arranged along the conveying axis and which has an unloading area length along the conveying axis which is greater than an actual product length of the processed products along the conveying axis, and

[0003] wherein the unloading method is continued after the processed product has been provided for unloading.

[0004] The invention also relates to a machine-type unloading assembly for carrying out the above-mentioned unloading method as well as a production method and a machine-type production assembly for carrying out the production method, wherein the above-mentioned unloading method is carried out within the scope of the production method. Background Art

[0005] Prior art of the type in question is known from EP 3 560 652 A1.

[0006] The prior art relates to a processing system for segmented sheet metal processing. The sheet metal processing is carried out in a working area of ​​a laser cutting machine enclosed in a housing. The sheet metal to be processed is fed into the working area of ​​the laser cutting machine together with a pallet supporting the sheet metal. In the working area of ​​the laser cutting machine, cut sheet metal parts are produced as processed products from the sheet metal supported on the pallet as well as a remaining grid surrounding the sheet metal parts. After the segmented sheet metal processing has been completed, the sheet metal parts and the remaining grid are moved together with the pallet through an opening provided in the housing of the laser cutting machine into a loading area of ​​the processing system. The loading area is delimited towards the laser cutting machine by the wall of the housing of the working area of ​​the laser cutting machine. A fully automated or partially automated handling device can be used to unload the pallet conveyed to the loading area of ​​the processing system. Summary of the invention

[0007] The object of the invention is to enable functionally reliable unloading of product carriers in spatially restricted unloading areas.

[0008] According to the invention, this object is achieved by a machine-type unloading method according to claim 1 , by a machine-type unloading assembly according to claim 7 , and by a machine-type production method according to claim 6 and by a machine-type production assembly according to claim 8 .

[0009] Accordingly, in the case of the invention, the processed product to be unloaded from the product carrier has been moved along the conveying axis into the unloading area of ​​the machine-type unloading assembly or the machine-type production assembly, in which a reference point is defined, from which the unloading area delimitation has a delimiting distance along the conveying axis of the workpiece movement. A reference length is defined for the processed product, which extends along the conveying axis and is at least as large as the actual product length. After the conveying movement of the processed product is completed, the distance along the conveying axis between the reference point (on the one hand) and the front end point of the reference length of the processed product in the direction of the unloading area delimitation (on the other hand) is determined. If the distance along the conveying axis between the reference point and the front end point of the reference length of the processed product is less than the delimiting distance from the reference point, this indicates that the processed product is arranged in the unloading area with its entire actual length and is therefore ready for unloading from the product carrier without the risk of a subsequent collision with the unloading area delimitation. After the processed product has been provided, the unloading process of the processed product is continued only under this condition.

[0010] When a plurality of processed products are to be unloaded from a product carrier, for example when a plurality of sheet metal parts which have previously been produced from a sheet metal plate in a defined sheet metal part arrangement are to be unloaded, an unloading test according to the invention is carried out for each of the processed products or sheet metal parts.

[0011] The digital module control of the unloading module according to the invention is designed to implement the unloading method according to the invention.

[0012] For example, a product tray or a product carrier belt can be used as a product carrier for providing the processed product to be discharged.Both the product tray and the product carrier belt can already support workpieces for producing the processed product to be discharged.

[0013] Particular embodiments of the invention emerge from the dependent claims.

[0014] For the case where the test of the feasibility of the unloading process according to the present invention has yielded positive results, in an advantageous improvement of the present invention, claim 2 provides that the unloading mechanism of the machine-type unloading device is arranged on the processed product in a defined arrangement relative to the processed product and is fixed to the processed product for receiving the processed product provided for unloading.

[0015] In a preferred embodiment of the invention, the unloading device is configured for a specific unloading task by adapting its dimensions to the dimensions of the processed products provided for unloading (claim 3).

[0016] Additionally or alternatively, the unloading device is arranged on the processed product to be unloaded in such a way that a maximum number of holding elements of the unloading device, for example holding suction cups, are in contact with the processed product (claim 4).

[0017] Claim 5 relates to an unloading method according to the invention, which has kinematic features of particular importance in practice for an unloading movement to be performed by an unloading mechanism of an unloading device together with a processed product fixed to the unloading mechanism. Specifically, the unloading mechanism and the processed product fixed to the unloading mechanism are together as an unloading unit and are removed from the workpiece receiving part with an unloading movement, which has an unloading rotational movement of the unloading unit arranged in a rotational position about an unloading rotation axis, which extends along an unloading area boundary in the unloading area of ​​the product receiving part. After it has been ensured in the above manner that the processed product to be unloaded has been completely transferred to the unloading area of ​​the machine-type unloading component, it is checked whether the unloading rotational movement of the unloading unit consisting of the processed product and the unloading mechanism can be carried out without the unloading unit colliding with the unloading area boundary.

[0018] To this end, an envelope circle concentric with the unloading rotation axis is defined for the unloading unit, and the unloading unit is arranged within the envelope circle. If the radius of the envelope circle of the unloading unit is smaller than the distance between the unloading rotation axis and the unloading area boundary in the radial direction of the unloading rotation axis, it is ensured that the unloading rotation movement of the unloading unit can be carried out without the unloading unit colliding with the unloading area boundary.

[0019] The digital module controllers of the unloading module according to the invention and of the production module according to the invention are correspondingly expanded. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be described in more detail below based on exemplary schematic diagrams. In the accompanying drawings:

[0021] Figure 1 A machine assembly for sheet metal production is shown, which has a working area and a discharge area, and has a workpiece receiving belt extending through the working area and the discharge area,

[0022] Figure 2 The view of the workpiece carrier belt shows the Figure 1 First unloading situation on the machine components,

[0023] Figure 3 The view of the workpiece carrier belt shows the Figure 1 The second unloading situation on the machine component, and

[0024] Figure 4 The view of the workpiece carrier belt shows the Figure 1 The third unloading situation on the machine component. DETAILED DESCRIPTION

[0025] like Figure 1 As shown, a machine assembly 1 for sheet metal production has a working area 2 and a discharge area 3. In the working area 2, a laser cutting machine 4 is arranged in a known manner as a processing device for segmented sheet metal processing. Figure 1 Only the laser cutting head 5 of the laser cutting machine 4 is shown.

[0026] The laser cutting machine 4 is used to cut and process the metal sheet strip 6, which has been previously cut from the coil ( Figure 1 In order to support the sheet metal strip 6 in the working area 2 and the unloading area 3 of the machine component 1, an endless / rotating workpiece carrier belt 7 is provided as a product carrier, which is driven by means of a conventional conveyor drive and whose upper belt 8 moves in the feed direction 9.

[0027] When the workpiece carrier belt 7 is stopped, the metal sheet strip 6 is processed in sections in the working area 2 of the machine assembly 1. In order to separate the metal sheet strip sections, the laser cutting head 5 of the laser cutting machine 4 is moved relative to the metal sheet strip 6 in a known manner with a two-axis movement in the horizontal plane. Here, the laser cutting head 5 cuts out finished parts 11 as processed products from the metal sheet strip 6 according to the layout plan stored for the metal sheet strip 6 in the digital assembly controller 10 of the machine assembly 1. In addition, during the separation process of the metal sheet strip 6, a residual grid 12 ( Figures 2 to 4 ).

[0028] If the separation process of the metal sheet strip segments has been completed, the workpiece carrier belt 7 is stepped further in the feed direction 9 by means of a conveyor drive together with the metal sheet strip 6 supported by the upper belt 8. In this process, the finished parts 11 cut out of the metal sheet strip 6 together with the remaining grid 12 pass through the passage opening 13 of the partition wall 14, which separates the working area 2 and the unloading area 3 of the machine component 1 from each other. As a result, the processed segment of the metal sheet strip 6 reaches the unloading area 3 of the machine component 1 along the conveying axis 15 defined by the feed direction 9.

[0029] The loading area length of the unloading area 3 extending along the conveying axis 15 is greater than the actual length (actual product length) of the individual finished parts 11, which also extends along the conveying axis 15. In the unloading area 3, the previously completed finished parts 11 are provided for unloading from the workpiece receiving belt 7 when the workpiece receiving belt 7 is stopped again.

[0030] In the unloading area 3, a conventional unloading robot 16 is provided as a mechanical unloading device. For the sake of simplicity, Figure 1Only the unloading mechanism of the unloading robot, which is constructed as a suction cup frame 17, is shown. The suction cup frame 17 has a plurality of holding suction cups 18 as holding elements on the workpiece side. Like other basic functional units of the machine assembly 1, the unloading robot 16 is also controlled by the digital assembly controller 10.

[0031] The corresponding programming of the machine assembly control 10 ensures that the workpiece carrier belt 7 can be unloaded smoothly in the unloading area 3 of the machine assembly 1 by means of the unloading robot 16 .

[0032] For this purpose, a reference point 19 in the unloading area 3 is stored in the digital component controller 10, which has a position defined in a coordinate system 20 of the digital component controller 10, the coordinate system having an x-axis and a y-axis perpendicular to the x-axis. In addition, an imaginary envelope rectangle 21 is stored in the digital component controller 10 for each finished component 11 therein, the sides of which extend in the x-axis direction and in the y-axis direction of the coordinate system 20 of the digital component controller 10. The dimensions of the envelope rectangle 21 are designed so that the finished component 11 in question is completely located within the rectangle 21. The long side of the envelope rectangle 21 represents the reference length L extending along the conveying axis 15. R and is at least as large as the actual product length of the finished component 11 along the conveying axis 15. Also stored in the digital module controller 10 is a delimiting distance D between the reference point 19 and the partition wall 14 that delimits the unloading area. L .

[0033] The unloading process can only be carried out smoothly by means of the unloading robot 16 if the finished component 11 to be unloaded has been completely transferred into the unloading area 3 of the machine assembly 1 and has therefore completely passed through the partition wall 14 .

[0034] This condition is checked for each of the finished components 11 provided for unloading before the unloading robot 16 is activated. Here, the reference point 19 is measured with the aid of the measuring unit 22 of the digital component controller 10 with respect to the reference length L R Here, the distance d is compared with the reference length L of the finished component 11 in the evaluation and comparison unit 23 of the digital component controller 10 . R Add and thereby determine the reference length L of the reference point 19 and the finished component 11 R The distance D between the front end points in the direction of the partition wall 14 along the conveying axis 15 is then connected to the reference point 19 and the reference length L of the finished component 11. R The distance D between the front end point and the limit part distance D L Make a comparison.

[0035] Only at the reference point 19 and the reference length L of the finished component 11 concernedR The distance D between the front ends of the transmission axis 15 is less than the limit distance D L Only under the conditions that the digital module controller 10 arranges to continue the unloading method with the help of the unloading robot 16.

[0036] Except for the finished part 11 on the right side of the middle row of finished parts, Figure 2 All other finished parts 11 in the upper row meet this condition. For example, the finished part 11 on the right side of the upper row of finished parts can be unloaded. Figure 2 As shown, for the finished component 11, the reference point 19 and the reference length L R The distance D between the front ends of the transmission axis 15 is less than the limit distance D L However, for the finished component 11 on the right in the middle row of finished components, the reference point 19 is not equal to the reference length L R The distance D between the front ends is greater than the limit distance D L .

[0037] Accordingly, the control unit 24 of the digital component controller 10 controls the unloading robot 16 to unload all finished components 11 except the finished component 11 on the right side of the middle row of finished components. The finished component 11 on the right side of the middle row of finished components will collide with the partition wall 14 during the unloading process due to its partial overlap with the partition wall 14, so the finished component is first retained on the workpiece receiving belt 7. The unloading of the finished component 11 can be carried out, for example, after the metal sheet belt 6 continues to step in the feed direction 9 accordingly.

[0038] Figure 3 and Figure 4 The unloading condition on the workpiece carrying belt 7 is shown, and the unloading condition is the same as that according to Figure 2 The unloading situation of the unloading area 3 differs as follows: the finished parts 11 provided for unloading in the unloading area 3 must perform an unloading rotational movement about the unloading rotation axis 25 together with the suction cup frame 17 fixed to the respective finished part 11 in the rotational position occupied at that time immediately after being lifted from the workpiece receiving belt 7. The unloading rotation axis 25 extends perpendicularly to the workpiece receiving belt 7 along the partition wall 14.

[0039] Before being placed on the finished component 11 in question, the suction cup frame 17 has been configured by adjusting its extension along the conveying axis 15 in order to be ready for unloading. For this purpose, the outer frame elements 26, 27 of the suction cup frame 17 have been advanced relative to the central frame element 28 in such a way that the resulting dimensions of the suction cup frame 17 along the conveying axis 15 are optimally matched to the corresponding dimensions of the finished component 11 to be unloaded. The suction cup frame 17 configured in this way is already arranged on the finished component 11 in question in such a way that the finished component 11 can be fixed on the suction cup frame 17 by means of the maximum number of holding suction cups 18.

[0040] In order to check the feasibility of unloading the finished parts 11 concerned, firstly Figure 2 The described method checks whether the finished parts 11 provided for unloading are completely arranged in the unloading area 3 of the machine assembly 1. In the example shown, the finished parts 11 on the left in the lower row of finished parts ( Figure 3 ) and finished part 11 on the right side of the lower row of finished parts ( Figure 4 ) is identified as being capable of being unloaded.

[0041] In the next step it is then checked whether the finished component 11 which is arranged completely in the unloading area 3 of the machine assembly 1 can execute the required unloading rotational movement.

[0042] For this purpose, an imaginary enveloping circle 30 is defined for the unloading unit 29 consisting of the finished component 11 to be unloaded and the suction cup frame 17 placed thereon and is stored in the machine component control 10. The enveloping circle 30 extends concentrically with the unloading rotation axis 25 and the radius R of the enveloping circle is dimensioned such that the unloading unit 29 is arranged completely within the enveloping circle 30.

[0043] Subsequently, the distance D between the reference point 19 and the unloading rotation axis 25 along the conveying axis 15 is measured by means of the measuring unit 22 of the machine component control 10. A The delimiting distance D is then determined with the aid of the evaluation and comparison unit 23 L With distance D A The difference between the unloading rotation axis 25 and the partition wall 14 is the distance D A / L Then, if the evaluation and comparison unit 23 calculates the distance D between the unloading rotation axis 25 and the partition wall 14 A / L The distance D is determined by comparing it with the radius R of the enveloping circle 30. A / Lis greater than the radius R of the enveloping circle 30, from which it can be concluded that the unloading unit 29 including the finished component 11 and the suction cup frame 17 can perform the rotational movement around the unloading rotation axis 25 required for unloading the finished component 11 without colliding with the partition wall 14. In this case, the control unit 24 controls the unloading robot 16 to implement the unloading process. Figure 3 This type of situation is shown in .

[0044] exist Figure 4 Under the conditions shown, when the unloading rotating shaft 25 is at a distance D from the partition wall 14 A / L When compared with the radius R of the envelope circle 30 of the unloading unit 29, the distance D A / L is smaller than the radius R, and therefore the unloading unit 29 would collide with the partition wall 14 in the case of a rotational movement to be performed about the unloading rotation axis 25. Based on this knowledge, Figure 4 In the case shown, the unloading process of the finished parts 11 of the unloading unit 29 is not continued. Figure 4 In this case, it is also conceivable that the finished parts 11 which could not be unloaded initially are unloaded from the workpiece carrier belt 7 after the metal sheet strip 6 has been stepped further in the feed direction 9 .

Claims

1. A method for unloading a processed product (11) from a product receiving member (7) after workpiece processing, in particular sheet metal processing, ·in, The processed product (11) is provided for unloading from the product receiving member (7) by moving the processed product (11) into an unloading area (3) by a conveying movement along a conveying axis (15), the unloading area having a spatial unloading area limiter (14) arranged along the conveying axis (15), and the unloading area having an unloading area length along the conveying axis (15), the unloading area length being greater than an actual product length of the processed product (11) along the conveying axis (15), and ·in, After the processed product (11) has been provided for unloading, the unloading method is continued, It is characterized in that A reference point (19) is defined in the unloading area (3), and the unloading area boundary (14) has a boundary distance (D) from the reference point along the conveying axis (15). L ), · Define a reference length (L) for the processed product (11) R ), said reference length extending along said conveying axis (15) and said reference length being at least as great as said actual product length, After the transfer movement is completed, determine the reference length (L) between the reference point (19) and the processed product (11) R ) along the conveying axis (15), Align the reference point (19) with the reference length (L) of the processed product (11) R ) along the transmission axis (15) and the limiting distance (D) from the reference point (19). L ) for comparison, and Only at the reference point (19) and the reference length (L) of the processed product (11) R ) along the conveying axis (15) is smaller than the limiting distance (D) from the reference point (19). L ) conditions before continuing the unloading method.

2. The unloading method according to claim 1, It is characterized in that The unloading method is continued in that the unloading mechanism (17) of the machine-type unloading device (16) is arranged on the processed product (11) in a defined arrangement relative to the processed product (11) and fixed on the processed product (11) for receiving the processed product (11) provided for unloading.

3. The unloading method according to claim 2, It is characterized in that The unloading mechanism (17) is switched to an unloading ready state for receiving the processed product (11) provided for unloading by adapting the size of the unloading mechanism (17) to the size of the processed product (11) provided for unloading.

4. The method according to claim 2 or 3, It is characterized in that the processed product (11) provided for unloading is fixed to the unloading mechanism (17) by means of a retaining element (18) of the unloading mechanism (17), and The unloading mechanism (17) is arranged on the processed product (11) provided for unloading in an arrangement defined such that the processed product (11) is fixed to the unloading mechanism (17) by means of a maximum number of retaining elements (18).

5. The unloading method according to any one of claims 2 to 4, It is characterized in that In order to further continue the unloading method, it is provided that the unloading mechanism (17) and the processed product (11) fixed thereto are removed from the product receiving part (7) together as an unloading unit (29) with an unloading movement, the unloading movement comprising an unloading rotational movement of the unloading unit (29) arranged in a rotational position about an unloading rotational axis (25), the unloading rotational axis extending in the unloading area (3) of the product receiving part (7) along the unloading area boundary (14), an envelope circle (30) concentric with the unloading rotation axis (25) is defined for the unloading unit (29), the unloading unit (29) being arranged within the envelope circle, The radius (R) of the envelope circle (30) of the unloading unit (29) and the radial distance (D) between the unloading rotation axis (25) and the unloading area boundary (14) in the radial direction of the unloading rotation axis (25) are equal to the radius (R) of the envelope circle (30) of the unloading unit (29) and the radial distance (D) between the unloading rotation axis (25) and the unloading area boundary (14) in the radial direction of the unloading rotation axis (25). A / L ) for comparison, and Only when the radius (R) of the envelope circle (30) of the unloading unit (29) is smaller than the radial distance (D) of the unloading rotation axis (25) from the unloading area boundary (14) A / L ) is performed to further continue the unloading method.

6. A production method, within the scope of the production method, Processing of workpieces, in particular metal sheets (6), and After the workpiece is processed, a processed product (11) produced by processing the workpiece is unloaded from the product receiving member (7) by executing an unloading method, It is characterized in that The unloading method according to any of the preceding claims is carried out as the unloading method.

7. A machine-type unloading assembly for unloading a processed product (11) of a workpiece processing, in particular a sheet metal processing, said machine-type unloading assembly having a product receiving member (7) for the processed product (11), having a conveying drive, by means of which the processed product (11) can be provided on the product receiving element (7) for unloading, in that the processed product (11) can be moved by means of the conveying drive with a conveying movement along a conveying axis (15) into an unloading area (3) of the machine-type unloading component, the unloading area having a spatial unloading area limiter (14) arranged along the conveying axis (15), and the unloading area having an unloading area length along the conveying axis (15), the unloading area length being greater than the actual product length of the processed product (11) along the conveying axis (15), It is characterized in that A preferably programmable digital module controller (10) is provided, in which: - the position of a reference point (19) arranged in the unloading area (3) of the product receiving element (7), -Limit distance (D L ), the unloading area boundary (14) has the boundary distance from the reference point (19) along the conveying axis (15), and - the reference length (L) of the processed product (11) R ), said reference length extending along said conveying axis (15) and being at least as great as said actual product length, The digital module controller (10) has a measuring unit (22) by means of which a reference length (L) between the reference point (19) and the processed product (11) can be determined after the transfer movement has been completed. R ) along the conveying axis (15), The digital module controller (10) has a comparison unit (23), by means of which the reference point (19) can be compared with a reference length (L R ) along the transmission axis (15) and the limiting distance (D) from the reference point (19). L ) for comparison, and The digital component controller (10) comprises a control unit (24) by means of which the reference point (19) is only at a reference length (L R ) along the conveying axis (15) is smaller than the limiting distance (D) from the reference point (19). L ) can continue the unloading method.

8. A machine-type production component, a processing device (4) by means of which a workpiece, in particular a metal sheet (6), can be processed and a processed product (11) can thereby be produced, and having a machine-type unloading assembly, by means of which the processed product (11) of workpiece processing can be unloaded, It is characterized in that A machine-type unloading assembly according to claim 7 is provided as a machine-type unloading assembly.

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