Gripping device for a handling device and a machine having such a handling device

Abstract

The invention relates to a gripping device (43) for a handling device (31) of a processing machine (11), in particular for handling plate-like or panel-like workpieces (12, 37), having a carrier structure (45), at least one gripper beam (46, 47) arranged on the carrier structure (45) and configured to be displaceable along one axis of the carrier structure (45) and to extend along another axis of the carrier structure (45) different from the displaceable axis, and a gripping element (49) arranged on the underside of the gripper beam (46, 47) for handling at least one workpiece (12, 37), wherein the gripper beam (46, 47) has at least one gripper finger (51) in the end region, which has a constricted configuration relative to a main section (50) of the gripper beam (46, 47) when viewed in the longitudinal axis of the gripper beam (46, 47).

Description

Technical Field

[0001] The present invention relates to a gripping device for a conveying apparatus for a processing machine, particularly for conveying plate-shaped workpieces, and to a mechanical device for conveying at least one plate-shaped workpiece with the gripping device. Background Technology

[0002] DE 10 2020 128 656 A1 discloses a machine for producing at least one plate-shaped workpiece from sheet metal. The machine includes a processing machine comprising at least one processing device for processing at least one plate-shaped workpiece disposed on a workpiece support. Here, the supplied workpiece, particularly the plate-shaped blank material, can be cut into one or more workpieces and / or cut into scrap skeletons. The processing device is provided with a loading station in which at least one workpiece to be processed is positioned on a support surface. Furthermore, an unloading station is provided in which at least one processed workpiece and / or scrap skeleton is unloaded onto a storage surface. The unloading station or the storage surface of the unloading station is located below the workpiece support of the processing device. A linear axis device including at least one horizontally oriented linear axis receives a gripping device that can be displaced along a first motion axis. The gripping device includes a support structure with a gripper beam movable thereon, the gripper beam having gripping elements, particularly in the form of a suction gripper, on its underside. This allows the workpiece to be processed to be transferred from the loading station to the processing unit, and then at least one processed workpiece can be unloaded onto a storage surface at the unloading station, located below the workpiece support. Such displacement is time-consuming and requires repeated starting and stopping of the gripping device's displacement movement. Furthermore, without additional assistance, the separation of plate-type workpieces provided at the loading station is time-consuming.

[0003] EP 1 967 301 A1 discloses additional mechanical equipment for processing plate-shaped workpieces, particularly sheet metal. This equipment includes a processing unit to which the plate-shaped workpiece is supplied by means of a conveying device. After the plate-shaped workpiece is processed by the processing unit, the processed workpiece and / or scrap skeleton or scrap skeleton portion is removed from the processing unit by the conveying device and transferred to an unloading station. The conveying device includes a support structure on which a plurality of gripper beams movable relative to the support structure are arranged. Each gripper beam is provided with a plurality of vacuum suction elements by which the plate-shaped workpiece can be gripped. The gripper beams have rectangular dimensions, which determine the gripping area. Dead zones of the gripper beams may occur in areas of the processing area of ​​the processing unit where interference profiles can be caused, for example, by stamping tools and / or laser cutting heads, in which the workpiece cannot be gripped. Summary of the Invention

[0004] The present invention aims to provide a gripping device and a mechanical device having a processing apparatus including such a gripping device, which enables flexible occupation of different exit positions adjacent to at least one interference profile within the processing area of ​​a processing machine for transporting workpieces.

[0005] This objective is achieved by a gripping device for a handling apparatus of a machining machine. The gripping device includes a support structure, at least one gripper beam, preferably two gripper beams, displaceably arranged on the support structure along a first axis, and the gripper beams extending along another axis oriented differently from the first axis of the support structure. It also includes gripping elements arranged on the lower surface of the gripper beams for handling workpieces. The gripper beams have at least one gripper finger in the end region, which, when viewed along the longitudinal axis of the gripper beam, is configured to be narrowed relative to the main body section of the gripper beam. This gripper finger of the gripper beam allows the gripping device to be positioned directly adjacent to an interference profile, thereby significantly reducing or even eliminating the previous dead zone of the gripper beam, which is formed by at least one interference profile within the machining space of the machining machine, to which the gripper beam cannot be positioned for handling, particularly gripping, the workpiece. This enables improved and flexible removal of the workpiece, particularly after machining, from the workpiece support.

[0006] Preferably, the main section of the gripper beam extends at least along a length along which the gripper beam is displaceably received on the support structure. Thus, at least one gripper finger is configured outside the spatial range of the support structure.

[0007] Furthermore, preferably, the main body section of the gripper beam extends from the end region to the gripper fingers with a constant width. Thus, due to this configuration of the gripper fingers, one end region of the gripper beam can have a reduced gripping surface width, while the opposite end of the gripper beam has an increased gripping width.

[0008] The gripper fingers are preferably arranged asymmetrically with respect to the longitudinal axis of the gripper beam. Specifically, the gripper fingers are configured so that their outer surfaces are flush with or aligned with the outer surfaces of the main body section of the gripper beam. This allows for the formation of an imaginary zero line, at which both the outer surfaces of the gripper fingers and the main body section of the gripper beam are located. This facilitates the control of the gripping device's movement between the loading and unloading stations and / or workpiece supports of the processing apparatus.

[0009] In a preferred embodiment, the gripper finger is configured such that, when viewed transversely to the longitudinal axis of the gripper beam, its width increases from its free end toward the main body section. This allows the length and / or width of the gripper finger to be easily adapted to the dead zone around the interference profile, thereby minimizing or eliminating the dead zone.

[0010] The gripper fingers preferably have a transition region that smoothly transitions into the main body section. This ensures that the reduced gripping force due to the gripper fingers operates only within the range required to avoid dead zones around the interference profile.

[0011] Preferably, the gripper finger is fixed to, and preferably detachably fixed to, the main body section of the gripper beam via an interface. This also makes the gripper finger replaceable.

[0012] The gripper finger can be configured such that its width increases in steps starting from its free end face. This allows gripping elements, especially vacuum suction elements, to be positioned in the angular region where the width of the gripper finger increases in steps, thus maximizing the gripping surface through the gripping element within the gripper finger.

[0013] Furthermore, the gripper can be configured to be lower than the main body section of the gripper beam. This allows even interference profiles, particularly very low areas between the machining head and the workpiece support, to be approached by the gripping device for removing at least one workpiece.

[0014] Advantageously, when viewed from the free end face of the gripper finger toward the main section of the gripper beam, the gripper finger is configured to have an increased height, particularly an increased height in stages. This allows for a specific fit to at least one interference profile within the processing area of ​​the processing device.

[0015] Preferably, the gripper beams are arranged on the load-bearing structure with at least one asymmetrically oriented gripper finger each, such that the gripper beams, gripper fingers, and main body sections are oriented in the same manner along the extended longitudinal sides.

[0016] The width of the gripper fingers on each gripper beam is preferably reduced to such an extent that, when two main sections of the gripper beam are adjacent to each other, the free distance between the two gripper fingers is equal to or less than the interference profile in the processing area of ​​the processing device. This allows two adjacent gripper beams to surround the interference profile in the most optimal way possible.

[0017] The object of the invention is also achieved by a mechanical device for handling at least one plate-shaped workpiece, particularly at least one plate-shaped workpiece made of sheet metal, the mechanical device comprising a processing machine, a loading station, an unloading station, and a linear shaft assembly, wherein a handling device can be moved into the loading station, unloading station, and / or processing machine by means of the linear shaft assembly, wherein the handling device includes a gripping device according to one of the embodiments described above. This allows the load-bearing structure of the handling device to be displaced relative to at least one interference profile within the processing machine to position the gripper of the gripper beam directly adjacent to the interference profile for unloading or removing at least one workpiece. This makes it possible to avoid or eliminate dead zones that may form around one or more interference profiles. Furthermore, the removal position can be flexibly controlled. Attached Figure Description

[0018] The invention, along with other advantageous embodiments and modifications thereof, will now be described and illustrated in more detail with the aid of examples shown in the accompanying drawings. Features derived from the specification and drawings can be used alone or in any combination according to the invention. In the drawings: Figure 1 A perspective view of the mechanical equipment is shown. Figure 2 It shows that according to Figure 1 A perspective view of the gripping device of the mechanical equipment. Figure 3 It shows that according to Figure 2 A perspective view of the gripping device from below. Figure 4 A schematic top view shows the interference profile in the machining area of ​​the machining machine and the gripping device aligned with it. Figure 5 The diagram shows two interference profiles in the machining area of ​​a machining machine and a perspective view of the gripping device aligned with them. Figure 6 A schematic top view shows the interference profile in the machining area of ​​the machining machine and the gripping device aligned therewith, and Figure 7 The diagram shows two interference profiles in the machining area of ​​a machining machine and a perspective view of the gripping device aligned with them. Detailed Implementation

[0019] Figure 1The diagram shows a mechanical device 10. This mechanical device 10 includes a processing machine 11 configured to process a plate-shaped workpiece 12. The plate-shaped workpiece 12 can be processed by slitting and / or by forming and / or embossing, etc. For this purpose, the processing machine 11 includes a processing device 13 by means of which processing can be performed. The processing device 13 may have a stamping head 14 and / or a laser processing head 15. The processing machine 11 may have a C-shaped frame or a closed, or O-shaped frame. The processing device 13 is arranged on the frame in a manner pointing towards a workpiece support 16. During workpiece processing, the workpiece 12 to be processed rests on the workpiece support 16 of the processing machine 11. The workpiece 12 is held during processing by a holding device 17, which preferably includes a clamping member 18. The holding device 17 is movable along an X-axis, which corresponds to a first axis of motion of the mechanical device 10. The plate-shaped workpiece 12 can be displaced relative to the machining device 13 in the X direction of the workpiece plane by means of a conventional actuator 19 indicated by the arrow. In the Y direction of the workpiece plane, the workpiece 12 can be displaced by an additional actuator 20. This Y direction corresponds to the second motion axis of the machine 10. In this way, the workpiece 12 can be displaced relative to the machining device 13 in the X and / or Y directions for machining on the workpiece support 16. The working area 21 of the machining machine 11 is defined by the displacement movement of the workpiece support 16 relative to the machining device 13 in the X and Y directions. To receive the plate-shaped workpiece 12 in a defined manner for machining in the machining machine 11, a zero line 29 is provided, extending along or formed by the holding device 17 on the longitudinal side of the workpiece support 16 facing the holding device 17. This provides a defined stop and a defined orientation for the workpiece 12 to be machined in the Y direction.

[0020] The machinery 10 also includes a loading station 22. The loading station 22 has a support surface 23 on which at least one plate-shaped workpiece 12, preferably multiple plate-shaped workpieces 12 stacked on top of each other, are provided. The support surface 23 can be configured as a pallet. The plate-shaped workpieces 12 can also be placed directly on the support surface 23 using a handling device 31. In the loading station 22, raw material, i.e., unprocessed plate-shaped workpieces 12, is preferably provided. Partially processed plate-shaped workpieces can also be provided for further processing. A separating device 30 can be provided in the corner area 27 of the loading station 22. This separating device 30 allows the uppermost plate-shaped workpiece 12 to be lifted relative to the plate-shaped workpieces below it, at least in one corner area. Simultaneously, it can be checked that only one plate-shaped workpiece 12 has been lifted. Subsequently, a gripping device 43 can be used in the loading station 22 to grip the plate-shaped workpiece 12 and remove it from the loading station 22. The sheet-splitting device 30 is known from DE 10 2022 105 125 A1, the entire contents of which are incorporated herein by reference.

[0021] The machinery 10 also includes an unloading station 35. The unloading station 35 includes a storage surface 36 on which at least one processed plate-shaped workpiece 37 and / or a scrap skeleton 38 generated during the processing of the plate-shaped workpiece 12 can be unloaded. The dimensions of the storage surface 36 can form a working area 39 of the unloading station 35. The storage surface 36 can be formed of pallets or the like, allowing them to be easily removed and set up for further transport.

[0022] The conveying device 31 may have a linear axis assembly 40 having at least one horizontally oriented linear axis 41. The gripping device 43 is displaceably guided along this linear axis 41 on a first motion axis (X-axis). The linear axis assembly 40 may also have a second linear axis (Y-axis) perpendicular to the first linear axis 41 and oriented in the same plane as the first linear axis. In this case, the gripping device 43 can be displaceably driven along the second motion axis (Y-axis). The horizontally oriented linear axis 41 extends such that the gripping device 43 can be displaced into the working area 24 of the loading station 22, the working area 21 of the processing machine 11, and the working area 39 of the unloading station 35. The linear axis assembly 40 may also include a lifting unit 44. Through this lifting unit 44, the gripping device 43 can be displaced along the Z-axis, which corresponds to a third motion axis. Alternatively, the lifting unit 44 may be configured to be associated with the gripping device 43.

[0023] Figure 2 A perspective view of an exemplary gripping device 43 is shown. Figure 3 It shows that according to Figure 2 A perspective bottom view of the gripping device 43. The gripping device 43 includes at least one gripper beam, preferably two gripper beams 46, 47, which are advantageously received on the support structure 45 in a displaceable manner relative to each other. In this arrangement, the gripper beams 46, 47 are displaceable on the support structure 45 at least along and against the second axis of motion (Y-axis).

[0024] The gripping device 43 includes a support structure 45. This support structure 45 can be arranged on the lifting unit 44. Two gripper beams 46, 47 are displaceably received on the lower surface of the support structure 45. This displaceable arrangement is configured such that the gripper beams 46, 47 are spaced apart from each other and displaced independently of the end stops of each end of the support structure 45, as indicated by arrow 48. The gripping device 43 and the support structure 45 are oriented relative to a horizontal linear axis 41 such that the displacement direction, as indicated by arrow 48, is oriented along and against the second motion axis (Y-axis).

[0025] The gripper beams 46 and 47 have a plurality of gripping elements 49 on their underside. Vacuum suction cups or suction-type gripping elements are preferably provided. These may differ in shape and / or size and may be arranged in any configuration relative to each other. A gripper finger 51 is provided in one end region of the gripper beams 46 and 47, the width of which is narrowed relative to the opposite end region of the gripper beams 46 and 47. This gripper finger 51 can be used to receive very small parts. The gripper finger 51 is oriented asymmetrically relative to the gripper beams 46 and 47. Advantageously, the gripper finger extends along the outer surface of the gripper beams 46 and 47. Regarding the asymmetrical arrangement of the gripper finger 51, the gripper beams 46 and 47 are arranged in the same orientation on the support structure 45.

[0026] The gripper beams 46 and 47 preferably include a main body section 50. This main body section 50 preferably extends beyond the width of the bearing structure 45 oriented towards the Y-axis. The main body sections 50 of the gripper beams 46 and 47 preferably have the same width along their length. Gripper fingers 51 are disposed at the end faces of the main body section 50. They can be detachably connected to the main body section 50 via an interface 52. This allows gripper fingers 51 of different geometries to be easily fixed to the gripper beams 46 and 47. This allows the gripping device 43 to be easily adapted to at least one interference profile 61, 63 of the processing device 13. Figures 4 to 7 ).

[0027] Figure 2 and Figure 3 An exemplary geometry of the gripper finger 51 is shown. The gripper finger 51 includes a first step 53 extending from the free end face 57 toward the body segment 50. The first step 53 has a constant width. For example, a second step 54 of the gripper finger 51 follows the first step 53. The second step 54 may be wider than, for example, the first step 53. The second step 54 may be constructed at the same height as the first step 53 or even higher. In this embodiment, a third step 55 of the gripper finger 51 is also shown. The third step 53 is wider than both the second step 54 and the first step 53. Adapting the height of the third step 55 is also possible. The interference profile 61 is formed, for example, by a processing device 13, particularly a stamping head 14.

[0028] Figure 4A schematic top view of the interference profile 61 is shown. Additionally, a plate-shaped workpiece 12 is shown, resting on a workpiece support 16 and positioned below and at least partially extending beyond the interference profile 61. The interference profile 61 is formed, for example, by the external geometry of the stamping head 14. In this embodiment, an elongated attachment 62 is provided on the stamping head 14, which also forms the interference profile 61. Furthermore, the top view shows the positions of two adjacent gripper beams 46, 47 of the gripping device 43. The gripper finger 51 of the gripper beam 47 is positioned, for example, with its first step 53 directly adjacent to the elongated attachment 62. The first step 53 of the gripper finger 51 is adapted, for example, to the elongated attachment 62, such that the gripper finger 51 can be positioned directly adjacent to the interference profile 61. Simultaneously, the end portion 57 of the gripper finger 51 is oriented directly toward the stamping head 14. Based on the specifications of plate-shaped workpieces 12 and 37, adjacent gripper beams 46 are positioned adjacent to interference profile 61 and the elongated attachment portion 62 that also forms the interference profile. If the plate-shaped workpieces 12 and 37 are constructed to be narrower, gripper beams 46 can be positioned against gripper beam 47, such that, for example, gripper fingers 51 of gripper beam 46 can also be positioned directly adjacent to the elongated attachment portion 62. It is thus evident that in the exemplary configuration where interference profile 61 has elongated attachment portion 62, the dead zone adjacent to interference profile 61 is eliminated due to the formation of gripper fingers 51 on gripper beams 46 and 47.

[0029] Figure 5 In addition to the interference profile 61 formed by the stamping head 14 and the elongated attachment portion 62, another interference profile 63 is shown. This additional interference profile 63 is formed, for example, by the laser processing head 15. To also take this interference profile 63 into account, the height of the gripper fingers 51 is adapted at various levels 53, 54, 55. Therefore, the gripper fingers 51 of the gripper beams 46, 47 can be adapted not only to a single interference profile 61, but also to multiple interference profiles 61, 63.

[0030] Figure 6 Further top views of the interference profile 61 and plate workpieces 12, 37 are shown. Exemplarily, the gripper fingers 51 of the gripper beams 46, 47 are positioned to the side of the interference profile 61. For example, the gripper finger 51 has a first step 53 and a second step 54, which transitions to the body section 50 of the gripper beams 46, 47 via an interface 52. Here, the gripper finger 51 is adapted such that the first step 53 of the gripper finger 51 can be positioned on the side of the interference profile 61 and adjacent to the interference profile, and the interface 52 to the body section 50 is formed such that the interface 52 abuts against an additional elongated attachment 62 at its end. Alternatively, the gripper finger 51 may also have three steps 53, 54, and 55, such that the interface 52 to the body section 50 is located on the third step 55.

[0031] Figure 7 An example is shown supplementing Figure 6 Interference profile 63 of interference profile 61. Due to the hierarchical height structure of the gripper finger 51, which is divided into first order 53, second order 54 and / or third order 55, another interference profile 63 can be considered. At the same time, the end face 57 of the gripper finger 51 can also be positioned to the side of interference profile 61.

[0032] Therefore, the gripping device 43 has the following advantages: the gripper fingers 51 arranged on the gripper beams 46 and 47 can flexibly occupy different unloading and / or removal positions for handling plate workpieces within the processing area or directly adjacent to the processing device 13.

Claims

1. A gripping device for a conveying apparatus (31) for a processing machine (11), particularly for conveying plate-shaped workpieces (12, 37), said gripping device having: Load-bearing structure (45) At least one gripper beam (46, 47) is arranged on the support structure (45) and configured to be displaceable along one axis of the support structure (45) and extend along another axis of the support structure (45) different from the displaceable axis. A gripping element (49) is arranged on the underside of the gripper beam (46, 47) for handling at least one workpiece (12, 37). Its features are, The at least one gripper beam (46, 47) has at least one gripper finger (51) in the end region, which is configured to be narrowed relative to the main body section (50) of the gripper beam (46, 47) when viewed along the longitudinal axis of the gripper beam (46, 47).

2. The gripping device according to claim 1, characterized in that, The main section (50) of the gripper beam (46, 47) extends at least along the length along which the gripper beam (46, 47) is displaceably received on the support structure (45).

3. The gripping device according to claim 1 or 2, characterized in that, The main body section (50) of the gripper beam (46, 47) extends from the free end region to the at least one gripper finger (51) and is preferably constructed to be of equal width along the main body section (50).

4. The gripping device according to any one of the preceding claims, characterized in that, The at least one gripper finger (51) is configured to be asymmetrical with respect to the longitudinal axis of the gripper beam (46, 47).

5. The gripping device according to any one of the preceding claims, characterized in that, The gripper (51) is configured such that its outer side is flush with or aligned with the outer side of the main body section (50) of the gripper beam (46, 47).

6. The gripping device according to any one of the preceding claims, characterized in that, The gripper finger (51) transitions in the interface (52) to the main body section (50) of the gripper beam (46, 47), and preferably, the gripper finger (51) is detachably fixed in the interface (52) to the main body section (50).

7. The gripping device according to any one of the preceding claims, characterized in that, When viewed transversely to the longitudinal axis of the gripper beams (46, 47), the gripper finger (51) is configured to increase in width in the direction toward the main body section (50) with its free end face (57) as the starting point.

8. The gripping device according to claim 7, characterized in that, The gripper finger (51) has at least one step (53, 54, 55) in the direction toward the main body section (50) with its free end face (57) as the starting point, in which the gripper finger (51) increases in width.

9. The gripping device according to any one of the preceding claims, characterized in that, The gripper finger (51) is configured to be at least at the free end face (57) lower in height than the main body section (50).

10. The gripping device according to claim 9, characterized in that, The gripper finger (51) is configured to increase in height in the direction toward the main body section (50) with the free end face (57) of the gripper finger (51) as the starting point, and is preferably configured to increase in height with each step (53, 54, 55).

11. The gripping device according to any one of the preceding claims, characterized in that, The gripper beams (46, 47) are arranged on the support structure (45) with at least one gripper finger (51) of their respective asymmetrical construction in the same orientation as each other, such that the lower outer surfaces of the gripper beams (46, 47) are oriented toward the same end face of the support structure (45), and the gripper finger (51) extends along the outer surface.

12. The gripping device according to any one of the preceding claims, characterized in that, The width of the gripper finger (51) is reduced to the extent that the free distance between the gripper fingers (51) of two adjacent main sections (50) of the gripper beam (46, 47) is equal to or less than the interference profile (61, 63).

13. A mechanical device for handling at least one plate-shaped workpiece (12, 37), said mechanical device comprising: - A processing machine (11) comprising at least one processing device (13) for processing the at least one plate workpiece (12) arranged on a workpiece support (16) and capable of producing at least one processed workpiece (37) and / or scrap skeleton (38). - Loading station (22), in which the at least one plate workpiece (12) to be processed is provided resting on a support surface (23), - Unloading station (35), in which at least one processed workpiece (37) and / or the waste skeleton (38) can be placed on storage surface (36), - A linear axis device (40) comprising at least one linear axis (41) oriented horizontally and forming a first motion axis for a gripping device (43) on which the gripping device is displaceably guided, wherein, The gripping device (43) includes at least one gripper beam (46, 47), which is displaceable on the bearing structure (45) of the gripping device (43) along a second motion axis perpendicular to the first motion axis and located in a horizontal plane. - Wherein, the processing machine (11), the loading station (22), and the unloading station (35) are aligned with the linear shaft device (40). Its features are, - The gripping device (43) is constructed according to any one of claims 1 to 12.

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