Method for automatic feeding and / or unloading of workpieces on a machine tool for the rotary machining of tubular or cylindrical workpieces, relative operating device and relative machining system

Abstract

The invention relates to a method for automatic feeding and / or removal of workpieces on a machine tool for the rotary machining of tubular or cylindrical workpieces, comprising the following steps: guiding at least one centering frame by means of an automatically controllable handling device, such that the handling device grasps a workpiece from a first workpiece storage by means of the at least one centering frame and receives it into the centering frame, the workpiece carried by the centering frame is moved by the handling device to a machining position, and / or the handling device moves a workpiece grasped by means of the at least one centering frame from the machining position to a second workpiece storage and releases the workpiece there by automatic release of the at least one centering frame, wherein during machining of the workpiece by the machine tool the workpiece is guided in the at least one centering frame by the handling device keeping the at least one centering frame in a guiding position corresponding to the machining position of the workpiece. The invention also relates to a related handling device and a related machining system.

Description

Technical Field

[0001] This invention relates to a method for automatically feeding and / or unloading workpieces on a machine tool for rotary machining of tubular or cylindrical workpieces, specifically comprising the following steps: providing a workpiece to be machined to a first workpiece storage location next to the machine tool for feeding; providing a second workpiece storage location for unloading workpieces already machined in the machine tool; providing an automatically operable operating device for automatically removing the workpiece from the first workpiece storage location and positioning the removed workpiece at a machining position in the machine tool, and / or for automatically removing the machined workpiece from the machining position in the machine tool and storing the machined workpiece at the second workpiece storage location. The invention also relates to a related operating device and a related machining system. Background Technology

[0002] WO2016075218A1 describes a pressure welding apparatus having a plasticizing device, an upsetting device, a retainer for the part to be welded, and a frame, wherein the pressure welding apparatus has a die head and an upsetting head that are movable relative to each other along the machine axis, wherein the retainer has a part receiving portion located between the die head and the upsetting head and is mounted on the frame in a floating manner, and a preferably automatic adjustment device for adapting to different part sizes and particular part lengths. Summary of the Invention

[0003] The purpose of this invention is to provide a method for automatically feeding and / or unloading workpieces on a machine tool for rotary machining of tubular or cylindrical workpieces, as well as related operating devices and machining systems, by which workpieces can be machined on the machine tool in a shorter cycle time.

[0004] The objective of this invention is achieved by a method for automatically feeding and / or unloading workpieces on a machine tool for rotary machining of tubular or cylindrical workpieces, the method comprising the following steps: - Provide a first workpiece storage area for feeding workpieces to be processed next to the machine tool. - Provide a second workpiece storage area for receiving workpieces that have been processed in the machine tool. - Provides an automatically operable operating device for automatically retrieving a workpiece from a first workpiece storage location and positioning the retrieved workpiece at a machining position in the machine tool, and / or for automatically retrieving a machined workpiece from the machining position in the machine tool and storing the machined workpiece at a second workpiece storage location. - At least one center rest is guided by an automatically operable operating device, such that the operating device picks up a workpiece from a first workpiece storage location and receives the workpiece into the center rest, the workpiece carried by the center rest is moved to a processing position by the operating device, and / or the operating device removes the workpiece picked up by the at least one center rest from the processing position to a second workpiece storage location, and there lowers the workpiece by automatically releasing the at least one center rest, wherein during the processing of the workpiece by the machine tool, the workpiece is guided in the at least one center rest in such a way that the operating device holds the at least one center rest in a guide position corresponding to the processing position of the workpiece.

[0005] In machine tools used for rotary machining of tubular or cylindrical workpieces, it is suitable and desirable to automatically load the workpiece into the machine tool and automatically remove it after machining. To date, this has been achieved using robotic arms with specialized grippers, which can automatically grasp the workpiece and place it at the machining position on the machine tool.

[0006] When machining a workpiece on a machine tool, it is conventional to use a center rest, which is a component of the machine tool and can be either rigidly fastened to the machine tool bed or linearly adjustable on a carriage on the machine tool bed parallel to the axis of rotation of the machine tool or the rotating workpiece to be machined. The center rest is used to guide and / or support a rotating or stationary workpiece during machining on the machine tool, for example, to prevent or at least reduce, to the desired extent, undesirable bending or vibration of the workpiece during machining on the machine tool.

[0007] A center rest, typically mounted on a machine tool bed, typically features a linearly adjustable tension rod and two pivotally adjustable clamping arms that move synchronously, ensuring that the center axes of all components are aligned across the entire possible diameter range of the center rest. Each tension rod and clamping arm has a support point through which a tubular or cylindrical workpiece placed within the center rest is guided. The corresponding support point may, for example, have rollers rotatably supported on the distal end of the clamping arm, which roll on the outer wall of the workpiece as it rotates within the center rest. Depending on the length of the workpiece, a single center rest may be required to support it, or, in the case of a long workpiece, multiple center rests may be needed, spaced apart from each other on the machine tool bed and aligned.

[0008] However, a known drawback of automated systems is that, for example, a robotic arm must remove a workpiece from its storage location and place it into one or more open center rests, then the robotic arm must release the workpiece and remove it from the machine tool's work area. Similarly, the same or another robotic arm must be configured to again grip a workpiece already machined in the machine tool, remove it from its machining position in the center rest, and place it in another workpiece storage location. The corresponding transfer of the workpiece between the robotic arm's gripper and the center rest requires strict coordination in its motion and consumes a certain amount of time. This time consumption for workpiece transfer increases the cycle time for machining a single workpiece, thus resulting in relatively low production output.

[0009] Therefore, in order to eliminate the above-mentioned disadvantages, the present invention proposes to perform the method as follows: at least one center rest is guided by an automatically operable operating device, such that the operating device picks up a workpiece from a first workpiece storage location and receives it into the center rest by means of the at least one center rest, the workpiece carried by the center rest is moved to a processing position by means of the operating device, and / or the operating device removes the workpiece picked up by means of the at least one center rest from the processing position, moves it to a second workpiece storage location, and places it there by automatically releasing the at least one center rest, wherein, during the processing of the workpiece by the machine tool, the workpiece is guided in the at least one center rest in such a way that the operating device holds the at least one center rest in a guided position corresponding to the processing position of the workpiece.

[0010] Unlike conventional systems where the center rest is fixed to the machine tool bed and supported thereon with at most linear movement, according to the present invention, at least one or more center rests are arranged on an operating device, allowing the operating device to move and position the center rest in space independently of the machine tool. Therefore, the at least one or more center rests also function as grippers. Thus, the operating device moves the at least one center rest closer to a first workpiece storage location, allowing the unprocessed workpiece to be gripped and held in place by means of the at least one center rest. Subsequently, movement of the operating device moves the at least one center rest and the workpiece out of the first workpiece storage location. The operating device then moves the at least one center rest and the workpiece together to a machining position in the machine tool, where the workpiece gripped by the at least one center rest and positioned by the operating device can be machined. Thus, the operating device positions the at least one center rest relative to the machine tool. Therefore, it is no longer necessary for the at least one center rest to be directly connected to the machine tool bed.

[0011] This also provides the following advantages: the workpiece, once grasped and removed from the first workpiece storage location, does not need to be transferred back to the stationary center rest. Therefore, the time otherwise required for the operating device to release and separately place the workpiece into the center rest can be saved. Furthermore, unlike in the prior art, the workpiece does not need to be placed into the center rest at the actual machining position; instead, the operation of placing the workpiece into the center rest moved by the operating device is already performed within the workpiece storage area, rather than at the machining position on the machine tool. Thus, for example, the first operating device can already receive the workpiece into its first center rest within the workpiece storage area, while the second center rest of the second operating device holds the workpiece currently being machined on the machine tool in the machining position.

[0012] Automatic guidance of at least one center rest, by means of an operating device, between the starting position of the first workpiece storage location and the machining position in the machine tool and / or between the machining position in the machine tool and the ending position of the second workpiece storage location, can be synchronized with the automatic opening and / or closing movements of at least one clamping arm of the center rest, which is adjustablely supported on the center rest base in an open and closed position.

[0013] The technical solution according to the invention is also applicable to situations where only a single center rest is moved by means of an operating device, such as in the case of short tubular or circular workpieces, or to situations where multiple center rests are moved together by means of an operating device, such as in the case of very long and / or heavy tubular or circular workpieces. The reference to multiple center rests hereinafter also implies that, in special circumstances, it may be necessary to provide only a single center rest.

[0014] Extra-long and / or heavy tubular or circular workpieces can be drill rods in specific applications, such as those used in drilling equipment for drilling into formations. These drill rods can have diameters ranging from, for example, 35 to 300 mm and axial lengths from 0.5 to 15 meters. Such drill rods have threaded parts or other fasteners attached to their axial end faces, for example, by friction welding. Therefore, the machine tools used can be pressure welding machines, friction welding machines, rotary friction welding machines, or magnetic arc welding machines. Larger drill rods, in particular, due to their weight (e.g., several hundred kilograms), cannot be manually operated and must be moved using automated control devices.

[0015] The movement of the adjustablely supported clamping arm of the center rest between its open and closed positions is synchronized with the movement of the operating device between its machining position and the starting position of the first workpiece storage location or the ending position of the second workpiece storage location. This does not mean that these two movements must start and end simultaneously, but rather that the movement of the adjustablely supported clamping arm of the center rest between its open and closed positions is coordinated in time with the movement of the operating device between its machining position and the starting position of the first workpiece storage location or the ending position of the second workpiece storage location. This ensures that when the operating device moves to the first or second workpiece storage location, the clamping arm of the center rest is opened or closed, and the clamping arm remains in its closed position as long as the workpiece is moving through the operating device and as long as the workpiece is currently being machined in its machining position on the machine tool. In this respect, the two movements are coordinated and synchronized.

[0016] In these methods, a C-shaped center rest can be used, and at least one C-shaped center rest is automatically guided by means of an operating device such that, while the workpiece is held by means of the C-shaped center rest, in the machining position in the machine tool, the C-shaped center rest is guided such that the radial opening of the C-shaped center rest points downward.

[0017] This C-shaped center rest can have a base, such as a linearly adjustable tensioning rod and a jaw-shaped clamping arm, or two jaw-shaped clamping arms, pivotally supported on the base between their respective open and closed positions. In the open position, the workpiece can be radially inserted into a receiving position on the C-shaped center rest; in the closed position, the clamping arms surround the inserted workpiece at an angle greater than 180 degrees. The tensioning rod and each clamping arm can have a support point on its distal arm end, such as supporting a roller rotatably supported on the distal arm end, which rolls on the outer wall of the tubular or cylindrical workpiece as it rotates within the center rest in the closed position. A third support point can be constructed on the base. This third support point can also be a rotatably supported roller that rolls on the outer wall of the tubular or cylindrical workpiece as it rotates within the center rest in the closed position of the clamping arm. The third support point can be arranged on the base between the first clamping arm and the second clamping arm. The third support point can be linearly and adjustably supported on the base, specifically, radially toward or away from the workpiece.

[0018] By orienting the C-shaped center rest so that its radial opening points downwards when holding or guiding the workpiece, particularly in the machining position on the machine tool, the workpiece can be held in the machining position on the machine tool from the bearing or gripping position above the workpiece by the C-shaped center rest. After the workpiece is released from the C-shaped center rest, the released C-shaped center rest can move away from the workpiece by a movement with an upward component. This is particularly suitable when the workpiece is in the machining position on the machine tool, allowing the released C-shaped center rest to move away from the machine tool in an upward direction. This eliminates the need for the C-shaped center rest to exit from below between the machine tool bed and the workpiece in the machining position.

[0019] Therefore, the center frame may have at least one clamping arm adjustablely supported on the center frame base between an open position and a closed position, wherein the closed position of the at least one adjustable clamping arm can be automatically monitored after the center frame, guided by the operating device, grips and receives the workpiece.

[0020] In particular, when the C-shaped center frame is guided by the operating device in the aforementioned overhead orientation, it is advantageous, for safety reasons, to automatically monitor the closed position of the clamping arm of the adjustable support. In the closed position, the clamping arm can also be prevented from accidentally releasing, for example, by automatically operated hydraulic valves and / or by automatically operated mechanical locking elements and / or automatically operated clamping devices to lock the clamping arm of the adjustable support in its closed position.

[0021] In the method, a first operating device may be provided, which uses at least one loading center frame to grab a workpiece from a first workpiece storage location, receive the workpiece into the loading center frame, and move it to a processing location; and a second operating device may be provided, separate from the first operating device, which uses at least one unloading center frame to move the workpiece from the processing location, move the workpiece to a second workpiece storage location, and place the workpiece there by automatically releasing the unloading center frame.

[0022] Therefore, for example, a first operating device can be arranged on the lateral side next to the machine tool between the first workpiece storage location and the machine tool, and the first operating device is configured to automatically take out the workpiece to be processed in the machine tool from the first workpiece storage location by means of at least one loading center frame, and load it into the machine tool or bring it to the processing position on the machine tool, so that the workpiece held by the at least one loading center frame can be processed by the machine tool.

[0023] A second operating device can be arranged on the opposite lateral side next to the machine tool, between the machine tool and the second workpiece storage location. The second operating device is configured to automatically remove the workpiece that has been processed in the machine tool from the processing position on the machine tool and move it to the second workpiece storage location by means of at least one unloading center frame, so that the workpiece held by the at least one unloading center frame can be placed in the second workpiece storage location.

[0024] While the second operating device automatically removes a machined workpiece from the machining position on the machine tool, the first operating device can simultaneously remove a new workpiece to be processed from the first workpiece storage location and move it to the vicinity of the machining position on the machine tool. At the machining position on the machine tool, the workpiece can be held temporarily or throughout the machining process by both the loading center frame of the first operating device and the unloading center frame of the second operating device.

[0025] The operating device may have at least one first center frame with an automatically adjustable support and at least one second center frame with an automatically adjustable support independent of the first center frame, wherein when the workpiece is stored in the first center frame during workpiece processing by the machine tool, while the first center frame is in a guide position corresponding to the workpiece's processing position, the second center frame moves to a storage position different from the guide position, in which the second center frame is positioned outside the working area of ​​the machine tool and the workpiece.

[0026] If the operating device has at least one set of multiple center rests, each adjustable via its own motion mechanism (e.g., an automatically controlled actuator), the motion mechanism can be designed and manipulated to move only a smaller number of center rests than all of them to their guide position, i.e., to the workpiece processing position, wherein at least one of the multiple center rests does not move together, i.e., does not grasp the workpiece, but remains in a storage position where the stored center rest does not grasp the workpiece currently being processed by the corresponding processing device. Therefore, different numbers of center rests can be selectively chosen to grasp the workpiece. This selection of the number of center rests for grasping the workpiece can be determined, for example, based on the length or weight of the workpiece to be grasped.

[0027] In the method, at least one arm that can automatically pivot about a pivot axis can be used as an operating device, the arm carrying at least one central frame on its distal end.

[0028] In the method, instead of a pivotable arm, at least one robotic arm or a loading gantry can be used as the operating device, with at least one central frame fastened to its tool flange.

[0029] In the method described above, a pressure welding machine, a friction welding machine, a rotary friction welding machine, or a magnetic arc welding machine can be used as the machine tool.

[0030] The object of the present invention is also achieved by an operating device having: -Base frame, - At least one arm that is automatically pivotally supported on the base frame about a pivot axis, the arm having a distal arm end. - At least one central frame disposed on the end of the arm, the central frame having a base and at least one clamping arm adjustablely supported on the base between an open position and a closed position. -At least one automatically controllable drive, It is designed to enable the arm to automatically pivot between a receiving position and a machining position, wherein, in the receiving position, the center rest is moved to a receiving location, in which the workpiece can be received by the center rest from a first workpiece storage location; in the machining position, the workpiece carried by the center rest is brought to a machining position in the machine tool or to an intermediate position located between the receiving position and the machining position, and / or It is designed to enable the arm to automatically pivot between a machining position and a delivery position, wherein, in the machining position, the workpiece carried by the center rest is located in the machining position of the machine tool; in the delivery position, the center rest moves to a subsequent intermediate position or delivery position, where the workpiece can be placed in a second workpiece storage location via the center rest.

[0031] The operating device may have one or more pivotable arms. Each pivotable arm may be pivotally supported on a base or one of multiple bases arranged in coordination with each other, about a pivot axis extending parallel to the axis of rotation of the machine tool or the rotating workpiece to be machined. Multiple arms may be automatically pivotally driven by a common drive of the operating device. Alternatively, each arm may be automatically pivotally driven by its own separate drive. For example, an electric drive or a hydraulic drive may be provided as the drive. Each drive may be automatically controlled by a common control unit.

[0032] The intermediate position between the receiving position and the machining position can serve as a waiting position for workpieces operated by the center rest. This waiting position can be as close as possible to the machining position. This allows for reduced cycle time because subsequent workpieces have already been moved from the receiving position to the intermediate position by the operating device, while the preceding workpiece is still being machined in the machining position. After machining the preceding workpiece and removing it from the machining position, only a short residual motion is required, which can be performed even faster, to move the subsequent workpiece from the intermediate position to the machining position. Pre-machining can also be performed on the subsequent workpiece in the intermediate position while the preceding workpiece is still being machined.

[0033] Similarly, this can also be performed in subsequent intermediate positions after the processed workpiece has left the processing position.

[0034] The operating device may have a coupling device that is constructed and designed to automatically guide at least one center rest between the starting position at the first workpiece storage location and the machining position in the machine tool, in sync with the automatic opening and / or closing movements of at least one clamping arm of the center rest that is adjustablely supported on the respective center rest base between an open and a closed position.

[0035] In a similar manner, the operating device or another operating device may have another coupling device, which is constructed and designed to automatically guide at least one center rest between the machining position in the machine tool and the endpoint position of the second workpiece storage location, in sync with the automatic opening and / or closing movements of at least one clamping arm of the center rest that is adjustablely supported on the center rest base between an open and closed position.

[0036] The coupling device may have, for example, a mechanical coupling transmission that couples the movement of the center frame with the movement of the clamping arm of the adjustable support of the center frame.

[0037] However, in one particular implementation, the coupling device can be achieved through control technology coupling, in which the control signals of the actuators for moving the center frame in space are synchronized with the control signals of the actuators for moving the clamping arms of the adjustable supports of each center frame. This has the advantage that the corresponding synchronization can be individually set, programmed, and / or changed as needed.

[0038] In the operating device, at least one center rest can be configured as a C-shaped center rest, and the C-shaped center rest can be arranged on the end of the pivotable arm of the operating device such that when the workpiece is held by means of the C-shaped center rest in the machining position in the machine tool, the C-shaped center rest is oriented such that the radial opening of the C-shaped center rest points downward.

[0039] This C-shaped center rest can have a base, such as a jaw-shaped clamping arm or two jaw-shaped clamping arms pivotally supported on the base between their respective open and closed positions. In the open position, the workpiece can be radially inserted into a receiving position on the C-shaped center rest; in the closed position, the clamping arms surround the inserted workpiece at an angle greater than 180 degrees. Each clamping arm can have a support point on its distal end, which can be, for example, a roller rotatably supported on the distal end of the clamping arm, rolling on the outer wall of the workpiece as the tubular or cylindrical workpiece rotates within the center rest in the closed position. A third support point can be constructed on the base, which can also be a rotatably supported roller that rolls on the outer wall of the workpiece as the tubular or cylindrical workpiece rotates within the center rest in the closed position. The third support point can be arranged on the base between the first and second clamping arms. The third support point can be linearly and adjustablely supported on the base, specifically, radially toward or away from the workpiece.

[0040] The corresponding center frame may have at least one clamping arm adjustablely supported on the center frame base between an open position and a closed position, and the corresponding center frame may have an automatically operated hydraulic valve, an automatically operated mechanical locking element and / or an automatically operated clamping device for locking the adjustablely supported clamping arm in its closed position.

[0041] A first operating device can be provided, which uses at least one loading center frame to grab a workpiece from a first workpiece storage location, receive the workpiece into the loading center frame, and move it to the processing location; and a second operating device can be provided, which is separate from the first operating device, and uses at least one unloading center frame to move the workpiece from the processing location, move the workpiece to a second workpiece storage location, and place the workpiece there by automatically releasing the unloading center frame.

[0042] Therefore, for example, a first operating device can be arranged on the lateral side next to the machine tool between the first workpiece storage area and the machine tool, and the first operating device is configured to automatically take out the workpiece to be processed in the machine tool from the first workpiece storage area by means of at least one loading center frame, and load it into the machine tool or bring it to the processing position on the machine tool, so that the workpiece held by the at least one loading center frame can be processed by the machine tool.

[0043] A second operating device can be arranged on the opposite lateral side next to the machine tool, between the machine tool and the second workpiece storage location. The second operating device is configured to automatically remove the workpiece that has been processed in the machine tool from the processing position on the machine tool and move it to the second workpiece storage location by means of at least one unloading center frame, so that the workpiece held by the at least one unloading center frame can be placed in the second workpiece storage location.

[0044] While the second operating device automatically removes a machined workpiece from the machining position on the machine tool, the first operating device can simultaneously remove a new workpiece to be machined from the first workpiece storage area and move it to the vicinity of the machining position on the machine tool. At the machining position on the machine tool, the workpiece can be held temporarily or throughout the machining process by both the loading center frame of the first operating device and the unloading center frame of the second operating device.

[0045] The object of the present invention is also achieved by a processing system having: - The first workpiece storage area is constructed and designed for feeding and / or separating tubular or cylindrical workpieces to be processed. - A second workpiece storage area, constructed and designed for unloading processed tubular or cylindrical workpieces. Machine tools, especially pressure welding machines, friction welding machines, rotary friction welding machines, or magnetic arc welding machines, are used to process tubular or cylindrical workpieces, and - At least one operating device according to one of the embodiments, which is automatically operated by means of a control device, wherein the control device is constructed and designed to perform the method according to one of the embodiments.

[0046] The first workpiece storage location may have a storage area in which multiple workpieces can be prepared in a warehouse-like manner. The workpiece storage location may also have a separation device designed to automatically remove a single workpiece from the storage area or storage room of the workpiece storage location and pre-position it in a delivery area of ​​the workpiece storage location that is separate from the storage area. Thus, the operating device can automatically remove the separated workpiece that has been pre-positioned in the delivery area by means of a movable central frame. Attached Figure Description

[0047] Specific embodiments of the invention will now be described in detail with reference to the accompanying drawings. Individual features or combinations of features of these exemplary embodiments may be considered individually or in combination as necessary to represent advantageous features of alternative variations of the invention, regardless of where they are specifically mentioned herein.

[0048] Figure 1 A flowchart of the steps in the basic method according to the present invention is shown.

[0049] Figure 2 A perspective view of an exemplary C-shaped center frame is shown.

[0050] Figure 3A perspective view of an exemplary machining system having operating devices according to the invention is shown, wherein a first operating device grips and receives a workpiece from a first workpiece storage location by means of a plurality of loading center frames, and wherein a second operating device holds the prior workpiece in a machining position by means of a plurality of unloading center frames.

[0051] Figure 4 It shows according to Figure 3 A perspective view of an exemplary machining system having operating devices according to the invention, wherein a first operating device holds a workpiece in a machining position by means of a plurality of loading center frames, and wherein a second operating device pivots the workpiece out of the machining position by means of a plurality of unloading center frames.

[0052] Figure 5 It shows according to Figure 3 A perspective view of an exemplary machining system having operating devices according to the invention, wherein a first operating device holds a workpiece in a machining position by means of a plurality of loading center frames, and wherein a second operating device moves a prior workpiece to a second workpiece storage location by means of a plurality of unloading center frames and places it there by automatically releasing the unloading center frames.

[0053] Figure 6 It shows according to Figure 3 A perspective view of an exemplary machining system with operating devices according to the invention, wherein a first operating device and a second operating device hold a workpiece in a machining position or transfer a workpiece from a loading center frame to an unloading center frame. Detailed Implementation

[0054] exist Figure 1 The schematic flowchart illustrates the steps of a basic method according to the present invention for automatically feeding and / or unloading workpiece 1 on a machine tool 2 for rotary machining of tubular or cylindrical workpiece 1.

[0055] In the first step S1 of the method, a first workpiece storage location 3.1 for feeding the workpiece 1 to be processed to the machine tool 2 is provided.

[0056] In the second step S2 of the method, a second workpiece storage area 3.2 is provided for receiving the workpiece 1 that has been processed in the machine tool 2.

[0057] In the third step S3 of the method, an automatically operable operating device 4 is provided for automatically taking out the workpiece 1 from the first workpiece storage location 3.1 and positioning the taken-out workpiece 1 to the processing position in the machine tool 2, and / or for automatically taking out the processed workpiece 1 from the processing position in the machine tool 2 and storing the processed workpiece 1 in the second workpiece storage location 3.2.

[0058] In the fourth step S4 of the method, at least one central frame 5 is guided by an automatically controllable operating device 4. Figure 2 The operating device 4 grasps the workpiece 1 from the first workpiece storage location 3.1 and receives it into the center frame 5 via at least one center frame 5. The workpiece 1 carried by the center frame 5 is moved to the processing position by the operating device 4, and / or the operating device 4 removes the workpiece 1 grasped by at least one center frame 5 from the processing position to the second workpiece storage location 3.2, and puts it down there by automatically releasing the at least one center frame 5. During the processing of the workpiece 1 by the machine tool 2, the workpiece 1 is guided in the at least one center frame 5 as follows: the operating device 4 holds the at least one center frame 5 in a guide position corresponding to the processing position of the workpiece 1.

[0059] Figure 2 An exemplary center frame 5 with a C-shaped center frame 5a structure is shown.

[0060] exist Figure 2 The C-shaped center frame 5a shown has a base 6 and two claw-shaped clamping arms 7.1 and 7.2 in their respective open positions (e.g., Figure 2 The workpiece 1 (as shown) is pivotally supported on the base about pivot axes A1 and A2 between the open and closed positions. In the open position, the workpiece 1 can be radially positioned into a receiving position on the C-shaped center frame 5a; in the closed position, clamping arms 7.1 and 7.2 surround the positioned workpiece 1 at an angle greater than 180 degrees. Each clamping arm 7.1 and 7.2 has a support point 8 on its distal arm end, which may be, for example, a roller 8a rotatably supported on the distal arm end of the respective clamping arm 7.1 and 7.2, rolling on the outer wall of the workpiece 1 as it rotates within the center frame 5 in the closed position. In this embodiment, a third support point 9 is constructed on the base 6. The third support point 9 also has a rotatably supported roller 9a that rolls on the outer wall of the tubular or cylindrical workpiece 1 as it rotates within the center frame 5 in the closed position of the clamping arms 7.1 and 7.2. The third support point 9 can be arranged on the base 6 between the first clamping arm 7.1 and the second clamping arm 7.2. The third support point 9 is linearly adjustable on the base 6, specifically towards or away from the workpiece 1 in the radial direction R. The center frame 5 has a drive 10 designed to automatically control and optimally synchronize the pivoting of the clamping arms 7.1 and 7.2 and linearly adjust the support point 9.

[0061] Figures 3 to 6 An exemplary embodiment of the processing system 11 is shown, which can be used to perform the method.

[0062] The processing system 11 includes a first workpiece storage area 3.1, which is constructed and designed for feeding and / or separating tubular or cylindrical workpieces 1 to be processed.

[0063] The processing system 11 includes a second workpiece storage area 3.2, which is constructed and designed for discharging processed tubular or cylindrical workpieces 1.

[0064] In addition, the processing system 11 also includes a machine tool 2, which in this embodiment is particularly a pressure welding machine, friction welding machine, rotary friction welding machine or magnetic arc welding machine for processing tubular or cylindrical workpieces 1.

[0065] Here, the control device 12 is constructed and designed to perform the described method and accordingly automatically control the two operating devices 4.

[0066] The first operating device 4.1 is configured to grab workpiece 1 from the first workpiece storage location 3.1 by means of the loading center frame 5.1, receive the workpiece into the loading center frame 5.1 and move it to the processing position.

[0067] The second operating device 4.2, separate from the first operating device 4.1, is configured to move the workpiece 1 from the processing position by means of the unloading center frame 5.2, move the workpiece to the second workpiece storage location 3.2, and put the workpiece down there by automatically releasing the unloading center frame 5.2.

[0068] exist Figure 3 In the illustrated case, the loading center frame 5.1 of the first operating device 4.1 is in a position where the workpiece 1 to be processed has been removed from the first workpiece storage location 3.1, but has not yet been pivoted to the processing position on the machine tool 2. Figure 3 In the case shown, the other workpiece 1 is located in the machining position in the machine tool 2, and is held in the machining position by the unloading center frame 5.2 of the second operating device 4.2.

[0069] exist Figure 4 In the scenario shown, the loading center frame 5.1 of the first operating device 4.1 is in a position where the workpiece 1 to be processed has been pivoted to the processing position on the machine tool 2. Prior to this, as... Figure 4 As shown, the unloading center frame 5.2 of the second operating device 4.2 must have been pivoted out of the machining position and moved the machined workpiece 1 out of the machining position of the machine tool 2, thereby freeing up the machining position so as to position the workpiece 1 operated by the loading center frame 5.1 of the first operating device 4.1.

[0070] exist Figure 5In another scenario, the loading center frame 5.1 of the first operating device 4.1 is in a machining position, in which the workpiece 1 operated by the loading center frame 5.1 of the first operating device 4.1 is located in the machining position. During the machining of the workpiece 1 by the machine tool 2, the loading center frame 5.1 of the first operating device 4.1 remains in this machining position. At this time, as... Figure 5 As shown, the workpiece 1, which has been processed in the previous work steps, is being placed in the second workpiece storage area 3.2 via the unloading center frame 5.2 of the second operating device 4.2.

[0071] exist Figure 6 In another scenario shown, the loading center frame 5.1 of the first operating device 4.1 is in a machining position, the workpiece 1 operated by the loading center frame 5.1 of the first operating device 4.1 is in the machining position, and the unloading center frame 5.2 of the second operating device 4.2 has pivoted back from the second workpiece storage location 3.2 to the machining position, and the unloading center frame 5.2 of the second operating device 4.2 has gripped the workpiece 1 in the machining position, such that the workpiece 1 is held by both the loading center frame 5.1 and the unloading center frame 5.2. Now, in a final scenario not further shown, the loading center frame 5.1 can be released from the workpiece 1 and moved back according to... Figure 3 The initial pose is determined so that a new workpiece 1 can be retrieved from the first workpiece storage location 3.1, while the previous workpiece, after being processed in the machine tool 2, is transferred by the unloading center frame 5.2 of the second operating device 4.2 to the second workpiece storage location 3.2, and there, according to... Figure 5 The land shown was laid down.

[0072] Therefore, in Figures 3 to 6 The operating device 4 shown may have at least one base frame 13 and arms 14 that are automatically pivotally supported on the base frame around a common pivot axis W1, W2, with at least one central frame 5 fastened or supported at the distal end of each of these arms.

[0073] At least one automatically controllable actuator 15 is designed to automatically pivot the arm 14 between a receiving position and a machining position, wherein, in the receiving position, the center frame 5 moves to the receiving position, where the workpiece 1 can be received by the center frame 5 from the first workpiece storage location 3.1; and in the machining position, the workpiece 1 carried by the center frame 5 is brought to the machining position or intermediate position of the machine tool 2.

[0074] Alternatively or supplementally, the same drive 15 or another automatically controllable drive 15 (not shown) may be designed to automatically pivot the arm 14 between a machining position and a delivery position, wherein, in the machining position, the workpiece 1 carried by the center frame 5 is located in the machining position in the machine tool 2, and in the delivery position, the center frame 5 moves to the delivery position, where the workpiece 1 can be placed in the second workpiece storage location 3.2 via the center frame 5.

[0075] Machine tool 2 may be a pressure welding machine, friction welding machine, rotary friction welding machine or magnetic arc welding machine.

Claims

1. A method for automatically feeding and / or unloading workpieces (1) on a machine tool (2) for rotary machining of tubular or cylindrical workpieces (1), comprising the following steps: - Provide the workpiece (1) to be processed to the first workpiece storage area (3.1) for feeding next to the machine tool (1). - Provide a second workpiece storage area (3.2) for receiving workpieces (1) that have been processed on the machine tool (2). - Provide an automatically operable operating device (4) for automatically taking out a workpiece (1) from the first workpiece storage location (3.1) and positioning the taken-out workpiece (1) to the processing position in the machine tool (2), and / or for automatically taking out a processed workpiece (1) from the processing position of the machine tool (2) and storing the processed workpiece (1) in the second workpiece storage location (3.2). - The operating device (4) guides at least one center frame (5) such that the operating device (4) picks up a workpiece (1) from the first workpiece storage location (3.1) and receives it into the center frame (5) by means of the at least one center frame (5), and the workpiece (1) carried by the center frame (5) is moved to the processing position by means of the operating device (4); and / or the operating device (4) removes the workpiece (1) picked up by means of the at least one center frame (5) from the processing position, moves it to the second workpiece storage location (3.2), and puts the workpiece down there by automatically releasing the at least one center frame (5), wherein, during the processing of the workpiece (1) by means of the machine tool (2), the workpiece (1) is guided in the at least one center frame (5) in such a way that the operating device (4) holds the at least one center frame (5) in a guiding position corresponding to the processing position of the workpiece (1).

2. The method according to claim 1, characterized in that, The operating device (4) automatically guides the automatic opening and / or closing movements of at least one center frame (5) and at least one clamping arm (7.1, 7.2) of the center frame (5) which is adjustable between an open position and a closed position on the base (6) of the center frame (5) to be performed synchronously.

3. The method according to claim 1 or 2, characterized in that, Using a C-shaped center rest (5a) as the center rest (5), and by means of the operating device (4), at least one C-shaped center rest (5a) is automatically guided as follows: while holding the workpiece (1) by means of the C-shaped center rest (5a), in the machining position of the machine tool (2), the C-shaped center rest (5a) is oriented such that the radial opening of the C-shaped center rest (5a) points downward.

4. The method according to any one of claims 1 to 3, characterized in that, The center frame (5) has at least one clamping arm (7.1, 7.2) adjustablely supported on the base (6) of the center frame (5) between an open position and a closed position, and automatically monitors the closed position of the at least one adjustable clamping arm (7.1, 7.2) after the center frame (5) guided by the operating device (4) grips and receives the workpiece (1).

5. The method according to any one of claims 1 to 4, characterized in that, A first operating device (4.1) is provided, which uses at least one loading center frame (5.1) to grab the workpiece (1) from the first workpiece storage location (3.1), the grabbed workpiece is received in the loading center frame (5.1) and moved to the processing position; and a second operating device (4.2) separate from the first operating device (4.1) is provided, which uses at least one unloading center frame (5.2) to remove the workpiece (1) from the processing position and move it to the second workpiece storage location (3.2), where the workpiece is put down by automatically releasing the unloading center frame (5.2).

6. The method according to any one of claims 1 to 5, characterized in that, The operating device (4) has at least one automatically adjustable support first center frame (5) and at least one automatically adjustable support second center frame (5) independent of the first center frame (5), wherein when the workpiece (1) is stored in the first center frame (5) during the processing of the workpiece (1) by the machine tool (2), while the first center frame (5) is in a guide position corresponding to the processing position of the workpiece (1), the second center frame (5) moves to a storage position different from the guide position, and the second center frame (5) is positioned outside the working area of ​​the machine tool (2) and the workpiece (1) in the storage position.

7. The method according to any one of claims 1 to 6, characterized in that, At least one arm (14) that can automatically pivot around a pivot axis (W1, W2) is used as the operating device (4), and the at least one central frame (5) is carried on its distal arm end.

8. The method according to any one of claims 1 to 6, characterized in that, Using at least one robotic arm or loading gantry as the operating device (4), the at least one center frame (5) is fastened to its tool flange.

9. The method according to any one of claims 1 to 8, characterized in that, Use pressure welding machines, friction welding machines, rotary friction welding machines or magnetic arc welding machines as machine tools (2).

10. An operating device (4) comprising: -Base frame (13). - At least one arm (14) that is automatically pivotally supported on the base frame (13) about a pivot axis (W1, W2), the arm having a distal end. - At least one central frame (5) arranged on the arm end of the arm (14), the central frame having a base (6) and at least one clamping arm (7.1, 7.2) adjustablely supported on the base (6) between an open position and a closed position. - At least one automatically controllable drive (15). - It is designed to allow the arm (14) to automatically pivot between a receiving pose and a processing pose, wherein, In the receiving posture, the center rest (5) moves to the receiving position, in which the workpiece (1) can be received by the center rest (5) from the first workpiece storage location (3.1); wherein, in the machining posture, the workpiece (1) carried by the center rest (5) is brought to the machining position in the machine tool (2) or to an intermediate position located between the receiving position and the machining position, and / or - It is designed to allow the arm (14) to pivot automatically between a machining position and a delivery position, wherein in the machining position, the workpiece (1) carried by the center frame (5) is located in the machining position in the machine tool (2); wherein in the delivery position, the center frame (5) moves to a subsequent intermediate position or delivery position, in which the workpiece (1) can be placed in a second workpiece storage location (3.2) by means of the center frame (5).

11. The operating device (4) according to claim 10, characterized in that, The operating device (4) has a coupling device that is constructed and designed to automatically guide the at least one center frame (5) between the starting position at the first workpiece storage location (3.1) and the machining position of the machine tool (2) and / or between the machining position of the machine tool (2) and the ending position of the second workpiece storage location (3.2) in sync with the automatic opening and / or closing movements of at least one clamping arm (7.1, 7.2) of the center frame (5) which is adjustable between an open position and a closed position.

12. The operating device (4) according to claim 10 or 11, characterized in that, The at least one center frame (5) is configured as a C-shaped center frame (5a), and the C-shaped center frame (5a) is arranged on the arm end of the pivotable arm (14) of the operating device (5) such that when the workpiece (1) is held in the machining position of the machine tool (2) by means of the C-shaped center frame (5a), the C-shaped center frame (5a) is oriented such that the radial opening of the C-shaped center frame (5a) points downward.

13. The operating device (4) according to any one of claims 10 to 12, characterized in that, The center frame (5) has at least one clamping arm (7.1, 7.2) adjustablely supported on the base (6) of the center frame (5) between an open position and a closed position, and the center frame (5) has an automatically operated hydraulic valve, an automatically operated mechanical locking element and / or an automatically operated clamping device for locking the adjustablely supported clamping arm (7.1, 7.2) in its closed position.

14. The operating device (4) according to any one of claims 10 to 13, characterized in that, A first operating device (4.1) is provided, which uses at least one loading center frame (5.1) to grab the workpiece (1) from the first workpiece storage location (3.1), the grabbed workpiece is received in the loading center frame (5.1) and moved to the processing position; and a second operating device (4.2) separate from the first operating device (4.1) is provided, which uses at least one unloading center frame (5.2) to remove the workpiece (1) from the processing position and move it to the second workpiece storage location (3.2), where the workpiece is put down by automatically releasing the unloading center frame (5.2).

15. A processing system (11) comprising: - The first workpiece storage area (3.1) is constructed and designed for feeding and / or separating tubular or cylindrical workpieces to be processed (1). - The second workpiece storage area (3.2) is constructed and designed for discharging and storing processed tubular or cylindrical workpieces (1). - Machine tools (2), particularly pressure welding machines, friction welding machines, rotary friction welding machines or magnetic arc welding machines, for processing the tubular or cylindrical workpieces (1), and - At least one operating device (4) according to any one of claims 10 to 14, which is automatically operated by means of a control device (12), wherein the control device (12) is constructed and designed to perform the method according to any one of claims 1 to 9.

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