TRANSPORT DEVICE, METHOD AND COMPUTER PROGRAM PRODUCT FOR LOADING AND UNLOADING AT LEAST ONE MATERIAL PROCESSING MACHINE

Description

[0001] The invention relates to a transport device for loading and unloading at least one material processing machine according to the preamble of claim 1. Furthermore, the invention relates to a method for loading and unloading a material processing machine using such a transport device according to claim 13 and to a computer program product for automatically executing a process sequence using such a method and such a transport device according to claim 15.

[0002] In industrial manufacturing, devices and methods for loading and unloading material processing machines, such as laser cutting machines or fluid jet cutting machines, such as waterjet cutting machines, are used in a variety of ways. To increase the productivity of material processing machines, the transport devices and methods for loading and unloading workpieces from the material processing machines are carried out fully automatically. In large systems, the unprocessed workpieces are transported from a workpiece storage system to the material processing machine, processed, and then either stored in another workpiece storage system or stacked next to the material processing machine. The already processed workpiece parts are usually exposed to high mechanical stress, and if the already processed workpiece parts are damaged, the amount of workpiece scrap increases massively.

[0003] CN101623796A shows a transport device for the automatic loading and unloading of a laser cutting machine with a pelletizing robot for sorting workpieces and an unloading robot, both of which are movably arranged on a guide rail.

[0004] The disadvantage of this transport device is that the two movable robots cannot intersect in their direction of movement along the guide rail, and machining on the workpiece is not possible with these robots. Therefore, the known transport device is unsuitable for complex process steps with high throughput.

[0005] Friedrich Remmert GmbH offers a transport device under the name «Laser FLEX» for loading and unloading a material processing machine with several transport devices, which are arranged in two transport device levels and can be moved along a guide device.

[0006] The disadvantage of this transport device is that only simple loading and unloading steps of uniformly sized workpieces can be carried out with this transport device, which results in a long downtime in the process and greatly reduces the productivity of the entire system.

[0007] WO2008 / 139409A1 discloses a transport device for loading and unloading cutting machines, comprising a pair of rails as guide device carriers for guiding movable robot units, which have movable tool devices with a magnetic pick-up head and a suction device. This transport device further comprises a stationary tool changing station for storing various suction tools, which are arranged on the pick-up head of the mechanical transport unit as needed.

[0008] The disadvantage of the known transport device is that it has only one movement plane for horizontal movement of the robot units, which only allows simple loading and unloading with low productivity and low workpiece transport capacity.

[0009] DE2439032 A1 relates to a device for stacking and unstacking plate-shaped goods, comprising a manipulating carriage that is movable on guide rails with a chassis and has a raising and lowering pick-up beam with suction lifters. WO 2009 / 051468 A1 describes a linear high-speed pick-up and placement device for increasing the transfer speed of electronic semiconductor components with the possibility of automatic inspection or testing. This device comprises two or more linear placement assemblies, each having two or more independently positionable placement nozzles. These assemblies are aligned so that the four or more nozzles can all pick up and place at common locations. The four or more nozzles are operated such that they can move past each other on their return stroke, with the exception that nozzles sharing a rail cannot move past each other.

[0010] The object of the present invention is to provide a transport device for loading and unloading at least one material processing machine with at least one workpiece, which does not have the aforementioned disadvantages and has a high transport capacity, particularly during complex loading and unloading steps, as well as enabling workpiece-friendly processing steps on the workpiece or on a workpiece part removed from a workpiece. Furthermore, the object of the invention is to enable a method for loading and unloading at least one workpiece or at least one workpiece part removed from a workpiece using a transport device and to provide a computer program product for such a method.

[0011] The problem is solved by the features of the independent claims. Advantageous further developments are set forth in the figures and in the dependent patent claims.

[0012] According to the invention, this is achieved with a transport device according to claim 1.

[0013] Such a transport device can significantly improve production and transport capacity in an industrial plant with at least one material processing machine, as multiple process steps can be performed simultaneously on the various transport device levels. The integration of additional process steps eliminates downstream (usually manual) work steps, thereby improving the overall process flow. The multifunctional tool device enables rapid and gentle loading and unloading of workpieces or previously machined workpiece parts on at least one material processing machine, significantly reducing workpiece waste.

[0014] In an alternative embodiment of the transport device, the at least one multifunctional tool device is designed for machining the workpiece or with at least one workpiece part removed from a workpiece, thus enabling workpiece machining directly in and with the transport device. This allows process steps, such as the removal of cutting residues from the workpiece, to be performed in the transport device. This enables the machined workpieces or workpiece parts to be stacked in a way that protects the workpiece and prevents damage to the already machined workpiece.

[0015] In a further alternative, the at least one multifunctional tool device is designed for transporting and machining the workpiece or the at least one workpiece part removed from a workpiece. Thus, complex process steps can be performed in the transport device without the workpiece or workpiece part having to leave the transport device or be transported out of it. This leads to a massive productivity improvement throughout the entire process flow in an industrial plant with at least one material processing machine.

[0016] In this context, the term "workpiece" refers not only to a large, unprocessed workpiece, but also to a previously processed workpiece, such as a semi-finished product or a scrap skeleton. Various materials can be used for the workpiece itself, as well as for a workpiece part removed from a workpiece, such as a raw sheet, a glass plate, or a scrap sheet.

[0017] In this context, the term "multifunctional tool device" refers to a tool device that is designed to carry out multiple process steps or process steps with varying degrees of complexity and advantageously enables gentle handling of the workpiece or a workpiece part removed from a workpiece. A process step in this context is understood to mean any operation performed on the workpiece. A process step includes, but is not limited to, transport, positioning, cleaning, marking, printing, sorting, mechanical processing such as thread cutting, milling, countersinking, attaching threaded inserts, attaching welding studs, as well as laser processing, fluid jet processing, coating, etc. of the workpiece in the transport device.

[0018] In this context, the term "process step" refers to any operation that is performed without direct reference to a workpiece, such as a tool change on a tool fixture. Process work steps and process steps collectively define a process flow.

[0019] A transport device plane is a plane in the transport device spanned by two straight lines, which are in particular orthogonal to one another. The first of these straight lines is arranged relative to the longitudinal extent of the at least first transport device in the transport device, and the second of these straight lines is aligned along the direction of movement of the at least first transport device in the transport device. The first transport device plane is arranged relative to another transport device plane, advantageously parallel thereto. In a variant, the transport device planes can also extend, at least partially, at an angle relative to one another.

[0020] Preferably, the at least one multifunctional tool device is arranged on one of the transport devices so that it can move linearly, thereby increasing the transport capacity of the transport device with transport devices at different transport device levels. A linearly movable tool device arranged on the transport device can, in addition to a transport work step, also perform further process steps on the workpiece or further process steps in the transport device. At the same time, one of the transport devices performs a process step on another workpiece at a further transport device level, with the process sequence taking place in parallel and collision-free.The linearly movable tool device, which is movable from and in particular completely from one transport device level and into at least one further transport device level, enables particularly flexible use and a structurally simple design of the multifunctional tool device. In this context, linearly movable means a movement along a straight line that is aligned relative to the transport device. For example (but not restrictively), the tool device is linearly movable along a straight line that is aligned perpendicular to the transport device. This allows for particularly simple movement of the tool device on the transport device, for example with an extendable and retractable arm, advantageously a linearly extendable and retractable telescopic arm.

[0021] In an alternative embodiment, the multifunctional tool device is pivotably mounted on the at least one transport device, thus resulting in a particularly space-saving embodiment of the transport device, since the tool device can be pivoted completely out of a transport device plane. This is particularly advantageous when the transport device is used in production halls with limited space, in particular with regard to the internal height of the production hall. A low overall height of the transport device is likewise advantageous if the transport device is to be loadable as a whole into a transport container, for example in order to enable particularly rapid and cost-effective transport of the transport device to an industrial plant.

[0022] Alternatively, the tool device is arranged on the at least one transport device so that it can pivot and move in a straight line. A tool device that can pivot and move in a straight line is particularly flexible in use, since a collision-free process step can also be carried out along a straight line, which is advantageously arranged relative to the perpendicular of the tool device, in one transport device plane or the at least one further transport device plane within the transport device. The pivoting movement and the straight-line movement of the tool device can be carried out either simultaneously or sequentially.

[0023] Alternatively, the tool device is rotatably arranged on the at least one transport device, whereby a simple and compact realization of a movable tool device is implemented and further collision-free process steps can be carried out along a further straight line, which is advantageously arranged relative to the perpendicular of the tool device, in the at least one transport device plane or the further transport device plane within the transport device.

[0024] Alternatively, the tool device is arranged on the at least one transport device in a rotatable and pivotable manner, thereby enabling a further cost-effective and space-saving arrangement of the tool device on the transport device. The pivoting movement and the rotational movement of the tool device can be carried out either simultaneously or sequentially.

[0025] Alternatively, the tool device is arranged on the at least one transport device so that it can rotate and move linearly. A tool device that can rotate and move linearly can be used for the collision-free implementation of complex process steps that are performed outside the transport device planes. The pivoting movement and the rotational movement of the tool device can be performed either simultaneously or sequentially.

[0026] Alternatively, the tool device is arranged on the at least one transport device so that it can pivot, rotate, and move linearly. This arrangement of the tool device on the at least one transport device is suitable for highly complex process steps or process steps in the at least one transport device level or the further transport device level within the transport device. Furthermore, such a multifunctional tool device can be used collision-free over a large working area of ​​the transport device in the process sequence, thereby significantly increasing the transport capacity. The pivoting movement and the rotary movement as well as the linear movement of the tool device can be carried out either simultaneously or sequentially.

[0027] In a preferred embodiment, the at least one tool device is arranged to be movable along the at least one transport device, thereby expanding the working area of ​​the tool device in the transport device and even making otherwise inaccessible workpiece positions accessible to the tool device. Advantageously, at least one movement device is provided for the tool device, which, for example, has a guide system arranged on the one hand on the transport device and on the other hand on the tool device. This makes it particularly easy to guide the movement of the tool device along the transport device, and the tool unit can be easily moved, for example, out of a potential collision area with the other transport devices.

[0028] Preferably, the at least one multifunctional tool device comprises at least one tool unit for machining and / or transporting a workpiece or at least a workpiece part removed from a workpiece, whereby at least one complex process step can be performed directly in the transport device. This enables enormous time savings in the process flow and thus increased workpiece throughput.

[0029] Preferably, the tool unit is movable relative to the transport device plane, whereby, starting from the at least one tool unit in a first transport device plane, at least one process step on another workpiece in at least one further transport device plane can be easily performed with the tool unit. The process step of the movable tool unit can be performed simultaneously with a process step of one of the further transport devices in the further transport device plane without collision, thus improving the efficiency of the process flow.

[0030] Advantageously, the at least one multifunctional tool device comprises a movement device, which is further advantageously arranged between at least one end of the tool unit and the tool. The movement device enables a relative movement of the tool to the tool unit, thus enabling flexible and complex processing steps to be carried out on the workpiece in the transport device. The movement device comprises, for example, a pivot joint and / or rotary joint, about which the tool or at least a part of the tool unit can be pivoted or rotated.

[0031] Preferably, the at least one tool device comprises at least one further tool unit for machining and / or transporting a workpiece or at least one workpiece part removed from a workpiece, whereby a further process step can be implemented on the workpiece using the at least one further tool unit. This enables fast and complex machining and / or faster transport, thus further increasing productivity in the process flow in the transport device.

[0032] Preferably, the at least one tool device is pivotable and / or rotatable about an axis that is aligned parallel to at least one transport device plane of the transport device. This enables a defined movement of the tool device, which thus, on the one hand, allows precise execution of a process step on the workpiece or workpiece part and, on the other hand, prevents an unwanted collision, for example a collision of the tool device with a transport device in the further transport device plane. It is advantageous that the axis arranged parallel to the transport device plane can be positioned relative to an axis arranged normal to the transport device plane, thus enabling far-reaching and complex positioning of the at least one tool device.

[0033] Alternatively, the tool device can be pivoted or rotated about another axis, which is aligned perpendicularly to at least one transport device plane of the transport device, thus creating a space-saving transport device. The transport device, including the tool device, can remain in its position and does not need to be moved to a parking position to avoid an otherwise possible collision with one of the other transport devices.

[0034] Alternatively, the at least one tool device can be pivoted or rotated about an axis that is aligned parallel to the at least one transport device plane of the transport device and can be pivoted or rotated about a further axis that is aligned perpendicular to the at least one transport device plane of the transport device. This achieves increased movement flexibility of the tool device with respect to the at least one transport device plane and allows for increased process flow complexity. This allows for a multitude of process steps, such as transporting or machining in one direction relative to the transport device planes.

[0035] Alternatively, the at least one tool device is arranged to be movable in a straight line along at least one of the axes mentioned above, thus enabling a particularly simple and cost-effective embodiment.

[0036] Alternatively, the at least one tool device is arranged to be pivotable or rotatable about an axis aligned parallel to the at least one transport device plane of the transport device, and is arranged to be pivotable or rotatable about a further axis aligned perpendicular to the at least one transport device plane of the transport device and arranged to be movable in a straight line along at least one of these axes. This allows the advantage of a space-saving design to be combined with a complex process sequence without collision, and enables the use of the transport device in industrial buildings with low ceiling heights.

[0037] Preferably, the at least one tool device has a recognition unit for recognizing a process parameter, which, for example, can be used to recognize a predefined machining position on the workpiece. This subsequently makes it possible to locate a marking on the workpiece or a previously known machining position. This allows a process step to be continued on a workpiece or workpiece part already machined in a material processing machine without the workpiece or workpiece part having to be removed from the transport device. Especially for simple process steps, such as deburring cutting edges, increased productivity is thus possible without additional external machining equipment.

[0038] Advantageously, the detection unit of the at least one tool device comprises a detector for detecting a process parameter. The process parameter is detected or recorded, for example, by means of an image recognition unit or an electromagnetic detection unit and then advantageously processed further in a timely manner in a process sequence, thus allowing intervention in the corresponding process sequence, e.g., of the tool device, a transport device, the transport device, or even the at least one material processing machine.

[0039] Preferably, the at least one tool unit comprises a tool. With the aid of the tool, machining steps on the workpiece or workpiece part can be carried out with the tool device.

[0040] Preferably, the at least one tool unit has a tool receiving unit for receiving at least one tool, whereby a tool unit can receive several different tools for machining and / or transporting the workpiece or workpiece part as required and in an advantageously controlled manner and can therefore be used particularly flexibly.

[0041] Preferably, the tool of the tooling device can be selected from the group of production tools, such as a forming tool, a cutting tool, a joining tool, a coating tool, or an additive manufacturing tool. This advantageously allows the use of tools adapted to the respective process step, and allows process steps with different tools. This further increases the productivity of the transport device.

[0042] Advantageously, the tool of the tool unit on the tool device is designed as a transport tool, whereby a further simple transport device can be realized, in particular for removing already machined workpiece parts of a workpiece.

[0043] Advantageously, the tool of the tool unit on the tool fixture is designed as a marking tool, which allows the otherwise complex marking process step to be implemented particularly efficiently. Position detection on the workpiece, particularly with the detection unit of the tool fixture, is particularly easy and timely due to the applied marking, and repositioning of a workpiece or a previously removed workpiece part is also possible. Thus, a marked workpiece or a workpiece part removed from a workpiece can be transported away, and a further process step can be performed on an unmarked workpiece or a workpiece part removed from a workpiece.

[0044] Preferably, at least one transport device is arranged in a transport device plane of the transport device, and at least one further transport device is arranged in the same or the further transport device plane of the transport device, movable relative to one another on the guide device. This enables a wide working area and a multitude of complex process steps using multiple transport devices on multiple material processing machines within the transport device. This allows parallel process steps to be implemented in the transport device to increase productivity and / or cycle times.

[0045] Preferably, the at least one transport device and the at least one further transport device are movable relative to one another in a crossing manner at least in one direction of movement, thus enabling collision-free movement of the transport devices arranged on the guide device. In this context, a crossing movement is understood to mean a largely horizontal direction along the guide device as well as a largely vertical direction relative to the guide device of the transport device. This allows complex process steps, such as loading steps, unloading steps, intermediate storage steps, sorting steps, and processing steps on one or more material processing machines, to be implemented in the transport device.

[0046] Preferably, at least two transport devices are provided on a common transport device level, thus enabling a space-saving design. Thus, for example, one transport device is designed as a movable intermediate storage area for unprocessed workpieces, which can be easily filled from several sides of the intermediate storage area, for example, by people, using a crane, or a forklift.

[0047] Preferably, at least two transport devices are provided in a common transport device level, wherein this common transport device level is arranged between one transport device level and another transport device level. Thus, in this embodiment, the transport device has at least three transport device levels, wherein at least in one transport device level, several transport devices are movably arranged, and at least one transport device has a multifunctional tool device, thus enabling complex process steps to be carried out collision-free and maximizing production capacity.

[0048] Advantageously, at least two transport devices are provided in a common transport device level, wherein this common transport device level is arranged between a transport device level and the at least one material processing machine, whereby a compact transport device can be realized, in particular for rooms with a low overall height, which has a very high transport capacity and process flow capacity.

[0049] Preferably, at least one transport device is designed as a material storage carriage, which, for example, shortens the process runtime since, during an ongoing process run, no material has to be fed into the transport device from the outside and several material processing machines can be equipped at the same time.

[0050] Advantageously, at least one transport device is a tool change carriage, which reduces tool change time because the tool change carriage is movable, for example, relative to the tool unit, thus enabling tool change at any desired location. A tool storage section for the temporary storage of tools, for example, marking tools, is advantageously arranged on the tool change carriage. In a particularly advantageous embodiment, the tool storage section is arranged so that it can be moved relative to the tool change carriage. This enables a particularly time-saving tool change and minimizes the downtime of the transport devices in the transport device.

[0051] Preferably, at least one transport device is a material transport carriage, with which at least one workpiece is easily transported to the at least one material processing machine.

[0052] Advantageously, at least one material transport trolley is a double-fork transport trolley, which is particularly suitable for easy loading and unloading of large-area workpieces.

[0053] Advantageously, the at least one material transport carriage is a suction device transport carriage, which can be used for workpieces of various dimensions. The suction devices of the suction device are advantageously pressurized individually and, further advantageously, independently of one another, for example, with a vacuum.

[0054] Preferably, a workpiece storage section for temporarily storing workpieces, in particular a stack of workpieces or for temporarily storing at least one tool, is arranged on at least one material transport carriage, wherein in an alternative embodiment the workpiece storage section is arranged to be movable relative to the material transport carriage, whereby a transport device with a material transport carriage and a workpiece storage section can be used particularly efficiently and at least one process work step can be carried out with the aid of the movable material transport carriage.

[0055] Advantageously, the transport device with a workpiece storage section for storing at least one workpiece or a workpiece part removed from a workpiece or at least one tool is arranged in a transport device plane, which is arranged between at least one first transport device plane and a workpiece receiving table of the material processing machine. In this embodiment, the first transport device plane has a movable transport device, on which, in particular, the at least one multifunctional tool device is arranged. This allows an efficient process step to be carried out on the material processing machine with the transport device, and simultaneously a process step or a process step can be carried out on the workpiece storage section of the transport device with the multifunctional tool device.

[0056] In an alternative embodiment, a material carriage is arranged on the same level as the transport device, with a separate guide device advantageously being provided for this purpose, and the material carriage being arranged to be movable relative to the transport device. Thus, an additional material storage level is advantageously arranged in the transport device, which is, for example, decoupled from the guide device of the transport device and cooperates particularly advantageously with the transport device, thereby shortening the process cycle time and improving productivity. The material carriage is advantageously arranged on the floor of the industrial plant.

[0057] In a further embodiment, the workpiece storage section also serves to store tools or the tool storage section also serves to store workpieces or workpiece parts.

[0058] According to the invention, at least two guide device supports, each with a longitudinal extension, are provided for guiding at least one transport device in the transport device. Two guide device supports ensure a stable movement sequence of the transport devices, particularly when the workpiece has a high dead weight and is moved quickly from one position in the transport device to another.

[0059] According to the invention, the guide device supports are arranged parallel to the at least one transport device plane of the transport device, whereby the statics of the transport device are particularly improved and rapid process steps can be carried out.

[0060] According to the invention, at least two transport devices are provided, wherein each guide device carrier has at least three guide sections for guiding the transport devices, whereby the transport devices can be moved independently of one another in their own transport device planes.

[0061] Preferably, at least one of the guide sections is a guide rail section, whereby a particularly easy-to-manufacture guide section can be used and precise guidance of the transport devices is provided.

[0062] Advantageously, at least one of the guide sections extends along the longitudinal extent of the guide device carrier, thereby increasing the working area of ​​the transport devices.

[0063] Advantageously, at least one of the guide sections extends along the entire longitudinal extent of the guide device carrier and thus at least one transport device is movable over the entire transport device and thus reaches all material processing machines in the transport device.

[0064] Preferably, at least one of the transport devices is arranged suspended from the guide device supports of the guide device, whereby a space-saving transport movement can be implemented, which can be used, for example, in a transport device with a particularly low overall height.

[0065] In an alternative embodiment, at least one of the transport devices is arranged in a supporting manner on the guide device carriers of the guide device, whereby a simple and stable transport movement can be carried out.

[0066] Preferably, several support supports are provided to support the guide device supports. Multiple support supports increase the basic static strength of the transport device, allowing even heavy workpieces to be transported as quickly as possible using the transport devices.

[0067] Advantageously, the at least two support supports are conical. Conical support supports improve the stability of the transport device and simultaneously reduce the material required for its manufacture.

[0068] Further advantageously, the at least two support columns are arranged without struts, whereby the accessibility to the transport device is increased, for example when loading and unloading the transport devices with a forklift or manually by a person, regardless of the current process step in the transport device.

[0069] Further advantageously, the at least two support supports are connected to at least one guide device support, whereby the stability of the transport device is further improved.

[0070] Advantageously, several support supports are directly connected to at least one guide device support, thereby advantageously achieving improved stability of the entire transport device.

[0071] The method according to the invention for loading and unloading at least one material processing machine with the transport device described above is characterized by the following steps.

[0072] Preferably, the loading (step a) of at least one material processing machine with a workpiece is carried out using at least one of the transport devices.

[0073] Subsequently, the workpiece or at least one workpiece part removed from a workpiece is unloaded (step b) from the material processing machine using at least one of the transport devices and, at the same time, a process step is carried out on a further workpiece or at least one workpiece part removed from a workpiece using a further transport device.

[0074] Thus, a complex process sequence can be implemented simply and cost-effectively with the transport device described above, increasing productivity in an industrial plant. Complex process sequences that were not feasible with the known transport devices of the prior art can now be implemented collision-free with the transport device described above, and the workpiece does not have to leave the transport device. This results in increased productivity by reducing the number of downstream (usually manual) process steps and / or process steps in the transport device, as well as short downtimes in the at least one material processing machine in the transport device.

[0075] Advantageously, the unloading of the at least one material processing machine is carried out with the at least one tool device, whereby, for example, the workpiece parts removed from a workpiece can be removed from the material processing machine in a particularly time-saving and material-friendly manner.

[0076] Preferably, at least one tool of the at least one multifunctional tool device performs a process step on the workpiece or at least on a workpiece part removed from a workpiece before loading the workpiece or at least one workpiece part removed from a workpiece into the material processing machine. For example, the tool of the tool device marks the workpiece or at least one workpiece part removed from the workpiece in order to locate the marked location again after a further process step, such as a possibly necessary repositioning of the workpiece with the tool unit.

[0077] Preferably, during the loading of the workpiece or at least one workpiece part removed from a workpiece onto the material processing machine, the at least one multifunctional tool device carries out a tool change on at least one tool unit of the tool device or on at least one tool unit of another tool device, or changes to another tool unit of the tool device. Thus, in addition to the process steps on the workpiece, process steps such as a tool change are also carried out, which minimizes the time required in the overall process flow and increases productivity, since at least the process step of the tool change can take place directly at the same position in the transport device.

[0078] Preferably, during the unloading of the workpiece or at least one workpiece part removed from a workpiece, at least one intersecting transport movement of at least one transport device in a first transport device plane with one of the transport devices in a further transport device plane is performed by the material processing machine, whereby the transport devices in the different transport device planes can carry out collision-free and complex process sequences over a large work area. Alternatively, intersecting transport movements of the transport devices in the same or different transport device planes are also carried out collision-free, which run perpendicular to at least one of the transport device planes, thus improving the transport capacity in the transport device.

[0079] Preferably, during the unloading of the workpiece or at least a workpiece part removed from a workpiece from the material processing machine, the detection unit of the at least one tool device detects a process parameter and stores it in a memory. It is advantageous that the process parameter can be repeatedly retrieved from the memory, thus allowing identical process steps to be performed repeatedly and automatically on different workpieces with high precision.

[0080] Preferably, during the unloading of the workpiece or at least one workpiece part removed from a workpiece from the material processing machine, another material processing machine is loaded with another workpiece or with at least one workpiece part removed from another workpiece, whereby process steps are carried out in parallel on several workpieces and thus productivity is increased with the help of the transport device.

[0081] Preferably, a tool of the at least one tool device of the at least one transport device carries out a process step on a workpiece or on at least one workpiece part removed from another workpiece in a first transport device level, which workpiece part is located on another transport device of an advantageously further transport device level. This allows a process step to be carried out on a transport device directly next to the material processing machine, thus realizing time-saving machining of the workpiece. Furthermore, a tool change is also possible on an adjacent transport device level. The method step described above can advantageously be carried out in parallel at any time, in particular while the at least one material processing machine is already being loaded or unloaded by another transport device.

[0082] Preferably, after the workpiece or at least one workpiece part removed from a workpiece has been unloaded from the material processing machine, the at least one tool device performs a tool change on at least one tool unit of the tool device or on at least one tool unit of another tool device, or changes to another tool unit of the tool device. Thus, in addition to the process steps on the workpiece, process steps such as a tool change are also performed, which minimize the time required in the process flow and significantly increase productivity.

[0083] Preferably, after unloading the workpiece or at least one workpiece part removed from a workpiece from the material processing machine, the at least one tool device performs a further process step on the workpiece or on at least one workpiece part removed from a workpiece, thereby achieving increased productivity. Preferably, a sorting step or a storage step is performed, whereby, in addition to a process step on the workpiece, further different process steps, such as sorting or storage, are performed, which minimize the time required for the process sequence and increase productivity.

[0084] A computer program product according to the invention, which, after being loaded into a memory of a control device with a recognition unit, determines at least one process parameter of the loading and unloading process, subsequently executes one of the previously described methods for loading and unloading with the transport device, whereby the process sequences can be programmed in advance and stored in the memory. This makes it possible to implement a fully automatic transport device for loading and unloading at least one material processing machine.

[0085] Further advantages, features and details of the invention will become apparent from the following description, in which embodiments of the invention are described with reference to the drawings.

[0086] The list of reference symbols is, as is the technical content of the patent claims and

[0087] Figures form part of the disclosure. The figures are described in a coherent and comprehensive manner. Identical reference symbols indicate identical components; reference symbols with different indices indicate functionally identical or similar components.

[0088] They show: Fig. 1 shows a first embodiment of a transport device according to the invention in a side view; Fig. 2 shows the transport device according to the invention of Fig.1 in a further side view; Fig. 2b shows a further transport device according to the invention in a side view analogous to Fig. 2 ; Fig. 2c an enlarged view of a section of the transport device corresponding to the marking IIc in Fig. 2b and 2d ; Fig. 2 shows a further transport device according to the invention in a side view analogous to the Figures 2 and 2b ; Fig. 3 a perspective view of the transport device according to the invention. Fig. 1; Fig. 4 shows a tool device including tool units in a schematic representation; Fig. 5 shows a guide device in cross section; Fig. 6 shows a side view of a further embodiment of a transport device according to the invention; Fig. 7 shows a side view of a further embodiment of a transport device according to the invention; and Fig. 8 shows a side view of a further embodiment of the transport device according to the invention. Fig. 1 .

[0089] The Figures 1 to 3show the transport device 10 according to the invention for loading and unloading a material processing machine 1 with at least one workpiece 5 or with a workpiece part 7 removed from a workpiece 5. In this embodiment, the material processing machine 1 is a laser cutting machine with a movable workpiece holder, for example with a movable workpiece holder table 9. It is understood that the workpiece 5 or the workpiece part is not part of the transport device 10.

[0090] The transport device 10 comprises a guide device 60 with two guide device supports 65, 66 and a plurality of support supports 80 that support the guide device supports 65, 66. The transport device 10 also comprises a plurality of transport devices 15, 16, 17, 18 arranged on the guide device 60. At least two of the transport devices 15, 16, 17, 18 are arranged in the transport device 10 so as to be movable relative to one another.

[0091] The transport devices 15 and 18 are arranged in a first transport device level 20, and a further transport device 16 is arranged in a further transport device level 21. The transport device 15 has a movable, multifunctional tool device 25, which is designed to transport and / or machine the workpiece 5 or the workpiece part 7. In this context, a workpiece 5 refers (but is not limited to) a large-area, unmachined, plate-shaped workpiece, for example a raw sheet or a glass plate, as well as a previously machined workpiece, such as a semi-finished product or a residual skeleton. In this context, a workpiece part 7 is understood to mean a part of a workpiece 5.

[0092] The transport devices 15, 16, 17, 18 of the transport device 10 are also suitable for transporting or processing other workpiece shapes, such as cube-shaped, spherical or trapezoidal workpieces.

[0093] As in Fig. 5As shown in detail, the guide device supports 65 and 66 of the guide device 60 each have a longitudinal extension and are arranged parallel to the transport device plane 20 of the transport device 10. Furthermore, the guide device supports 65 and 66 of the guide device 60 are arranged parallel to one another. Each guide device support 65 and 66 has three guide sections 70, 71, 72 on which the transport devices 15, 16, 17, 18 are guided. The guide sections 70, 71, 72 are each designed as guide rail sections and, in this exemplary embodiment, extend along the entire longitudinal extension of the respective guide device support 65 or 66.

[0094] As in the Fig. 2As can be seen, the transport devices 16 and 17 are arranged suspended from the guide device supports 65 and 66. The transport devices 15 and 18 are arranged in a supporting manner on the guide device supports 65 and 66.

[0095] The support supports 80 for supporting the guide device supports 65 and 66 are conical and strut-free and are directly connected to the guide device supports 65 and 66. In an alternative embodiment not shown here, the support supports 80 can be connected to the guide device supports 65 and 66 via a connecting piece.

[0096] In this illustrated embodiment, the multifunctional tool device 25 is arranged on the transport device 15 so that it can be pivoted, rotated, and moved in a straight line. The tool device 25 is movable along a straight line relative to, in particular perpendicular to, the transport device 15. The tool device 25 is also pivotable and rotatable about an axis 27, which is aligned parallel to one of the transport device planes 20, 21, 22 of the transport device 10, and pivotable and rotatable about a further axis 28, which is aligned normal to one of the transport device planes 20, 21, 22 of the transport device 10. Furthermore, the tool device 25 can be arranged so that it can be moved in a straight line along at least one of the axes. Here, the tool device 25 is arranged so that it can be moved in a straight line along the transport device 15.

[0097] A first movement device 30, which connects the tool device 25 and the transport device 15, enables a linear movement of the tool device 25 along a first straight line and is designed, for example, as a telescopic arm. The first movement device 30 comprises, for example, an electrical, mechanical, hydraulic, or pneumatic drive system (not shown). Furthermore, the movement device 30 is designed as a rotating device, wherein the tool device 25 is partially or entirely rotated out of the transport device plane 20. Furthermore, the movement device 30 is designed as a pivoting device for pivoting the tool device 25 partially or entirely out of the transport device plane 20.Furthermore, the movement device 30 is designed to carry out one of the combinations of a linear movement and a rotary movement, a linear movement and a pivoting movement, a rotary movement and a pivoting movement, and a linear movement, a rotary movement and a pivoting movement.

[0098] This allows transport steps and processing steps, such as drilling a hole through the workpiece 5, to be carried out even outside the perpendicular of the transport device planes and also outside a perpendicular relative to the workpiece surface.

[0099] In an alternative embodiment, the multifunctional tool device 25 has a movement device which is arranged between at least one end of the tool unit 40 and the tool 55 (not shown).

[0100] The transport device 15 and the tool device 25 have at least one further movement device 31, which enables movement of the tool device 25 along the transport device 15. This movement device 31 has a guide system and is designed with an electrical, mechanical, hydraulic, or pneumatic drive system. In an embodiment not shown here, the first movement device 30 and the movement device 31 can be integrated into one another.

[0101] The multifunctional tool device 25 is designed to carry out at least one process work step or a process step in one of the transport device levels 20, 21, 22 or on a workpiece 5, for example on the tool holder table 9 of the material processing machine 1, without the tool device 25 colliding with the transport devices 15, 16 or 17.

[0102] In this embodiment, the multifunctional tool device 25 has two tool units 40 and 41 for processing and / or transporting a workpiece 5 or a workpiece part 7. The tool units 40 and 41 are movable relative to one of the transport devices 16, 17, or 18 (for example, by means of a telescopic arm drive as a movement device (not shown)) in order to transport or process a workpiece 5 or a workpiece part 7. Thus, workpieces 5 or workpiece parts 7 located in a further transport device level 21 and 22 or on the workpiece receiving table 9 of the material processing machine 1 can be processed with a tool 56 of the tool unit 41, in particular by marking, machining, or performing further process steps.In the illustrated embodiment, the change from one tool unit 40 to the other tool unit 41 is performed via a rotary movement by means of the movement device 30. In addition to the described rotary movement, other movement sequences for the tool unit change are possible, such as a pivoting movement or a linear movement.

[0103] The tool unit 40 has a tool 55, which is, for example, a suction device for transporting a workpiece 5. The other tool unit 41 has another tool 56, which is, for example, a drilling tool. The tool unit 41 includes a tool holder unit 50, by means of which the tool 56 is received.

[0104] At least one of the tool units 40, 41 has means for driving a tool 55, 56 or for supporting the operation of a tool 55, 56. For example, such a means comprises a mechanical transmission, a fluid supply, or a drive means.

[0105] Tools 55 and 56 for carrying out a process step are generally understood to be a production tool, for example a drill, a milling cutter, a thread cutter, a deburrer, or a forming tool. However, they also include, for example, an embossing tool, a center punch, a punching tool, a cold forming tool, a countersinking tool, a scoring tool, an adhesive nozzle, or a separating tool. Further examples are a mechanical cutting tool or a coating tool, for example a painting tool, a lubrication tool, or a generative manufacturing tool, for example a laser welding tool, a laser sintering tool, a stud welding tool, a cleaning tool, or a transport tool. Additional examples are a suction device, a gripping device, a printing unit for marking, a labeling tool, or a marking tool, for example a laser marking tool or a marking needle.

[0106] The tools can also be designed as oil dispensers or oil dispensing nozzles or even as degreasing devices.

[0107] The aforementioned tools do not constitute an exhaustive list, since further tools for processing or transporting can be arranged on the tool device 25.

[0108] The transport devices 15 and 16 are arranged so as to be movable relative to one another on the guide device 60. Transport devices 15 and 16 are movable in a crossing manner relative to one another at least in one direction of movement. The further transport device 18 is arranged so as to be movable in the transport device plane 20 and is movable in a crossing manner relative to the transport device 16 in one direction of movement.

[0109] The multifunctional tool device 25 has a detection unit 35 or a detector 36 for detecting a process parameter. The detection unit 35 is arranged directly next to the tool unit 40 or at a location spaced from the tool unit 40. The detection unit 35 is designed as a camera, for example, a video camera, or as a detector 36 that detects electromagnetic radiation or, for example, a barcode or QR code, or as a mechanical detection unit, for example, a push-button sensor.

[0110] Process parameters include parameters describing the workpiece 5 or the workpiece part 7 removed from the workpiece, such as their weight, their geometry and size, their cutting edge parameters, their material, their surface quality, as well as parameters which describe, for example, the movement in the transport device, such as the movement speed of one or more transport devices.

[0111] The detection unit 35 detects the exact position of the workpiece 5 or the workpiece part 7 and guides the tool device 25 or the tools 55 and 56 arranged on the tool units 40 and 41 to the workpiece position previously defined in the process sequence in order to subsequently carry out at least one further process step on the workpiece 5 or workpiece part 7.

[0112] Alternatively, the at least one multifunctional tool device 25 or another multifunctional tool device for processing and / or transporting a workpiece or workpiece part is arranged in one of the further transport device levels 21 or 22. Further alternatively, another transport device, for example a suction device transport carriage 86 or a double-fork transport carriage 85, is arranged in the first transport device level 20.

[0113] In the Figures 2b and 2 c A further transport device 10 according to the invention for loading and unloading a material processing machine 1 is shown. This transport device 10 differs from the one described with reference to Figures 1 , 2 and 3 to 8described transport device 10 in that the multifunctional tool device in this embodiment has a tool unit 40.1 for processing and transporting a workpiece 5 or a workpiece part 7 and a 41 tool unit for transporting a workpiece 5 or a workpiece part 7. The tool units 40.1 and 41 are in turn movable relative to one of the transport devices 16, 17 or 18 (for example by means of the aforementioned telescopic arm drive as a movement device (not shown)). The tool unit 40.1 has a fork-shaped or U-shaped end, on which a tool 55 designed as a suction device for transporting a workpiece 5 is arranged at one fork end. A further tool 55.1 designed as a drilling tool is arranged at another fork end.The other tool unit 41 has a further tool 56, which is, for example, another suction device for transporting a workpiece 5. Alternatively, a different type of tool could also be arranged there. For further reference numerals not explicitly mentioned here, please refer in full to the description of the . Figures 1 , 2 and 3 to 8 referred to.

[0114] In Figure 2d a further transport device 10 according to the invention for loading and unloading a material processing machine 1 is shown, which is thereby different from the one shown in Figure 2b The transport device shown in the drawing differs in that both tool units 40.1 and 41.1 have a fork-shaped or U-shaped end. For further reference symbols not explicitly mentioned here, please refer to the description of the Figures 1 , 2 and 3 to 8 referred to.

[0115] As in Figure 6 and Figure 7 As will be described in more detail below, the transport device 18 can be designed as a material storage trolley and / or as a tool change trolley. This tool change trolley can be combined with a material transport trolley, for example, a double-fork transport trolley 85 or a suction device transport trolley 86.

[0116] The transport device 10 (see Figure 2) comprises a control unit 105, which in turn comprises a memory 101. The memory 101 stores, among other things, process parameters, which are determined here by the recognition unit 35. The memory 101 stores a computer program product which, after being loaded into the memory 101, executes a predefined process sequence with the transport devices 15, 16, 17, 18 and the at least one tool device 25 of the transport device 10 as well as the at least one material processing machine 1. The individual drive units (e.g. motors) of the transport devices 15, 16, 17 and 18 as well as the tool device 25, but also of the material processing machine 1, are electrically connected to one another (not shown) for transmitting control data and / or process sequence data, such as a process parameter.In a further embodiment, the memory for the computer program product is arranged on a computer spaced apart from the transport device, which computer is advantageously connected to the control device 105.

[0117] The Figure 3 The material transport device 57 shown is movably mounted on its own guide device 58. The material transport device 57 is movable independently of the guide device 60 of the transport device 10. The guide device 58 extends at least partially into the working area of ​​the transport device 10 and enables the workpieces 5, 6 or the workpiece parts 7 to be transported into or out of the transport device 10, as well as in a direction along the longitudinal extent of the guide device carrier 65 of the transport device 10.

[0118] At least one safety gate 100 is provided at the edge region 90 of the transport device 10, preventing unauthorized access to the transport device 10, particularly during operation. This increases personnel safety and prevents work-related accidents. Further advantageously, at least one of the transport devices 15, 16, 17, 18, in particular a material storage trolley, in the transport device 10 is accessible via the safety gate 100 to enable easy loading or unloading of the transport devices 15, 16, 17, 18 with workpieces 5, 6, for example, using a forklift.

[0119] The transport device 10 according to the Figures 1 to 3 is designed according to the invention in such a way that, in addition to the first material processing machine 1, it can load and unload further material processing machines with the aid of its transport devices 15, 16, 17, 18 and the multifunctional tool device 25.

[0120] In an alternative embodiment, several transport devices, each with at least one multifunctional tool device, are provided in the transport device. These transport devices are arranged, for example, in a common transport device plane and enable transport and / or processing to or on several material processing machines. For example, the number of transport devices, each with at least one tool device, corresponds to the number of material processing machines accessible from this transport device. This allows the other material processing machines to be supplied with workpieces and / or workpiece parts to be machined simultaneously, further improving the process flow.

[0121] The method according to the invention for loading and unloading the material processing machine 1 with a workpiece 5 or a workpiece part 7 using the transport device 10 is explained below.

[0122] The loading of at least one material processing machine 1 with a workpiece 5 is carried out using one of the transport devices 16, 17, 18, for example with the suction device transport carriage 86 or the double fork transport carriage 85.

[0123] Subsequently, the workpiece 5 or a workpiece part 7 removed from a workpiece is unloaded from the material processing machine 1 using the multifunctional tool device 25, while at the same time a process step is carried out on a further workpiece 6 or at least one workpiece part 8 removed from a workpiece using a transport device 15.

[0124] Alternatively, one of the transport devices 16, 17, 18, in particular the suction device transport carriage 86, removes an already machined workpiece part 7 from the material processing machine 1 in a parallel process step.

[0125] In a further parallel process step, the double-fork transport carriage 85 unloads, for example, the residual skeleton of a machined workpiece 5 from the material processing machine 1 or another material processing machine.

[0126] Furthermore, at least one tool 55, 56 of the tool device 25 carries out a process step on the workpiece 5 or the workpiece part 7 before unloading the workpiece 5 or the workpiece part 7 from the material processing machine 1.

[0127] In a further method step, the tool device 25 performs a tool change on the tool unit 40 of the tool device 25 or on at least the tool unit of another tool device while the workpiece 5 or the workpiece part 7 is being loaded onto the material processing machine 1. Alternatively or in addition to the aforementioned steps, the tool device 25 performs a tool change.

[0128] The detection unit 35 detects a process parameter in a further process step, e.g. during unloading, and stores it in a memory 101.

[0129] Alternatively, during the unloading of the workpiece 5 or the workpiece part 7 from the material processing machine 1, an intersecting transport movement is performed by the transport device 15 in a first transport device plane 20 and by one of the transport devices 16, 17, 18 in a further transport device plane 21. The tool device 25, which is arranged on the transport device 15, performs a linear movement and / or a rotary movement and / or a pivoting movement, which guides the tool device 25 out of at least one of the transport device planes 20, 21, 22. This prevents a collision between one of the transport devices 15, 16, 17, 18 and the tool device 25.

[0130] Furthermore, during the unloading of the workpiece 5 or the workpiece part 7 from the material processing machine 1, another material processing machine is loaded with another workpiece 6 or with at least one workpiece part 8 removed from another workpiece 6, whereby advantageously, process steps can be carried out in parallel and fully automatically on several workpieces 5 and 6 or workpiece parts 7 and 8. Loading is preferably carried out using one of the double-fork transport carriages 85 or one of the suction device transport carriages 86.

[0131] Furthermore, the tools 55, 56 of the tool device 25 on the transport device 15 carry out a process step on a workpiece 6 or on a workpiece part 8 from a first transport device level 20, which is located on a further transport device 18 in a further transport device level 21.

[0132] Advantageously, the process step is carried out on a transport device 18 directly next to the material processing machine 1, thus realizing time-saving processing on the workpiece 6.

[0133] A tool change can also advantageously be carried out on an adjacent transport device level. This process step can be performed at any time before, during, and after loading or unloading the material processing machine 1.

[0134] Furthermore, after unloading the workpiece or workpiece part 7 from the material processing machine 1, the tool device 25 performs a tool change on at least one tool unit 40 of the tool device 25 or on at least one tool unit of another tool device. Further advantageously, the tool device 25 changes to another tool unit 41 of the tool device 25.

[0135] After unloading the workpiece 5 or workpiece part 7 from the material processing machine 1, the tool device 25 performs a further process step on the workpiece 5 or workpiece part 7. Preferably, a sorting step or a storage step is performed. Advantageously, other different process steps, such as sorting or storage, are performed simultaneously with a process step on the workpiece.

[0136] Before the automatic or programmable process sequence starts, at least one of the transport devices 15, 16, 17, 18, in particular the transport device 16 designed as a material storage trolley, is filled with a stack of workpieces 5, 6, in particular with a forklift, a crane or manually by the operator.

[0137] In a further embodiment, the transport device 10 is connected to a large workpiece storage facility, and the workpieces 5, 6 are advantageously delivered fully automatically to the transport device 10 by means of a dedicated transfer device (not shown).

[0138] The computer program product according to the invention for loading and unloading at least one material processing machine 1, in particular a laser cutting machine or fluid jet cutting machine or water jet cutting machine, with at least one workpiece 5 or with at least one workpiece part 7 removed from a workpiece according to the method according to the invention with a transport device 10 is set out below.

[0139] After being loaded into the memory 101 of the control device 105 and processing at least one process parameter of the loading and unloading process, which was determined by a recognition unit of the transport device 10 (e.g., the recognition unit 35) or an external recognition unit, the computer program product 109 effects one of the previously described methods for loading and unloading with the transport device 10.

[0140] Figure 4shows a further embodiment of a multifunctional, T-shaped tool device 325 with three tool units 340, 341 and 342. The orientations of the axes 327, 328 with respect to a transport device plane 320 are also shown here. The tool units 341, 342 each show a tool holding unit 350 for alternately holding different tools 355 and 356. The tool device 325 is arranged so as to be pivotable and / or rotatable about a first axis 327. The first axis 327 is arranged parallel to the transport device plane 320. The tool device 325 can additionally assume any orientation relative to the second axis 328. The tool device 325 is also arranged so as to be rotatable and / or pivotable about the second axis 328, which here is arranged normal to the transport device plane 320.The axis 328 may also be inclined at an angle relative to the conveyor plane 320.

[0141] In an equivalent embodiment, the tool device 325 is arranged to be movable linearly along at least one of the axes 327, 328 or, in addition to a linear movement, is also arranged to be rotatable or pivotable about at least one of the axes 327, 328.

[0142] The movements of the tool device 325 are carried out by means of the movement device 330, which connects the tool device 325 and one of the transport devices. The movement device 330 is arranged with a first movement device part on the tool device 325 and with a correspondingly designed counterpart part on the associated transport device. The counterpart part is preferably designed as a guide rail and advantageously extends along the entire transport device.

[0143] Figure 6shows the transport device 110 according to the invention, which loads and unloads a material processing machine 1 with a workpiece receiving table 9. The transport device 118 is arranged in the transport device plane 121. The transport device 118 is designed as a workpiece storage carriage and as a material transport carriage and is movable along the guide device supports 165, 166. In one area of ​​this transport device 118, a workpiece storage section 133 for storing workpieces 6 is arranged. The workpiece storage section 133 is advantageously arranged independently of the movable transport device 118 and movable relative to it. In another area of ​​the transport device 118, a double-fork device 185 or a suction device 186 movable perpendicular to the transport device movement is arranged, which are advantageously movable perpendicular to the transport device plane 121.A transport device 115 with a movable, multifunctional tool device 125 is located in a further transport device level 120. The tool device 125 is designed to perform at least one process step on the workpieces 5 at the workpiece storage section 133 without collision. In this embodiment, the tool device 125 has a tool unit 140 with a tool 156 and a tool unit 141 on which a further tool 155 is arranged via a tool holder 150. The transport devices 115 and 118 are arranged suspended or supported on the guide device supports 165, 166 via two guide sections 171, 172 provided on the guide device supports 165, 166 and are guided by them.

[0144] Figure 7shows a transport device 210. The transport device 218 is arranged in the transport device plane 221 and is designed as a tool change carriage and as a material transport carriage. The transport device 218 is movable along the guide device supports 265, 266. In one area of ​​the transport device 218, a tool storage section 233 for storing tools 256, 258, 259 is arranged. The tool storage section 233 is advantageously arranged independently of the movable transport device 218 and movable relative to it. In another area of ​​the movable transport device 218, a double fork device 285, which can advantageously be moved perpendicular to the transport device movement, or a suction device 286, which can be moved perpendicular to the transport device movement, is also arranged.Advantageously, a tool change is carried out in a first area of ​​the transport device 210 and a loading or unloading of the material processing machine 1 in another area of ​​the transport device 210 is carried out using only the transport device 218. A transport device 215 with a movable multifunctional tool device 225 is located in a further transport device level 220. The tool device 225 is designed to carry out a process step, for example, a tool change to the tool storage section 233, without collision. The transport devices 215 and 218 are arranged suspended or supported on the guide device supports 265, 266 via two guide sections 271, 272 provided on the guide device supports 265, 266 and are guided by them.

[0145] The transport device 115 according to Figure 6 in the transport device level 120 as well as the transport device 215 according to Figure 7 in the transport device level 220 are designed such that each can be moved synchronously along the guide device carriers 165, 166 or 265, 266 with the further transport device 118 or 218 and thus the process sequence can be carried out on or with both transport devices 115, 118 or 215, 218 simultaneously.

[0146] Figure 8shows an alternative transport device 410 according to the invention. The transport device 410 differs from the previously described embodiments in that, in addition to a first transport device 416, a further transport device 418 is now provided in the transport device level 421. The transport devices 415, 416, and 418 are arranged so as to be movable relative to one another on the guide device 460. The transport device 415, which has the multifunctional tool device 425, and the transport device 416 can be moved so as to cross one another at least in one direction of movement. The further transport device 418 can be moved so as to cross one another in one direction of movement relative to the transport device 415. In the illustrated embodiment, the transport device level 421 is arranged between the transport device level 420 and the further transport device level 422.Two transport devices 416 and 418 in the transport device level 421 increase the transport flexibility of the transport device 410. The transport device 418 comprises a suction device transport carriage 486, which can load or unload either the material processing machine 1 or the transport device 417 with a workpiece 5 or a workpiece part removed from a workpiece. At the same time, the tool device 425 can perform a tool change on the transport device 416. List of reference symbols

[0147] 1 Material processing machine 2 Additional material processing machine 5 Workpiece 6 Additional workpiece 7 Workpiece part 8 Additional workpiece part 9 Workpiece support table 10 Transport device 15 1st transport device 16 2nd transport device 17 3rd transport device 18 4th transport device 20 1st transport device level 21 2nd transport device level 22 3rd transport device level 25 Multifunctional tool device 27 Axis 28 Axis 30 1st movement device 31 Additional movement device 35 Detection unit 36 ​​Detector 40 1st tool unit 41 2nd tool unit 40 1st additional tool unit 41 1st additional tool unit 50 Tool support unit 55 Tool 55 1st tool 56 Tool 56 1st tool 57 Material transport device 58 Guide device of the material transport device 60 Guide device of the transport device 65 1st guide device carrier 662. Guide device carrier 701. Guide section 712. Guide section 723.Guide section 80Carrier supports 85Double fork transport carriage 86Suction device transport carriage 90Edge area 100Safety gate 101Storage 105Control unit 109Computer program product 110Transport device 1151st transport device 1182nd transport device 1201st transport device level 1212nd transport device level 125Multifunctional tool device 133Workpiece storage section 1401st tool unit 1412th tool unit 150Tool holder unit 155Tool 156Tool 1651st guide device carrier 1662nd guide device carrier 1711st guide section 1722nd guide section 185Double fork transport carriage 186Suction device transport carriage 210Transport device 2151st transport device 2182nd transport device 2201st transport device level 2212. Transport device level 225multifunctional tool device 233tool storage section 2401st tool unit 2412nd tool unit 250tool holding unit 255tool 256tool 258tool 259tool 2651.Guiding device carrier 2662. Guiding device carrier 2711. Guide section 2722. Guide section 285Double fork transport carriage 286Suction device transport carriage 320Transport device level 325Multifunctional tool device 327Axis 328Axis 3301. Moving device 3401. Tool unit 3412. Tool unit 3423. Tool unit 350Tool holder unit 355Tool 356Tool 366Tool 410Transport device 4151. Transport device 4162. Transport device 4173. Transport device 4184. Transport device 4201. Transport device level 4212. Transport device level 4223. Transport device level 425Multifunctional tool device 486Suction device transport carriage.

Claims

1. A transport device (10; 110; 210; 410) for loading and unloading at least one laser cutting machine or fluid jet cutting machine, having at least one workpiece (5, 6) or having at least one workpiece part (7, 8) detached from a workpiece (5, 6), comprising a guide device (60) and a plurality of transport units (15, 16, 17, 18; 115, 118; 215, 218; 415, 418), which are arranged on the guide device (60), wherein one of the transport units (15; 115; 215; 415) has at least one movable tool device (25; 125; 225; 325; 425), wherein the at least one tool device (25; 125; 225; 325; 425) is multifunctionally designed for transporting and / or machining the workpiece (5, 6) or at least a workpiece part (7, 8) detached from a workpiece (5, 6), wherein one of the transport units (15; 115; 215; 415) is arranged in a first transport unit plane (20; 120; 220; 320; 420), at least two guide device carriers (65, 66) are provided, each with a longitudinal extension for guiding at least one of the transport units, and the guide device carriers (65, 66) are arranged parallel to the at least one transport unit plane (20; 120; 220; 320; 420), and at least one further transport unit plane (21; 22; 121; 221; 421) is provided, in which at least one of the further transport units (16, 17, 118; 218; 416) is arranged, wherein at least one transport unit (15; 115; 215; 415) in one transport unit plane (20; 120; 220; 320; 420) of the transport device (10; 110; 210; 410) and at least one of the further transport units (16; 17; 118; 218) in another transport unit plane (21; 121; 221; 421) of the transport device (10; 110; 210; 410) are arranged so as to be movable relative to one another on the guide device (60), wherein the at least one transport unit (15; 115; 215; 415) and the at least one of the further transport units (16; 17; 118; 218) are movable in a crossing manner relative to one another in at least one direction of movement, wherein the at least one tool device (25; 125; 225; 325; 425) is arranged on the at least one transport unit (15; 115; 215; 415) in such a way that it can pivot and / or rotate and / or move in a straight line, such that the tool device (25) is guided from at least one of the transport unit planes (20, 21, 22) and a collision between one of the transport units (15, 16, 17) and the tool device (25) is precluded, characterized in that each guide device carrier (65, 66) has at least three guide sections (70, 71; 72; 171, 172; 271, 272) for guiding the transport units, whereby the transport units (15; 16; 17) can be moved independently of one another in their own transport unit planes (20; 21; 22).

2. The transport device according to claim 1, characterized in that at least one transport unit (15; 115; 215; 415) in a transport unit plane (20; 120; 220; 420) of the transport device (10; 110; 210; 410) and at least one further transport unit (18; 418) in the same transport unit plane (20; 120; 220; 420) of the transport device (10; 110; 210; 410) are arranged to be movable relative to one another on the guide device (60); and / or that the at least one tool device (25; 125; 225; 325; 425) is arranged to be movable along the at least one transport unit (15; 115; 215; 415).

3. The transport device according to claims 1 or 2, characterized in that the at least one tool device (25; 125; 225; 325; 425) has at least one tool unit (40; 140; 240; 340) for machining and / or transporting a workpiece (5, 6) or at least one workpiece part (7, 8) detached from a workpiece (5, 6), wherein the at least one tool unit (40; 140; 240; 340) is advantageously movable relative to one of the transport unit planes (20, 21; 120; 121; 220; 221; 320; 420, 421, 422).

4. The transport device according to one of claims 1 to 3, characterized in that the at least one tool device (25; 125; 225; 325; 425) has at least one further tool unit (41; 141; 241; 341) for machining and / or transporting a workpiece (5, 6) or at least one workpiece part (7, 8) detached from a workpiece (5, 6).

5. The transport device according to one of claims 2 to 4, characterized in that the at least one tool device (25; 125; 225; 325; 425) can be swivelled or rotated about an axis (27; 327), which is aligned parallel to one of the transport unit planes (20, 21; 120; 121; 220; 221; 320; 420, 421, 422) of the transport device (10; 110; 210; 410) and / or the tool device (25; 125; 225; 325; 425) can be swivelled or rotated about a further axis (28; 328), which is aligned normal to one of the transport unit planes (20, 21; 120; 121; 220; 221; 320; 420, 421, 422) of the transport device (10; 110; 210; 410) and / or is arranged to be movable along at least one of the axes (27, 28; 327, 328) in a straight line.

6. The transport device according to one of claims 1 to 5, characterized in that the at least one tool device (25; 125; 225; 325; 425) comprises a detection unit (35), in particular a detector (36), for detecting a process parameter.

7. The transport device according to one of claims 3 to 6, characterized in that the at least one tool unit (40, 41; 140, 141; 240, 241; 340; 341; 342) comprises a tool (55, 56; 155, 156; 255, 256, 258, 259; 355, 356, 366) and / or a tool receiving unit (50) for receiving at least one tool (55, 56; 155, 156; 255, 256, 258, 259; 355, 356, 366), wherein the at least one tool (55, 56; 155, 156; 255, 256, 258, 259; 355, 356, 366) is advantageously selectable from the group of production tools, such as a forming tool, a cutting tool, a joining tool, a coating tool, an additive manufacturing process tool and / or a transport tool and / or a marking tool.

8. The transport device according to one of claims 1 to 7, characterized in that at least two transport units (16, 18; 416, 418) are provided in a shared transport unit plane (21; 121; 221; 421), wherein, in particular, this shared transport unit plane (21; 121; 221; 421) is arranged between one transport unit plane (20; 120; 220; 320; 420) and a further transport unit plane (22; 122; 222; 422).

9. The transport device according to one of claims 1 to 8, characterized in that at least one transport unit (18; 118; 218; 418) is a material storage trolley and / or a tool change trolly and / or a material transport trolley, in particular a double fork transport trolley (85; 185; 285) or a suction device transport trolley (86; 186; 286; 486).

10. The transport device according to claim 9, characterized in that at least two transport units (15, 16; 115, 118; 215, 218) are provided and each guide device carrier (65, 66; 165, 166; 265, 265) comprises at least two guide sections (70, 71; 171, 172; 271, 272) for guiding the transport units (15, 16; 115, 118; 215, 218; 415, 416, 418), wherein preferably at least one of the guide sections (70, 71; 171, 172; 271, 272) is a guide rail section, and / or at least one of the guide sections (70, 71; 171, 172; 271, 272) extends along the longitudinal extension of the guide device carrier (65, 66; 165, 166; 265, 265), in particular along the entire longitudinal extension of the guide device carrier (65, 66; 165, 166; 265, 265).

11. The transport device according to claim 9 or 10, characterized in that at least one of the transport units (15, 16, 17, 18; 115, 118; 215, 218; 415, 416, 418) is arranged suspended on the guide device carriers (65, 66; 165, 166; 265, 265) of the guide device (60).

12. The transport device according to one of claims 1 to 11, characterized in that a plurality of carrier supports (80) are provided for carrying the guide device carriers (65, 66; 165, 166; 265, 265), wherein at least two of the carrier supports (80) are preferably formed to be conical and further advantageously are arranged without struts and further advantageously are preferably directly connected to at least one of the guide device carriers (65, 66; 165, 166; 265, 265).

13. A method for loading and unloading at least one material machining machine (1), in particular a laser cutting machine or fluid jet cutting machine, having at least one workpiece (5, 6) or having at least one workpiece part (7, 8) detached from a workpiece (5, 6) with a transport device (10; 110; 210; 410) according to one of claims 1 to 12, comprising the following steps: a) Loading the at least one material machining machine (1) with a workpiece (5, 6) with at least one of the transport units (15, 16, 17, 18; 115, 118; 215, 218; 415, 416, 418); b) Unloading the workpiece (5, 6) or at least the workpiece part (7, 8) detached from a workpiece (5, 6) from the material machining machine (1) with at least one of the transport units (15; 115; 215; 415), in particular with the multifunctional tool device (25; 125; 225; 325; 425), and simultaneously carrying out a process work step on a further workpiece (6) or on at least one further workpiece part (8) detached from a workpiece (6) with a further transport unit (16), wherein, during the unloading of the workpiece (5) or the workpiece part (7) from the material machining machine (1), a crossing transport movement is carried out by the transport unit (15) in a first transport unit plane (20) and by one of the transport units (16, 17, 18) in a further transport unit plane (21), wherein the tool device (25) which is arranged on the transport unit (15) carries out a linear movement and / or a rotary movement and / or a pivoting movement, which guides the tool device (25) out of at least one of the transport unit planes (20, 21, 22), thus precluding a collision between one of the transport units (15, 16, 17, 18) and the tool device (25).

14. The method according to claim 13, characterized in that before step a) the at least one tool (55, 56; 155, 156; 255, 256, 258, 259; 355, 356, 366) of the at least one tool device (25; 125; 225; 325; 425) carries out a process step on the workpiece (5, 6) or at least on one workpiece part (7, 8) detached from a workpiece (5, 6) and / or that during step a) the at least one tool device (25; 125; 225) carries out a tool change on at least one tool unit (40, 41; 140, 141; 240, 241; 340, 341, 342) of the tool device (25; 125; 225; 325; 425) or on at least one tool unit of a further tool device or changes to a further tool unit (40, 41; 140, 141; 240, 241; 340, 341, 342) of the tool device (25; 125; 225; 325; 425) and / or that during step b) a crossing transport movement is carried out by one of the transport units (15; 115; 215; 415) in a first transport device plane (20; 120; 220; 320; 420) with one of the transport units (16; 118; 218; 418, 416) in an advantageously further transport unit plane (21; 121; 221; 421) and / or that during step b) the detection unit (35) of the at least one tool device (25; 125; 225; 425) recognizes a process parameter and stores it in a memory (101) and / or that during step b) a further material machining machine is loaded with a further workpiece (6) or with at least one workpiece part (8) detached from a further workpiece (6), preferably with one of the transport units (15, 16, 17, 18; 115, 118; 215, 218; 415, 416, 418), and / or a tool (55, 56; 155, 156; 255, 256, 258, 259; 355, 356, 366) of the at least one tool device (25; 125; 225; 325; 425) of the transport unit (15; 115; 215; 415) from a transport unit plane (20; 120; 220; 320; 420) carries out a process work step on a workpiece (6) or on at least one workpiece part (8) detached from a further workpiece (6), which is located on a further transport device (16; 118; 218; 416, 418) of an advantageously further transport unit plane (21; 121; 221; 421) and / or that after step b) the at least one tool device (25; 125; 225; 325; 425) carries out a tool change on at least one tool unit (40, 41; 140, 141; 240, 241; 340, 341, 342) of the tool device (25; 125; 225; 325; 425) or on at least one tool unit of a further tool device or changes to a further tool unit (40, 41; 140, 141; 240, 241; 340, 341, 342) of the tool device (25; 125; 225; 325; 425) and / or that after step b) a tool (55, 56; 155, 156; 255, 256, 258, 259; 355, 356, 366) of the at least one tool device (25; 125; 225; 325; 425) carries out a further process step on the workpiece (5, 6) or on at least one workpiece part (7, 8) detached from a workpiece (5, 6), in particular a sorting step and / or a storage step.

15. A computer program product which, after loading into a memory (101) of a control device (105) with a detection unit, determines at least one process parameter of the loading process and unloading process and causes the execution of a method for loading and unloading according to one of claims 13 or 14 on a transport device (10; 110; 210; 410) according to one of claims 1 to 12.