AUTOMATION MODULE, MANUFACTURING SYSTEM AND METHOD FOR LOADING A MACHINE TOOL

Description

[0001] The present disclosure relates to an automation module with a stacking device for handling loading aids for the automated loading of a machine tool, in particular for an automated workpiece change, with a base, a frame which is held by the base and carries at least one vertical guide, a first side with a vertically movable support segment for receiving a conveyor which carries two or more loading aids arranged one above the other, and a second side with a vertically movable lifting console for receiving at least one loading aid, wherein the lifting console is designed to carry two or more loading aids arranged one above the other.

[0002] The present disclosure further relates to a manufacturing system with such an automation module. Finally, the present disclosure relates to a method for loading a machine tool.

[0003] WO 2006 / 042502 A1 discloses an automation module according to the preamble of claim 1 and a method for loading a machine tool according to the preamble of claim 14.

[0004] From EP 1 645 529 A1 a device for transferring goods from a first conveyor to a second conveyor is known, comprising a vertically extending frame with a longitudinal axis, transport means arranged on the frame and driven by a motor, and at least one carrier connected to the transport means, wherein the carrier is connected to the transport means for movement along the frame, and wherein the frame is rotatable about its longitudinal axis.

[0005] CN 2 319 384 Y discloses a lifting device suitable for transferring goods between two levels in a conveyor system. The lifting device comprises a lifting column and a first side and a second side of the lifting column, each with a platform, which are connected to each other via a cable. The cable is driven by a drive at the upper end of the lifting column.

[0006] WO 2005 / 026023 A1 discloses a device for handling crates and the like, comprising a platform with a first lateral support with a guide for receiving a first carrier and a second lateral support with a guide for receiving a second carrier. The device is designed to move the two carriers synchronously, with one carrier being raised as the other carrier lowers. In this way, crates can be transferred between a first stack on a first carriage on the first carrier and a second stack on a carriage on the second carrier.

[0007] From DE 34 24 988 A1 a stacking device for providing goods on loading aids is known, wherein the device comprises a carrier for a first stack and a carrier for a second stack, which can be raised and lowered independently of each other, and wherein handling technology is provided to transfer loading aids between the first stack and the second stack.

[0008] DE 10 2007 022 908 A1 discloses a palletizer comprising a rotary table with a rotating column. The rotating column has two vertically movable outriggers mounted on the rotating column at 180° intervals. Each outrigger has its own lifting drive.

[0009] From EP 0 673 711 A1 a handling system for feeding workpieces to a downstream processing device is known, wherein the handling system has a turntable for transferring stacks of workpiece carriers arranged on trolleys together with the trolleys, wherein a transfer device is connected to the turntable, which transfers workpiece carriers between the turntable and a waiting position or a provision position, and wherein a loading device with a gantry loader is provided, which transfers workpiece carriers between the provision position and the processing device.

[0010] DE 298 12 106 U1 discloses a device for the mechanical handling of pallets. It comprises a first pallet lift and a second pallet lift, which are opposite one another. A transfer unit for transferring pallets between the first and second pallet lifts is arranged above the first and second pallet lifts. The pallet lifts can be moved vertically independently of one another.

[0011] Stacking devices can be coupled with other handling devices in order to carry out or support an at least partially automated workpiece change (also referred to as loading) on ​​a machine tool.

[0012] For example, a conveyor (e.g., industrial truck in the form of a pallet truck or the like) can be fed to the first side, wherein the conveyor carries a stack of two or more load supports arranged one above the other. The load supports are, for example, pallets, so-called Euro containers, trays, small load carriers (SLCs), or the like. The load supports typically carry or accommodate a plurality or multiplicity of workpieces. In certain embodiments, the load supports are designed to accommodate both workpieces before processing in the machine tool and workpieces after processing in the machine tool.

[0013] Stacking devices are typically designed to form stacks of stacked load carriers (stacking) or to break them up (unstacking). In the field of machine tools, this often serves as a preparatory measure for the actual separation of workpieces accommodated by the load carriers. Separation involves the removal or placement of individual workpieces, usually with another handling device, such as a handling robot. Accordingly, stacking devices can also serve as storage or intermediate storage (buffer) for workpieces if a corresponding number of load carriers with a plurality of workpieces are provided.

[0014] Against this background, the object underlying the disclosure is to provide a high-performance stacking device that is compact in design and can be implemented with minimal effort. The stacking device is preferably suitable for combination with a handling unit that removes individual workpieces from the loading aid of the palletizing device or delivers them to it. The stacking device can preferably be used as a storage or buffer to enable semi-automated or highly automated processing of a plurality or multiplicity of workpieces. Furthermore, within the scope of the disclosure, an automation module provided with such a stacking device, a manufacturing system, and a method for loading a machine tool are to be provided.

[0015] According to a first aspect, the present disclosure relates to an automation module according to claim 1 with a stacking device for handling loading aids for the automated loading of a machine tool, in particular for an automated workpiece change, and with a handling unit which is designed to transfer workpieces between a loading aid provided by the stacking device and the machine tool, wherein the stacking device comprises the following: a base, a framework held by the base and supporting at least one first vertical guide and at least one second vertical guide, a first side with a vertically movable support segment for receiving a conveyor carrying two or more stacked load supports forming a stack, the first vertical guide being assigned to the first side, and the support segment being movable along the first vertical guide, and a second side with a vertically movable lifting console for receiving at least one load support, the lifting console being designed to support two or more stacked load supports forming a stack, the second vertical guide being assigned to the second side, and the lifting console being movable along the second vertical guide on the framework, the support segment and the lifting console being arranged facing away from each other on the framework,and wherein the support segment and the lifting console are forcibly coupled to one another via a common coupling element and can be moved vertically in opposite directions on the support structure via a common vertical drive.

[0016] The task of revelation is solved in this way.

[0017] The support segment and the lifting console are mechanically coupled, in particular positively coupled, and can be moved vertically. This allows the use of a common vertical drive, which, for example, has a (single) motor or other actuator. This allows for a reduction in the required installation space. The vertical drive can be arranged in such a way that it is easily accessible.

[0018] The first side can also be referred to as the loading side. The first side provides, for example, an interface to the outside (to the environment). The first side is accessible for conveyors. Conveyor devices, in particular industrial trucks, can be handled on the first side, including coupling or uncoupling conveyors with loading aids and loads (usually workpieces) arranged therein.

[0019] From a functional perspective, the first side can therefore be referred to as the outer side. The second side can be referred to as the inner side. The second side also provides an interface, which is functionally oriented toward the machine tool. The second side can also be referred to as the handling side, or, when a handling robot is used, as the robot side. The second side typically separates or joins individual workpieces with respect to loading aids.

[0020] In an exemplary embodiment, the support segment is designed to engage underneath the conveying means in order to be able to lift it.

[0021] The conveying means is, for example, an industrial truck. An industrial truck can be designed, for example, as an industrial truck. The conveying means can be a powered or unpowered conveying means. The conveying means is designed to carry a stack of load supports arranged one above the other. Load supports include, for example, pallets, trays, Euro containers, and the like. Load supports accommodate workpieces and simplify the handling and transfer of the workpieces. Load supports can be designed to accommodate a large number of workpieces. The workpieces can be arranged loosely or in an orderly manner in the load support. For example, the load supports have specific locations and receptacles for workpieces.

[0022] Both the support segment and the lifting console are designed to support a stack of stacked load supports. In one embodiment, the support segment is designed to support this stack indirectly. This is the case when the support segment supports a conveyor, which in turn supports the stack. In one embodiment, the lifting console is designed to support the stack directly. For this purpose, the lifting console comprises, for example, a support for stacked load supports.

[0023] In one exemplary embodiment, the stacking device has a movable / travelable base. This allows the stacking device to be coupled to a machine tool and / or other handling units as needed. This allows the machine tool or a manufacturing system equipped with it to remain flexibly usable.

[0024] Automated loading includes at least partially automated workpiece changing processes. In one exemplary embodiment, this includes a fully automated transfer of workpieces to be machined between the first side of the stacking device, to which the conveyor can be coupled, and the machine tool for the actual machining, as well as a fully automated transfer of machined workpieces between the machine tool and the first side of the stacking device. It is understood that the movement of the workpieces can occur partly individually, but partly also in groups (for example, in batches in the loading aid). The stacking device is designed to transfer loading aids. Workpieces carried by the respective loading aid are thus moved back and forth between the first side and the second side.Further separation can then be carried out via a handling unit arranged between the stacking device and the machine tool.

[0025] In one embodiment, the framework comprises at least two vertical guides. A first vertical guide is assigned to the first side, with the support segment mounted on the first vertical guide and guided for vertical movement. A second vertical guide is assigned to the second side, with the lifting bracket mounted on the second vertical guide and guided for vertical movement. The at least one vertical guide can comprise two or more parallel guide rails.

[0026] In an exemplary embodiment, the support segment and the lifting console are vertically movable with a pilger step characteristic when transferring a stack of load supports between the first side and the second side, wherein the transfer of a load support between the first side and the second side takes place via a horizontal movement. The pilger step characteristic also allows a transfer between the first and the second side during a transfer via a horizontal movement (without an additional vertical component in the movement of the load support during the transfer), even when load supports arranged one above the other engage with one another. The vertical component is therefore not generated on the side of the load support to be transferred, but by raising or lowering the stack from which the load support is removed and / or on which the load support is placed.

[0027] In an exemplary embodiment, the lifting bracket and the support segment are arranged facing away from each other on the at least one vertical guide, in particular each on its own vertical guide. In one embodiment, the lifting bracket and the support segment are mounted vertically movable on the support frame, with the support segment extending toward the first side and the lifting bracket extending toward the second side.

[0028] According to an exemplary embodiment, the support segment and the lifting console are coupled to one another via a common traction mechanism, in particular a positively coupled one, and can be moved in opposite directions along at least one vertical guide on the support structure. During operation, for example, the traction mechanism is firmly connected to the lifting console and to the support segment. This creates a movement coupling. When the support segment is moved by the vertical drive, the lifting console also moves automatically, at least in one corresponding embodiment. In an alternative embodiment, this also applies in reverse. When the support segment moves upwards, the lifting console moves downwards, and vice versa.

[0029] According to another exemplary embodiment, the joint vertical movements of the support segment and the lifting bracket each comprise a stroke of equal magnitude. This results in an oppositely directed vertical movement with the same stroke, at least according to one exemplary embodiment. The coupling of the support segment and the lifting bracket results in movements of equal magnitude but in opposite directions.

[0030] This can be achieved, for example, via a common traction mechanism that couples the support segment and the lifting bracket. The traction mechanism can be, for example, a toothed belt, a chain, a traction cable, a retractable pull rod, or the like. In one exemplary embodiment, the traction mechanism is redirected in an upper area of ​​the support structure, similar to an upside-down U. The redirection can be achieved by a roller, a wheel, or the like.

[0031] It is conceivable to design the tension member as an open tension member, similar to an upside-down U or an upright U. However, it is also conceivable to design the tension member as a closed tension member. In such a case, it is conceivable to provide a deflection for the tension member in the upper and lower sections of the framework.

[0032] The traction mechanism can also be a combined traction / push mechanism, allowing more than just tensile forces to be transmitted. The drive force can be introduced directly into the traction mechanism. However, it is also conceivable to introduce the drive force in another way and to use the traction mechanism primarily to couple the movement between the support segment and the lifting console.

[0033] In one exemplary embodiment, the support segment and the lifting bracket are each connected to the coupling link via a retaining piece for vertical movement. In other words, the support segment and the lifting bracket can be attached to the coupling link, so that a movement of the coupling link results in corresponding movements of the support segment and the lifting bracket.

[0034] According to another exemplary embodiment, the support segment is designed to engage beneath and lift a rolling conveyor designed to accommodate a stack of load supports arranged one above the other, with the lifting console having a support for directly receiving a stack of load supports. The lifting console is therefore not designed to engage beneath and lift the conveyor. The lifting console is designed to directly receive load supports. The support segment is designed to lift load supports indirectly via the intermediate conveyor.

[0035] According to another exemplary embodiment, the vertical drive acts on the support segment to move the support segment and, indirectly, the lifting console vertically in opposite directions. It is conceivable to couple the vertical drive to the support segment independently of the coupling link. For this purpose, the vertical drive can act directly on the support segment. The support segment is connected to the lifting console via the coupling link (e.g., a belt or similar traction device) to drive the movement.

[0036] The vertical movement can comprise a step characteristic or pilgrim step characteristic, depending on the respective vertical position. In this way, a stack of load supports held on the support segment can be gradually removed on the first side, while a stack of load supports can be built up on the lifting console on the second side.

[0037] In an exemplary embodiment, the vertical drive comprises a motor that acts on a screw drive or ball screw drive with a vertical main extension direction. In this way, a stationary motor can be provided, the output of which (e.g., a threaded spindle) is directly or indirectly coupled to the support segment. In this way, the support segment can be controlled with sufficient precision to achieve the desired movement characteristic (step characteristic or pilgrim step characteristic).

[0038] In an exemplary embodiment, the motor of the vertical drive is not directly connected to the coupling element, which is designed, for example, as a traction mechanism, to drive it. Instead, in this embodiment, the traction mechanism is driven indirectly via an output element (e.g., a threaded spindle) of the motor and via the support segment, which is coupled to both the traction mechanism and the output element. Furthermore, this can increase safety in the event of a coupling element failure, since the output element is not directly affected.

[0039] However, it is also conceivable to couple the vertical drive motor directly to the traction mechanism. This is ideal for designs in which the traction mechanism is designed for positive engagement, for example, as a chain or toothed belt.

[0040] In an exemplary embodiment, the vertical drive is arranged on the first side to act on the support segment there. Key components of the drive, such as the motor, primary power transmission, and the like, are located on the first side. This also helps keep the second side accessible for handling units, where workpieces can be separated or collected in a loading device.

[0041] In other words, for example, a control device is provided which controls the vertical drive in such a way that the support segment and the lifting console can be moved vertically step by step, optionally with a pilgrim step characteristic, due to the coupling formed therebetween when transferring a stack of loading aids between the first side and the second side.

[0042] The pilgrim step characteristic can be helpful, for example, when sufficient vertical clearance must be ensured between the bottom of a load support and a load support located below it in a stack, so that transfer between the first and second sides can take place exclusively or almost exclusively via a horizontal movement. This also applies to the last (bottom) load support in a stack, which rests directly on the lifting console and / or directly on the conveyor on the support segment. In this way, interlocking load supports can be released from one another.

[0043] According to a further exemplary embodiment, the stacking device further comprises a transfer unit designed to transfer a load aid between the first side and the second side, wherein a transfer opening is formed, in particular, on the support structure, which is passable for the transfer unit and is passable for a load aid. The transfer unit can also be referred to as a transfer unit. According to an exemplary embodiment, the support structure supports the transfer unit. According to an exemplary embodiment, the transfer opening is passable for exactly one load aid, wherein several load aids can pass through the transfer opening one after the other.

[0044] In one exemplary embodiment, the transfer unit is arranged above the support segment and the lifting console. The transfer unit ensures the transfer of load supports between the first side and the second side. In one exemplary embodiment, the first side and the second side are separated from each other at least in sections, in particular by a partition wall, wherein the partition wall is interrupted by the transfer opening.

[0045] According to an exemplary embodiment, the transfer opening is formed in the upper region of the frame. The transfer opening has, for example, a height and a width adapted to the height and width of the load supports, so that a load support can pass through the transfer opening, but the opening between the first and second sides is not too large. A single load support can pass through the transfer opening. This leads to specific handling of the individual load supports when a stack of multiple load supports is to be transferred between the first and second sides.

[0046] In one exemplary embodiment, the frame is enclosed by a partition wall, except for the transfer opening between the first and second sides. The transfer opening is located in one embodiment in the upper region of the frame and is designed such that two stacked loading aids cannot pass through.

[0047] According to another exemplary embodiment, the transfer unit comprises a suspended carrier with a locking mechanism for gripping and holding a load support. In one exemplary embodiment, the suspended carrier engages the load support from above to grip and hold it. This can be done with a positive and / or non-positive locking mechanism. The locking mechanism can be designed as an active or passive locking mechanism, i.e., with or without its own drive. The suspended carrier is designed, for example, as a shuttle that moves horizontally back and forth between the first side and the second side.

[0048] According to a further exemplary embodiment, the shared vertical drive of the support segment and the lifting console is specifically controlled to move to a desired vertical position relative to the transfer unit for picking up or releasing a load support. This involves a corresponding countermovement of the other part. The gripping of the load support by the suspended carrier can involve a targeted transfer stroke by the support segment or the lifting console. The release of the load support by the suspended carrier can involve a targeted takeover stroke by the support segment or the lifting console. This takes into account the fact that, according to certain embodiments, the suspended carrier itself cannot be moved vertically.

[0049] According to a further exemplary embodiment, the transfer unit has a horizontal drive which is arranged substantially on the first side at least when the horizontal drive has moved to the first side. In particular, the horizontal drive is arranged above the support segment on the first side. For example, the horizontal drive is located entirely or almost entirely on the first side when the suspended carrier has moved to the first side. This results in good accessibility from above on the second side. This can be used, for example, by a handling unit which removes workpieces from an upper loading aid or places them in it.

[0050] In an exemplary embodiment, the horizontal drive comprises an actuator in the form of a cylinder. For example, the horizontal drive comprises a fluidic cylinder that can be moved between two end positions. For example, such a cylinder comprises a cylinder housing with an extendable piston rod. However, actuators other than fluidic actuators are also conceivable, for example electric motors with threaded spindles or ball screws that interact with nut-like counterparts to generate a linear movement. In an exemplary embodiment, the transfer unit does not have a vertical drive. The loading aids, however, are provided by the vertical drive, which moves the support segment and the lifting console.

[0051] According to another exemplary embodiment, the transfer unit is positioned in a first position on the first side such that a loading aid carried by the lifting console on the second side is freely accessible from above for a handling unit. This applies to the upper loading aid of a stack. The transfer unit therefore does not interfere with further transfer and separation steps. Within the context of the present disclosure, freely accessible is to be understood as meaning that a handling unit can reach any locations for workpieces in the loading aid.

[0052] According to a further exemplary embodiment, the transfer unit has a horizontally movable horizontal carriage, which can be moved horizontally, in particular, in a constant vertical position. The suspended carrier is mounted on the horizontal carriage or is designed integrally with it.

[0053] According to a further exemplary embodiment, the transfer unit is horizontally telescopic, wherein the transfer unit in particular has a double guide movable relative to a guide base with two parallel guide sections, one of which is assigned to the guide base and the other to the horizontal slide. In this way, the horizontal installation space of the transfer unit can be limited, while still allowing sufficiently large horizontal travel distances.

[0054] According to another exemplary embodiment, the horizontal slide, the guide base, and the double guide are coupled to one another via a traction mechanism such that, when the double guide moves relative to the guide base, the horizontal slide is moved relative to the double guide, in particular in the same direction. This results in a coupled movement, so that for a given travel path of the horizontal drive, a larger travel path of the suspended support arranged on the horizontal slide is possible. The coupled movement allows the travel path of the horizontal drive to be converted into a travel path of the horizontal slide that is twice as large, at least in one exemplary embodiment.

[0055] In one exemplary embodiment, the guide base is fixed to the frame structure. The double guide can be moved relative to the frame structure along the guide base by the horizontal drive. The double guide carries a coupling element, designed, for example, as a traction mechanism, which is coupled on the one hand to the base guide and on the other hand to the horizontal guide to drive the movement. The traction mechanism can be, for example, a toothed belt, a chain, a traction cable, a deflectable pull rod, or the like. In one exemplary embodiment, the double guide has a deflection for the traction mechanism at each of its two ends. This enables the transfer unit to be telescopically extended, whereby no additional actuator is required.

[0056] According to another exemplary embodiment, the horizontal drive of the transfer unit is directly coupled to a coupling element of the transfer unit designed as a traction mechanism. In this way, the horizontal drive can be designed, for example, as a rotary drive and control the coupling element for moving the suspended beam. This is suitable, for example, for coupling elements designed for positive movement, such as a toothed belt or chain.

[0057] According to a further exemplary embodiment, two locations are provided on the first side and two on the second side for receiving a stack of loading aids, wherein the two stacks can be controlled and moved independently of one another. This increases the capacity of the stacking device. In an exemplary embodiment, both stacks on the second side can be reached by one and the same handling unit. By providing two locations on the first side and the second side, two functionally parallel conveyor paths can be realized, via which loading aids with workpieces can be fed in or removed. It is understood that embodiments with more than two locations on each of the first and second sides and correspondingly more than two conveyor paths are also conceivable. In this way, the workpiece capacity can be increased.

[0058] According to one embodiment, each of the two paths comprises a support segment and a lifting console, for which a common vertical drive is available for each path. Furthermore, each path is assigned a transfer unit with a horizontal drive. In one embodiment, the two paths are designed for parallel operation. In one exemplary embodiment, this precludes the transfer of individual load supports within the stacking device between the two paths.

[0059] If two such paths are provided, workpieces can be provided on the second side during machining and, if necessary, a switch between different loading aids can be made during machining. This further reduces unproductive downtime. Using the two paths, it is also possible to switch between different workpieces or different machining tasks. In this way, a further stack of loading aids can be provided on the second side next to the currently active stack, making it seamlessly available for handling tasks.

[0060] The two stations are arranged side by side, allowing two stacks to be handled side by side. The individual stacks can be processed in parallel during machining. This is also suitable for two stacks of workpieces of the same type. If a loading device for one of the two stacks needs to be transferred, the handling unit can move to the other stack.

[0061] If two paths are provided, each with two positions on the first side and the second side, the storage capacity of the stacking device also increases. The dual structure ensures increased redundancy during processing. It is also conceivable to use one path for the supply of workpieces to be processed (raw parts or semi-finished products) and the other path for the receipt and delivery of processed workpieces (finished parts). This is conceivable, for example, if the same loading device cannot or should not accommodate both workpieces before and after processing.

[0062] The present disclosure relates to an automation module having a stacking device according to at least one of the embodiments described herein, and having a handling unit configured to transfer workpieces between a loading aid provided by the stacking device and a machine tool.

[0063] Such an automation module can be designed to be mobile. The automation module can be coupled to a machine tool if necessary. Accordingly, the stacking device and the handling unit can be structurally combined. Other designs are conceivable. The automation module with the handling unit handles workpiece changes, i.e., loading and unloading the machine tool. The handling unit can remove workpieces from the loading aids provided on the second side of the stacking device and transfer them to them. Since the stacking device can have considerable buffer capacity, a batch of workpieces can be processed semi-automatically or fully automatically. This includes, for example, loading and unloading, i.e., workpieces before and after processing in the machine tool.

[0064] The transfer between the stacking device and the machine tool can be direct or indirect. Additional buffer storage is conceivable. The handling unit is designed, for example, as a robot or handling robot. In one exemplary embodiment, it is an articulated-arm robot. This is not to be understood as a limitation. In one exemplary embodiment, the handling unit is mounted on the floor (upright). In another exemplary embodiment, the handling unit is mounted on the ceiling (suspended).

[0065] According to a further aspect, the present disclosure relates to a manufacturing system according to claim 13 with a machine tool and an automation module according to at least one of the embodiments described herein.

[0066] A machine tool is, in particular, a processing machine. Generally, a machine tool is a machine for subtractive and / or additive machining.

[0067] According to a further aspect, the present disclosure relates to a method according to claim 14 for loading a machine tool, in particular for an automated workpiece change, comprising the following steps: Providing a stacking device comprising a base, a frame supported by the base and carrying at least one first vertical guide and at least one second vertical guide, a first side with a vertically movable support segment for receiving a conveyor carrying two or more stacked load supports, wherein the first vertical guide is assigned to the first side, and wherein the support segment is movable along the first vertical guide, a second side with a vertically movable lifting console for receiving at least one load support, which is designed to carry two or more stacked load supports, wherein the second vertical guide is assigned to the second side, and wherein the lifting console is movable along the second vertical guide on the frame, wherein the support segment and the lifting console are arranged facing away from each other on the frame, and a transfer unit,which is designed to transfer a loading aid horizontally between the first side and the second side, wherein the support segment and the lifting console are forcibly coupled to one another via a common coupling element and can be moved vertically in opposite directions on the support structure via a common vertical drive, feeding a conveyor carrying a stack of at least two loading aids arranged one above the other to the first side, receiving the conveyor with the loading aids by the support segment, vertically moving the support segment so that an upper loading aid can be grasped by the transfer unit, gripping the upper loading aid by the transfer unit, horizontally moving the loading aid with the transfer unit from the first side to the second side, and vertically moving the lifting console such that,that the loading aid can be placed as an upper loading aid from the transfer unit onto the lifting console or onto a loading aid already provided there, whereby the vertical movement of the support segment and the vertical movement of the lifting console are forcibly coupled and in particular by means of a pilgrim step characteristic.

[0068] It is understood that the method according to the disclosure can be designed analogously to the embodiments of the automation module and the manufacturing system according to the disclosure, and vice versa.

[0069] The disclosed method allows for the semi-automated or fully automated provision of loading aids with a plurality of workpieces, while providing good accessibility for separation. Furthermore, the coupled or positively coupled vertical movement of the support segment and the lifting console enables coordinated movement in a simple manner without the need for separate drive units.

[0070] A stack typically comprises two or more load supports. The upper load support of a stack is the load support accessible from above, which is arranged above at least one other load support. If, in a configuration, only one load support is arranged on the lifting console or the support segment, this can also be considered the upper load support.

[0071] The coupled movement of the support segment and the lifting console simplifies the transfer of a plurality of load supports between the first side and the second side. In other words, the support segment is raised step by step with the conveyor as a stack of load supports is transferred piece by piece by the transfer unit to a stack forming on the lifting console on the second side. This includes a similarly step-by-step lowering movement of the lifting console.

[0072] The vertical movements of the support segment and the lifting console are adapted to each other. The initial height (or the initial height offset between the support segment and the lifting console) can be influenced by adjusting the length of the coupling link between the support segment and the lifting console. The vertical movements of the support segment and the lifting console can exhibit a pilgrim-step characteristic if an upper load carrier is to be lifted from and / or placed onto a load carrier located below it.

[0073] According to an exemplary embodiment of the method, after the loading aid has been deposited from the second side, the transfer unit is moved horizontally back to the first side, so that a further loading aid is removed from the conveyor and deposited on the loading aid already ready on the lifting console, wherein the removal of individual workpieces for processing purposes takes place starting with the upper loading aid of a stack held by the lifting console.

[0074] According to this configuration, the entire stack (multiple load carriers) is transferred between the first side and the second side. Starting with the upper load carrier of the stack on the second side (this load carrier may have been the lower load carrier of the stack on the first side), the handling unit can begin separating and transferring the workpieces.

[0075] According to another exemplary embodiment, workpieces are deposited after processing in the upper loading aid of the stack held by the lifting console, so that when completely filled, the upper loading aid can be moved from the second side back to the first side by the transfer unit. This includes, for example, coupled and opposing vertical movements of the support segment and the lifting console.

[0076] Starting with the upper loading aid, the stack is transferred back to the first side. This is also possible with an empty loading aid if machined workpieces are removed elsewhere. In other words, the parts to be machined in a stack are first transferred in their entirety from the first side to the second side. There, starting with the upper loading aid, the transfer to the machine tool begins.

[0077] Machined workpieces can be placed in the same load carrier. It is also conceivable to place machined workpieces in a different load carrier, for example, in a separate location belonging to a second conveyor path. Once an upper load carrier is completely empty or a complete replacement of unmachined workpieces with machined workpieces has been completed, this load carrier can be transferred back to the first side using the transfer unit. This process can be continued with the other load carriers located below.

[0078] Further features and advantages of the disclosure will become apparent from the following description and explanation of several exemplary embodiments with reference to the drawings. Fig. 1: a perspective view of an embodiment of a stacking device; Fig. 2: a further perspective detailed view of the stacking device according toFig. 1 to illustrate a lifting drive, in a different orientation, whereby various components are hidden for illustrative purposes; Fig. 3: a further perspective detailed view of the stacking device according to Fig. 1 to illustrate a transfer unit with a horizontal drive, whereby various components are hidden for illustrative purposes; Fig. 4: a Fig. 3 based perspective detail view, with the transfer unit in one of Fig. 3 different operating position; Fig. 5: an enlarged side view based on the illustration in Fig. 4 ; Fig. 6: a schematic side view of an embodiment of an automation module with a stacking device and a handling unit; Fig. 7: a further view of the automation module according to Fig. 6 , wherein the stacking device is arranged in one of Fig. 6different operating position is shown; Fig. 8: a schematic side view of an embodiment of a manufacturing system; Figs. 9-12: various schematic side views of a stacking device to illustrate a stacking sequence; Fig. 13: a diagram to illustrate a coupled lifting movement with pilgrim step characteristics in an embodiment of a stacking device; Fig. 14: a further simplified side view of a stacking device with an associated handling unit to illustrate an access area for the handling unit; Fig. 15: a simplified schematic plan view of a stacking device with two parallel conveyor paths to which a handling unit is associated; and Fig. 16: a block diagram to illustrate an embodiment of a method for loading a machine tool.

[0079] The invention is defined in the independent claims. Preferred embodiments of the invention are specified in the dependent claims.

[0080] With reference to Fig. 1 and with additional reference to the Figures 2-5 exemplary designs, features and functionalities of a stacking device designated overall by 10 are illustrated.

[0081] Fig. 1 shows a perspective view of a stacking device 10. Fig. 2 shows a detailed view of the stacking device 10 in one of Fig. 1 different orientation. The Figures 3-5Using detailed views, they illustrate different states of an assembly of the stacking device 10. The stacking device 10 can also be referred to as a palletizing device or as a combined palletizing and depalletizing device 10. The stacking device 10 is suitable for use in connection with the automation of machine tools.

[0082] The stacking device 10 comprises a base 12, which can also be referred to as a frame or rack. The base 12 can be designed to be rollable or mobile. The base 12 supports a support structure 16, which in the exemplary embodiment comprises vertically oriented supports 18, 20, 22 and a cross member 24. The cross member 24 can also be referred to as the upper cross member.

[0083] The stacking device 10 comprises a first side 30 and a second side 32. In the exemplary embodiment, the framework 16 separates the first side 30 and the second side 32 from each other. The exemplary embodiment according to Fig. 1 further comprises a first conveyor path 34 and a second conveyor path 36, compare the double arrows in Fig. 1 The two conveyor paths 34, 36 are designed independently of each other. In terms of detailed design, the conveyor paths 34, 36 are similar or identical, so the following explanations apply to both conveyor paths 34, 36.

[0084] The stacking device 10 serves to transfer a plurality of loading aids 40, 42, 44, 46 (see also the Figures 6-12 ) with workpieces accommodated therein between the first side 30 and the second side 32. The loading aids 40, 42, 44, 46 are designed, for example, as pallets, containers, bins, trays, and the like. In the exemplary embodiment, the loading aids 40, 42, 44, 46 have spaces 48 for accommodating a plurality of workpieces.

[0085] In the exemplary embodiment, the framework 16 supports a partition wall 50 which extends essentially vertically (along a vertically oriented plane). The partition wall 50 separates the first side 30 and the second side 32 from one another. A transfer opening 52 is formed above the partition wall 50. In the exemplary embodiment, a transfer opening 52 is provided for each of the first conveyor path 34 and the second conveyor path 36. In the exemplary embodiment, the transfer opening 52 has a width and height which allows a loading aid 40, 42, 44, 46 to pass through. The transfer opening 52 is designed, for example, such that exactly one loading aid 40, 42, 44, 46 can pass through.

[0086] The framework 16 carries at least one vertical guide 58, 60. In the exemplary embodiment, a first vertical guide 58 is provided, which faces the first side 30, see also Fig. 2Furthermore, a second vertical guide 60 is provided, which faces the second side 32. In the exemplary embodiment, each of the vertical guides 58, 60 comprises two guide rails. This is not to be understood as limiting. A support segment 64 is arranged for vertical movement on the first vertical guide 58. A lifting bracket 66 is arranged for vertical movement on the second vertical guide 60.

[0087] In the example (compare Fig. 2) a locking mechanism 68 is assigned to the support segment 64. The support segment 64 is designed to engage beneath and lift a conveyor 70. The locking mechanism 68 secures the position of the conveyor 70 on the support segment 64. The conveyor 70 is, for example, a conveyor trolley 72. Other conveyors or industrial trucks are conceivable. The conveyor 70 is designed to receive a stack of loading aids 40, 42, 44, 46 and can be fed with these to the first side 30 of the stacking device 10. The loading aids 40, 42, 44, 46 do not have to be removed from the conveyor 70 beforehand. The loading aids 40, 42, 44, 46 can move into the stacking device 10 together with the conveyor 70 and can be lifted there by the support segment 64. In the exemplary embodiment, the support segment 64 engages under a base plate of the conveyor carriage 72 between its wheels in order to lift the conveyor carriage 72.

[0088] The stacking device 10 has a vertical drive 74. A vertical drive 74 is provided for each conveyor path 34, 36. In the exemplary embodiment, the vertical drive 74 comprises a motor 76, which is arranged at the upper end of the frame 16, for example, adjacent to the cross member 24. The motor 76 is mounted on a motor bracket 78, which is fixedly connected to the frame 16, see Fig. 2 The motor 76 is embodied, for example, as an electric motor. The motor 76 drives a spindle 80, which is embodied, for example, as a threaded spindle or ball screw. In the exemplary embodiment, the spindle 80 cooperates with a drive nut 82. When the spindle 80 rotates, the drive nut 82 is moved vertically.

[0089] A vertically movable travel bracket 84 supports the drive nut 82. The travel bracket 84 is connected to the support segment 64 and, together, is mounted vertically movable on the vertical guide 58 via a carriage 86. When the motor 76 of the vertical drive 74 is activated to drive the spindle 80 in rotation, this causes a vertical movement of the travel bracket 84 supporting the drive nut 82 and, consequently, a vertical movement of the support segment 64. In this way, the conveyor 70, together with the stack of loading aids 40, 42, 44, 46 arranged thereon, can be raised or lowered.

[0090] According to the disclosure, the movement of the support segment 64 on the first side 30 is coupled with the movement of the lifting bracket 66 on the second side 32. This is done in the exemplary embodiment via a coupling member 90, compare again Fig. 1 and Fig. 2In the exemplary embodiment, the coupling link 90 is guided over a deflection means 92, for example, a deflection pulley. The coupling link 90 is embodied, for example, as a traction means 96. The traction means 96 is designed, for example, as a toothed belt, pull rod, pull wire, strand, belt, chain, or similar. For illustrative purposes, the exemplary design of the traction means 96 as a toothed belt is used below.

[0091] Fig. 2illustrates that the coupling link 90, designed here as a traction means 96, is guided similarly to an inverted U using the deflection 92 between the first side 30 and the second side 32. A first end of the coupling link 90 is connected to the carriage 86 and consequently to the travel console 84 and the support segment 64 by a holding piece 94 for movement transmission. A second end of the coupling link 90 is connected to the lifting console 66 for movement transmission. In the exemplary embodiment, this is achieved via a holding piece 100 arranged on a carriage 98, which is assigned to the second end of the coupling link 90. ​​The carriage 98 of the lifting console 66 is arranged so as to be vertically movable on the second vertical guide 60.

[0092] The lifting console 66 further comprises a support 102 for (direct) receiving of loading aids 40, 42, 44, 46. In the embodiment according to the Figures 1 and 2Loading aids 40, 42, 44, 46 are arranged directly on the support 102 of the lifting console 66 on the second side 32. In contrast, the support segment 64 arranged on the first side 30 serves to indirectly accommodate such loading aids 40, 42, 44, 46. The loading aids 40, 42, 44, 46 are arranged on the first side 30 indirectly via the conveyor 70 on the support segment 64 or are held by it.

[0093] In addition to the vertical drive 74, the stacking device 10 comprises a transfer unit 110, which has a horizontal drive 112. The design of the transfer unit 110 is described with additional reference to the Figures 3-5 The transfer unit 110 is arranged above the support segment 64 and the lifting bracket 66. In the exemplary embodiment, the transfer unit 110 is arranged at the upper end of the support frame 16, adjacent to the cross member 24.

[0094] The transfer unit 110 comprises the horizontal drive 112. The horizontal drive 112 comprises an actuator 114, which in the exemplary embodiment is designed as a cylinder or linear cylinder. The actuator 114 can be a fluidic actuator. This is not to be understood as limiting. The transfer unit 110 further comprises a horizontal carriage 118, which can be moved horizontally directly or indirectly by the actuator 114. In this way, loading aids 40, 42, 44, 46, which have been moved vertically by the vertical drive 74 of the support segment 64 or the lifting console 66, can be exchanged horizontally between the first side 30 and the second side 32.

[0095] In the exemplary embodiment, the horizontal slide 118 carries a suspension support 120, which has a locking mechanism 122 (compare Fig. 1 and Fig. 2). The locking mechanism 122 is designed, for example, to hold a (single) loading aid 40, 42, 44, 46 in a form-fitting and / or force-fitting manner and to secure it to the hanging support 120. The hanging support 120 is designed to contact an upper side of a loading aid 40, 42, 44, 46 or to secure an upper region of the loading aid 40, 42, 44, 46 with the locking mechanism 122.

[0096] Similar to a shuttle, the hanging carrier 120 can be moved back and forth between the first side 30 and the second side 32. The hanging carrier 120 is designed to grip and hold a loading aid 40, 42, 44, 46. Fig. 3 illustrates a state in which the hanging support 120 is arranged on the first side 30. The Figures 4 and 5 illustrate a state in which the hanging bracket 120 is arranged on the second side 32.

[0097] In the embodiment according to the Figures 3-5The transfer unit 110 is telescopic. This has the advantage that at least in the Fig. 3 In the position shown, the second side 32 is not blocked or only slightly blocked by the transfer unit 110. Thus, the second side 32 is accessible, for example, for a handling unit in order to remove workpieces from a loading aid 40, 42, 44, 46 or to transfer them to it.

[0098] In the exemplary embodiment, the actuator 114 of the horizontal drive 112 has a housing 126, which can also be referred to as a cylinder. The housing 126 is attached to a holding plate 128, which in turn is fixed to the frame on the support structure 16. The actuator 114 further comprises a rod 130, which can also be referred to as a piston rod. The rod 130 can extend out of the housing 126 or retract into the housing 126. The rod 130 has a head piece 132, which in the exemplary embodiment is coupled to a driver 136. When the housing 126 is fixed to the frame, the driver 136 can be moved horizontally in translation via the rod 130 and the head piece 132.

[0099] The driver 136 is coupled to a double guide 140 for movement. When the driver 136 is moved horizontally by the actuator 114, the double guide 140 is also moved horizontally. The double guide 140 has a first guide section 142 and a second guide section 144. The first guide section 142 is coupled to the horizontal slide 118. The second guide section 144 is coupled to a guide base 146, which is fixed to the holding plate 128 or the housing 126 of the actuator 114. In the exemplary embodiment, the first guide section 142 is a lower guide section and the second guide section 144 is an upper guide section.

[0100] The movement of the rod 130 and the head piece 132 moves the double guide 140 relative to the guide base 146 directly via the driver 136. In the exemplary embodiment, the double guide 140 has two parallel double guide rails which are connected to one another via an intermediate plate 150.

[0101] The horizontal guide 118 is functionally coupled to the guide base 146 and the double guide 140 via a coupling link 152, in the exemplary embodiment in the form of a traction mechanism 154. The coupling link 152 can be designed as a chain, belt, or in some other form as a traction mechanism 154. In the exemplary embodiment, the traction mechanism 154 is a toothed belt.

[0102] In the exemplary embodiment, the coupling link 152 is a rotating coupling link and is guided via two deflections 156, 158. The deflections 156, 158 are each designed as rollers. The coupling link 152 is firmly coupled to the horizontal slide 118 or the suspended support 120 via a holding piece 160 for movement transmission. The coupling link 152 is firmly coupled to the guide base 146 or the holding plate 128 via a holding piece 162 for movement transmission. This functional coupling results in, on the one hand, when the actuator 114 is extended, the double guide 140 is moved directly in a translational and horizontal manner via the rod 130, and, furthermore, the horizontal slide 118 and, with it, the suspended support 120 are additionally moved in a translational and horizontal manner along the double guide 140, in particular in the same direction. This results in the telescopic movement of the transfer unit 110.A loading aid 40, 42, 44, 46 can be moved by the transfer unit 110 between the first side 30 (support segment 64) and the second side 32 (lifting console 66).

[0103] The telescopic nature of the transfer unit 110 has the advantage that essential frame-fixed components of the transfer unit 110 are arranged on the first side 30, and that in a position of the suspension support 120 on the first side 30 (cf. Fig. 3 ) the second side 32 is not or not excessively stressed by the transfer unit 110. In other words, the second side 32 is available for a handling unit or the like. The transfer unit 110 can be moved completely or almost completely onto the first side 30.

[0104] Fig. 6 and Fig. 7illustrate an automation module designated 200, which has the stacking device 10 and a handling unit 210. In the exemplary embodiment, the stacking device 10 and the handling unit 210 use the same base 12. The handling unit 210 is assigned to the second side 32 of the stacking device 10. In other words, the stacking device 10 can transfer loading aids 40, 42, 44, 46 between the first side 30 and the second side 32 so that the handling unit 210 can remove or deposit workpieces on the second side 32.

[0105] The handling unit 210 is configured, for example, as a robot 212, in particular as an industrial robot, articulated-arm robot, or the like. In the exemplary embodiment, the handling unit 210 comprises various members that are movable (in particular pivotable) relative to one another. In the exemplary embodiment, the handling unit 210 is mounted on the base 12. The handling unit 210 comprises a workpiece gripper 214 that can reach an upper loading aid 40, 42, 44, 46 of a stack of loading aids 40, 42, 44, 46 on the second side 32 and can grip or deposit workpieces there.

[0106] In Fig. 6 the suspension carrier 120 of the transfer unit 110 is positioned on the second side 32 to receive or deliver a loading aid 40, 42, 44, 46. In Fig. 7The suspension carrier 120 of the transfer unit 110 is positioned on the first side 30 to pick up or drop off a loading aid 40, 42, 44, 46. In the exemplary embodiment, the transfer unit 110 is essentially limited to horizontal movements of the suspension carrier 120. Fig. 7 illustrates how the locking mechanism 122 can engage a load aid 40, 42, 44, 46 to lift the load aid 40, 42, 44, 46 and secure it to the hanging beam 120.

[0107] The provision of the loading aids 40, 42, 44, 46 (the upper loading aid 40, 42, 44, 46 of the stack) by the support segment 64 is carried out by a lifting movement of the support segment 64, compare the double arrow 220 in Fig. 7 . Likewise, the loading aids 40, 42, 44, 46 can be provided by a lifting movement of the lifting console 66, compare the arrow 222 in Fig. 7. The lifting movements 220, 222 of the support segment 64 and the lifting bracket 66 are mechanically coupled in the exemplary embodiment. A coupling element 90 is provided for coupling the support segment 64 and the lifting bracket 66 (in the Figures 6 and 7 only indicated by dashed lines).The lifting bracket 66 is lowered by the amount by which the support segment 64 is raised, and vice versa.

[0108] The transfer unit 110 can move the suspended beam 120 horizontally, see arrow 224. Since in the exemplary embodiment the suspended beam 120 of the transfer unit 110 cannot be moved vertically, lifting movements 220, 222 of the support segment 64 or lifting console 66 are also required for direct transfer with the suspended beam 120. The lifting movements 220, 222 are controlled by a single vertical drive 74 ( Fig. 1 and Fig. 2 ) is generated.

[0109] Fig. 8illustrates a manufacturing system designated 300. The manufacturing system 300 comprises a machine tool 310 and an automation module 200 coupled to the machine tool 310. The automation module 200 comprises a handling unit 210 and a stacking device 10. The base 12 of the stacking device 10 is designed to be movable in the exemplary embodiment and is provided with a chassis 230. In this way, the automation module 200 can be coupled to the machine tool 310 as needed to automate the loading process.

[0110] The machine tool 310 comprises a bed 312 that supports a horizontal guide 320, which supports a carriage 322, which supports a horizontal guide 324. The horizontal guides 320 and 324 are oriented perpendicular to one another. The horizontal guide 324 is assigned to another carriage 326, which supports a vertical guide 328. A tool spindle 330 is mounted vertically movable on the vertical guide 328. The tool spindle 330 is designed to hold a machining tool. The tool spindle 330 is movable in three axes relative to a workpiece table 340 via the guides 320, 324, 328. In the exemplary embodiment, the workpiece table 340 is designed to hold workpieces 342, 344. For example, the workpiece table 340 comprises places for two workpieces 342, 344, wherein the workpiece table 340 is rotatable so that one workpiece 342, 344 is in a preparation position and another is in a processing position.This is not to be understood as restrictive.

[0111] The handling unit 210 can transfer workpieces 342, 344 between the second side 32 of the stacking device 10 and the machine tool 310. In this way, a semi-automated or highly automated loading process can be realized. An advantage in this context is that the stacking device 10 can also serve as a buffer storage unit. Workpieces 342, 344 in individual form are exchanged between the second side 32 of the stacking device 10 and the machine tool 310. The exchange of workpieces 342, 344 with the surroundings takes place in batches using the loading aids 40, 42, 44, 46 via the first side 30 of the stacking device 10.

[0112] With reference to the Figures 9-12 an operating mode of the stacking device 10 is illustrated. In Fig. 9A complete stack of four loading aids 40, 42, 44, 46 (I-IV) is arranged on the first side 30. Using the lifting movements (220, 222 in Fig. 7 ) and the horizontal movement (224 in Fig. 7 ) the stack is dismantled step by step, whereby individual loading aids 40, 42, 44, 46 are taken over by the hanging carrier 120 of the transfer unit 110 and transferred from the first side 30 to the second side 32 (see Fig. 10 and Fig. 11 ). The support segment 64 on the first side 30 is raised step by step to feed the remaining load supports 40, 42, 44, 46 (I-IV) to the transfer unit 110. Due to the coupled movement, the lifting console 66 on the second side 32 is lowered step by step. In this way, sufficient space is available on the second side 32 to accommodate the load supports 40, 42, 44, 46 (I-IV).

[0113] The loading aid (see designation I in the Figures 9-12), which is arranged at the top in the stack on the support segment 64 on the first side 30, is transferred first and is consequently located at the bottom in the stack on the lifting console 66 on the second side 62. The sequence (top-bottom) therefore changes during the transfer between the first side 30 and the second side 32. This can be used in such a way that, for example, when a stack of loading aids 40, 42, 44, 46 with new workpieces to be processed is provided on the first side 30, the stack is first completely transferred to the second side 32. There, starting from the upper loading aid 40, 42, 44, 46 (in Fig. 12 IV) Workpieces are separated and removed by the handling unit 210 and fed for processing in the machine tool 310.

[0114] In this way, the upper loading aid 40, 42, 44, 46 of a stack can be gradually emptied. It is also conceivable to replace unprocessed workpieces with processed workpieces. Once the upper loading aid 40, 42, 44, 46 on the second side 32 has been completely processed, it can be returned to the first side 30 to the support segment 64. The loading aid 40, 42, 44, 46 can be placed there on the conveyor 70. In this way, the stack of loading aids 40, 42, 44, 46 on the second side 32 can be processed piece by piece.

[0115] In the exemplary embodiment, the lifting movement of the support segment 64 and the lifting console 66 has an opposing step characteristic. Fig. 13 illustrated in connection with the Figures 6, 7 and 9-12An exemplary pilgrim step characteristic. It has already been indicated above that the transfer unit 110 with the suspended support 120 can be moved exclusively horizontally in certain configurations. Accordingly, both the provision (feed) and lifting movements for transferring or receiving load supports 40, 42, 44, 46 are carried out by vertical movements of the support segment 64 and the lifting console 66. The positive coupling results in a symmetrical design.

[0116] Fig. 13 shows a diagram. The abscissa 240 represents time. The ordinate 242 represents a respective vertical position (lifting position). The diagram is divided into segments I-IV. Segments I-IV each refer to the handling of one of the loading aids 40, 42, 44, 46 marked I-IV in the Figures 9-12. A curve 250 describes the current lifting position of the support segment 64. A mirror-inverted curve 252 describes the corresponding lifting position of the lifting console 66. The reference numeral 254 designates a starting position of the support segment 64, the reference numeral 256 designates a starting position of the lifting console 66, compare Fig. 9 .

[0117] The movements of support segment 64 and lifting console 66 in segments I-IV are each characteristic and mirror-inverted to each other. As an example, the transfer of the lower loading aid 40 on the conveyor 70 on support segment 64 is described with reference to segment IV; see Figs. 11 and 12The support segment 64 is raised further from the lifting position previously assumed in segment III when the corresponding load support 42 (III) has been transferred to the second side 32. Reference numeral 260 describes a lift during which the load support 40 has moved far enough toward the suspended support 120 of the transfer unit 110 to enable transfer by the suspended support 120. However, since the load supports 40, 42, 44, 46 are nested with one another and possibly with the conveyor 70 in the exemplary embodiment, a slight lowering of the support segment 64 is required starting from this extreme lifting position (transfer lift 260). The transfer lift 260 is reflected in a counter-lift 262 on the lifting console 66.

[0118] After resetting (lowering) the support segment 64, sufficient space is available so that the transfer unit 110 with the suspended carrier 120 can move the load support 40 (I) horizontally from the first side 30 to the second side 32. If the load support 40 (I) were to be released from the suspended carrier 120 without further action, the load support 40 (I) would fall down a short distance. Therefore, the lifting console 66 is now raised a short distance (transfer stroke 266) so that the load support 40 (I) can be placed seamlessly on the waiting stack of load supports 42, 44, 46 (II-IV). The transfer stroke 266 on the side of the lifting console 66 is mirrored by a counterstroke 264 on the side of the support segment 64. To release the transfer unit 110 with the suspended beam 120 and allow it to move back to the first side 30, the lifting console 66 is finally lowered slightly again. This results in an overall pilgrim step characteristic.The actually continuous lifting movement (without change in the sign of the gradient) is interrupted at least briefly by a counter-directional lifting movement (brief change in the sign of the gradient).

[0119] Fig. 14 based on Fig. 12 and illustrates a free space 270 above the stack of loading aids 40, 42, 44, 46, which results when the transfer unit 110 with the hanging carrier 120 has been moved back to the first side 30. The top of the stack of loading aids 40, 42, 44, 46 is easily accessible to the handling unit 210, so that the gripper 214 can remove or deposit workpieces. The free space 270 also results from the telescoping nature of the transfer unit 110, which, in the exemplary embodiment, is arranged completely or almost completely on the first side 30 when the horizontal drive 112 is retracted.

[0120] With reference to Fig. 15A two-channel design is illustrated using a top view of a stacking device 10 with associated handling unit 210. Compare Fig. 1 The stacking device 10 has a first conveyor path 34 and a second conveyor path 36, which in the exemplary embodiment are oriented functionally and spatially parallel to one another. Each of the conveyor paths 34, 36 extends between the first side 30 and the second side 32. The first conveyor path 34 comprises a receiving location 280 on the first side 30. The second conveyor path 36 comprises a receiving location 282 on the first side 30. A conveyor 70 with loading aids 40, 42, 44, 46 received thereon can be fed to each of the receiving locations 280, 282, where it can be received on a support segment 64 and raised as needed. This can take place independently of one another at the receiving locations 280, 282.

[0121] The first conveyor path 34 includes a staging area 284 on the second side 32. The second conveyor path 36 includes a staging area 286 on the second side 32. A vertically movable lifting console 66 is provided there, which is designed to accommodate a stack of loading aids 40, 42, 44, 46. The loading aids 40, 42, 44, 46 can be transferred within a conveyor path 34, 36 between the first side 30 and the second side 32. In the exemplary embodiment, it is not possible to change a loading aid 40, 42, 44, 46 between the conveyor paths 34, 36. The support structure 16 defines a parting plane 290 between the first side 30 and the second side 32.

[0122] The use of two conveyor paths 34, 36, each with a receiving location 280, 282 and a provision location 284, 286, increases the flexibility, redundancy, and performance of the stacking device 10. Additional applications can be covered in this way. For example, one of the two conveyor paths 34, 36 is used to supply unprocessed workpieces, while the other of the two conveyor paths 34, 36 is used to remove processed workpieces. This is not to be understood as a limitation. It is also conceivable for both unprocessed and processed workpieces to be guided back and forth along one and the same conveyor path 34, 36. In the exemplary embodiment, both conveyor paths 34, 36, in particular both provision locations 284, 286 on the second side 32, are served by one and the same handling unit 210. This is not to be understood as a limitation.

[0123] With reference to Fig. 16An embodiment of a method for loading a machine tool with workpieces is illustrated using a block diagram. A first step S10 comprises the provision of a stacking device according to at least one of the embodiments described herein. In particular, the stacking device has a vertically movable support segment for receiving a conveyor with a plurality of loading aids, which is positively coupled to a vertically movable lifting console for receiving a stack of loading aids.

[0124] A further step S12 involves feeding a conveyor with a stack of loading aids. The conveyor can be driven or driveless. The conveyor is, for example, fed to a receiving location on a first side of the stacking device and placed there above a support segment. This can be followed by a step S14, which involves the support segment engaging underneath the conveyor with the loading aids arranged thereon.

[0125] In a further step S16, the support segment, together with any load aids arranged thereon, is lifted in order to feed an upper load aid to a transfer unit, in particular to a suspended carrier located there. This lifting movement leads to a positively coupled vertical movement of a lifting console on the opposite, second side of the stacking device. If the upper load aid is positioned close enough to the suspended carrier, the load aid can be gripped and secured by the suspended carrier in a step S18, for example using a locking mechanism on the suspended carrier that engages the load aid in a form-fitting and / or force-fitting manner. The support segment can then be reset slightly downwards to release the upper load aid.

[0126] In a subsequent step S20, the load aid held by the overhead carrier is moved horizontally from the first side to the second side by the transfer unit. Due to the coupled lifting movement, the lifting console for receiving the load aid is already in a favorable starting position. This can be followed by a step S22, which includes a receiving stroke of the lifting console towards the load aid on the overhead carrier in order to be able to seamlessly receive the load aid from the overhead carrier. The receiving by the lifting console takes place in a step S24, which can include a limited resetting of the lifting console in order to enable the overhead carrier of the transfer unit to return from the second side to the first side.

[0127] In the exemplary embodiment, a counter (reference symbol S26) is provided which ensures that steps S16-S24 are carried out several times, corresponding to the number of loading aids to be transferred between the first side and the second side. Finally, in the exemplary embodiment, all loading aids that are made available on the first side via the conveyor are transferred to the second side. There, with the aid of a handling unit, they can be separated and transferred between the second side and a machine tool. If the machined workpieces are handed over to the loading aids again after processing, the method can be carried out in reverse, at least in sections, in order to transfer the loading aids from the second side back to the first side and deposit them there on the conveyor.A similar situation can occur if processed workpieces are removed elsewhere and empty loading aids are transferred back to the first side instead.

Claims

1. An automation module comprising a stacking device for handling loading aids (40, 42, 44, 46) for an automated feeding of a machine tool (300), in particular for an automated workpiece change, and a handling unit (210) that is arranged to transfer workpieces (342, 344) between a loading aid (40, 42, 44, 46) provided by the stacking device (10) and the machine tool (300), the stacking device (10) comprising: - a base (12), - a stud frame (16) supported by the base (12), - a first side (30) having a vertically movable support segment (64) for receiving a conveyor (70) carrying two or more loading aids (40, 42, 44, 46) that are arranged one above the other and that form a stack, and - a second side (32) having a vertically movable lifting console (66) for receiving at least one loading aid (40, 42, 44, 46), wherein the lifting console (66) is configured to support two or more loading aids (40, 42, 44, 46) that are arranged one above the other and that form a stack, characterized in that the stud frame (16) carries at least one first vertical guide (58) and at least one second vertical guide (60), wherein the first vertical guide (58) is assigned to the first side (30), and wherein the support segment (64) is movable along first vertical guide (58), wherein the second vertical guide (60) is assigned to the second side (32), and wherein the lifting console (66) is movable along second vertical guide (60) at the stud frame (16), wherein the support segment (64) and the lifting console (66) are arranged on the stud frame (16) in a manner facing away from one another, and wherein the support segment (64) and the lifting console (66) are coupled to one another via a common coupling member (90) in a forced coupling and are vertically movable in opposite directions at the stud frame (16) via a common vertical drive (74).

2. The automation module according to claim 1, wherein the support segment (64) and the lifting console (66) are vertically movable with a pilgrim step characteristic when transferring the stack of loading aids (40, 42, 44, 46) between the first side (30) and the second side (32), and wherein the transfer of a loading aid (40, 42, 44, 46) between the first side (30) and the second side (32) is effected by a horizontal movement.

3. The automation module according to claim 1 or 2, wherein the coupling member (90) is configured as a traction means (96), and wherein the common vertical movements (220, 222) of the support segment (64) and the lifting console (66) each comprise a stroke of the same amount.

4. The automation module according to any one of claims 1-3, wherein the support segment (64) is configured to engage under and lift a rollable conveyor (70) that is configured to receive the stack of loading aids (40, 42, 44, 46) arranged one above the other, and in that the lifting console (66) has a support (102) for directly receiving the stack of loading aids (40, 42, 44, 46).

5. The automation module according to any one of claims 1-4, wherein the vertical drive (74) acts on the support segment (64) to move the support segment (64) and mediately the lifting console (66) vertically in opposite directions to each other with a step characteristic or pilgrim step characteristic.

6. The automation module according to any one of claims 1-5, wherein the stacking device (10) further comprises a transfer unit (110), which is configured to transfer a loading aid (40, 42, 44, 46) between the first side (30) and the second side (32), wherein at the stud frame (16) a transfer opening (52), which can be passed by the transfer unit (110) and can be passed by a loading aid (40, 42, 44, 46), is formed, and wherein the transfer unit (110) particularly comprises a hanging carrier (120) having a locking mechanism (122) for gripping and holding a loading aid (40, 42, 44, 46).

7. The automation module according to claim 6 wherein the common vertical drive (74) of the support segment (64) and the lifting console (66) is selectively controlled to approach a desired vertical position with respect to the transfer unit (110) for receiving or delivering a loading aid (40, 42, 44, 46).

8. The automation module according to claim 6 or 7, wherein the transfer unit (110) comprises a horizontal drive (112) that is disposed substantially on the first side (30), at least when the horizontal drive (112) has approached the first side (30).

9. The automation module according to claim 8, wherein the transfer unit (110) is positioned in a first position on the first side (30) in such a way that a loading aid (40, 42, 44, 46) supported on the second side (32) by the lifting console (66) is freely accessible from above for a handling unit (210).

10. The automation module according to any one of claims 6-9, wherein the transfer unit (110) comprises a horizontal carriage (118) that is horizontally movable in a constant vertical position.

11. The automation module according to claim 10, characterized in that the transfer unit (110) is horizontally telescopic and comprises a double guide (140) that is movable relative to a guide base (146) and provided with two parallel guide sections (142, 144), one of which is associated with the guide base (146), and another one of which is associated with the horizontal carriage (118), and wherein the horizontal carriage (118), the guide base (146) and the double guide (140) are particularly coupled to each other via a traction means (154) such that when the double guide (140) is moved relative to the guide base (146), the horizontal carriage (118) is moved relative to the double guide (140).

12. The automation module according to any one of claims 1-11, wherein on the first side (30) and on the second side (32) in each case two locations (280, 282; 284, 286) for receiving a stack of loading aids (40, 42, 44, 46) are formed, and wherein the two stacks can be controlled and moved independently of one another.

13. A manufacturing system comprising a machine tool (300) and an automation module (200) according to any of claims 1-12.

14. A method for feeding a machine tool (300), in particular for an automated workpiece change, comprising the following steps: - providing a stacking device (10) comprising a base (12), a stud frame (16) supported by the base (12), a first side (30) with a vertically movable support segment (64) for receiving a conveyor (70) that carries two or more loading aids (40, 42, 44, 46) that are arranged on top of each other, a second side (32) with a vertically movable lifting console (66) for receiving at least one loading aid (40, 42, 44, 46), wherein the lifting console (66) is configured to support two or more loading aids (40, 42, 44, 46) that are arranged one above the other, and a transfer unit (110), which is configured to transfer a loading aid (40, 42, 44, 46) horizontally between the first side (30) and the second side (32), - feeding a conveyor (70) carrying a stack of at least two loading aids (40, 42, 44, 46) that are arranged one above the other to the first side (30), - taking up the conveyor (70) with the loading aids (40, 42, 44, 46) by the support segment (64), - vertically moving the support segment (64), - horizontally moving the loading aid (40, 42, 44, 46) with the transfer unit (110) from the first side (30) to the second side (32), and - vertically moving the lifting console (66) in such a way that the loading aid (40, 42, 44, 46) can be deposited as an upper loading aid (40, 42, 44, 46) by the transfer unit (110) on the lifting console (66) or on a loading aid (40, 42, 44, 46) already provided there, characterized in that - the stud frame (16) carries at least one first vertical guide (58) and at least one second vertical guide (60), wherein the first vertical guide (58) is assigned to the first side (30), and wherein the support segment (64) is movable along first vertical guide (58), wherein the second vertical guide (60) is assigned to the second side (32), and wherein the lifting console (66) is movable along second vertical guide (60) at the stud frame (16), wherein the support segment (64) and the lifting console (66) are arranged on the stud frame (16) in a manner facing away from one another, and wherein the support segment (64) and the lifting console (66) are coupled to one another via a common coupling member (90) in a forced coupling and are vertically movable in opposite directions at the stud frame (16) via a common vertical drive (74) - the vertical movement of the support segment (64) takes place such so that an upper loading aid (40, 42, 44, 46) can be gripped by the transfer unit (110), - gripping the upper loading aid (40, 42, 44, 46) by the transfer unit (110), - the vertical movement of the support segment (64) and the vertical movement of the lifting console (66) involves a forced coupling and in particular a pilgrim step characteristic.

15. The method according to claim 14, further comprising: - after depositing the loading aid (40, 42, 44, 46), horizontally moving the transfer unit (110) from the second side (32) back to the first side (30), so that a further loading aid (40, 42, 44, 46) is taken from the conveyor (70) and deposited on the loading aid (40, 42, 44, 46) already disposed on the lifting console (66), and wherein the removal of individual workpieces (342, 344) for machining purposes takes place starting with the upper loading aid (40, 42, 44, 46) of a stack held by the lifting console (66), and / or - after machining workpieces (342, 344), depositing the workpieces (342, 344) in the upper loading aid (40, 42, 44, 46) of the stack held by the lifting console (66), so that when completely filled, the upper loading aid (40, 42, 44, 46) is movable by the transfer unit (110) from the second side (32) back to the first side (30), comprising coupled and mutually opposing vertical movements of the support segment (64) and the lifting console (66).