Method and system for switching a workpiece

Abstract

In a method for switching a workpiece (W), which is fixed on a pallet (P1), after one workpiece side (14) has been machined in a horizontal machine tool (M), the pallet (P1) is brought into a transfer position (AP) in which the machined side (14) of the workpiece (W) faces in a direction toward a pallet support (T), an additional pallet (P2) is provided there, and the workpiece is transferred, with the machined side (14) first, onto a clamping apparatus (9, 10) of the additional pallet (P2) and is guided back into the tool (M) with the additional pallet. In a system (S) for switching, the pallet support (T) has a positioning device (11) by means of which the semi-machined workpiece (W) can be transferred, with the machined side (14) first, to a clamping apparatus (9) of the additional pallet (P2).

Description

[0001] Method and system for changing a workpiece

[0002] The invention relates to a method according to the preamble of patent claim 1 and a system according to the preamble of patent claim 13.

[0003] In a method known from WO 2021 / 047838 A, the semi-machined workpiece, with the machined side facing upwards, is removed from the horizontal machining center by means of a transport device from a support provided on the floor, e.g., to a setup station, where, with the use of personnel and auxiliary equipment such as a lifting gear, the workpiece is manually re-clamped from the front to the back on a pallet, which is then returned to the horizontal machining center for finishing, e.g., for finishing. This is time-consuming and labor-intensive.

[0004] When it comes to workpieces made of light metal or light metal alloys, for example, used as aircraft parts, these blanks can have dimensions of approximately 4 to 6 meters (W:L) and weigh several tons. After the initial machining step, the workpieces can still weigh more than a ton and therefore be difficult to handle. The finished workpiece still weighs several hundred kilograms. These blanks can be unmachined or already partially machined.

[0005] The machining takes place in a horizontal machining machine (stand-alone operation) in, for example, two steps each on a pallet, with the second step being carried out after the workpiece has been changed and reclamped, or in a cell consisting of several horizontal machining machines, in which the reclamped workpiece is finished in the second step in another horizontal machining machine.

[0006] In the horizontal machining center, two pallets, for example, with workpieces, can be temporarily held back to back on the swivel arms and pallet supports to more quickly move a workpiece to be machined into the processing position in the horizontal machining center, while the workpiece currently being machined is removed and removed with its pallet. Alternatively, only one pallet, with or without a workpiece, can be manipulated in the horizontal machining center.

[0007] Further prior art can be found in WO 2021 / 047837 A1 and WO 2021 / 047836 A1. The invention is based on the object of creating a method and a system of the type mentioned above, with which at least the necessary change or reclamping of the semi-machined workpiece is simplified.

[0008] The stated object is achieved by the method according to claim 1 and the system according to claim 13.

[0009] In this process, the pallet with the half-machined workpiece is first moved, in particular pivoted and turned, on the horizontal machining machine into a turned transfer position when being moved towards the pallet support, so that the machined side of the half-machined workpiece faces outwards from the machine, to another empty pallet which has a workpiece clamping device for the workpiece. In the transfer position of the pallet, the half-machined workpiece is transferred to the clamping device of the other pallet and is either later brought back into the machining position or initially removed with the other pallet, with the transferred workpiece then already reclamped and positioned on the other pallet, so that this time-consuming and labor-consuming, previously manual, work step is no longer necessary.

[0010] A key advantage of the process is that the workpiece change can be carried out quickly and, above all, unmanned and automated.

[0011] The system also uses the multiple movement options of the swivel arms and the pallet carriers that rotate on them to prepare and carry out the automatic transfer without manual intervention.

[0012] The transfer can be carried out in the method and with the system in a horizontal or in an at least substantially vertical position of the workpiece and the pallets, with preference being given to the horizontal position.

[0013] With the help of a positioning device of the pallet support, an additional pallet, which is preferably provided horizontally there, can be aligned with its clamping device relative to clamping abutments of the semi-machined workpiece. The semi-machined workpiece is located with the pallet in a horizontal transfer position such that the machined side of the workpiece faces the additional pallet on the pallet transport device. The workpiece is then transferred to the clamping device of the additional pallet and released from the pallet by a relative lifting and / or lowering movement between the additional pallet and the pallet. Thus, after the transfer, the semi-machined workpiece lies in the re-clamped position on the additional pallet without any external intervention being necessary.The relative lifting and / or lowering movement can be generated linearly using the positioning device of the pallet support. By lifting the additional pallet, the clamping device of the additional pallet engages the clamping abutments in a straight line, and the additional pallet with the transferred workpiece is placed back on the support. Alternatively, the pallet with the semi-machined workpiece can be lowered from the machining position into the transfer position using the swivel arms and pallet carriers, so that the clamping device of the additional pallet and the clamping abutments of the workpiece are brought together in an arcuate movement around the swivel axis of the swivel arms.

[0014] However, it is advisable to initially hold the pallet in the horizontal transfer position at a distance above the other pallet. To transfer the workpiece, the other pallet is aligned with the workpiece and only then, or during this time, is it raised toward the transfer position of the other pallet. The workpiece clamping device of the other pallet then engages the workpiece's clamping abutments, and the workpiece's fixation on the pallet is released. The workpiece is transferred and the pallet is emptied. The lifting movement is linear to ensure a clean engagement of the clamping device with the clamping abutments. This variant is preferable.

[0015] Alternatively, the turned pallet with the half-machined workpiece, with the machined side facing down toward the other pallet, could be lowered into this lower transfer position using the pivot arms and pallet supports until the workpiece is transferred to the clamping fixture of the other pallet. In this case, the clamping fixture of the other pallet is brought together with the clamping abutments on the workpiece with an arcuate movement around the pivot axis of the pivot arms, provided that the clamping fixture and the clamping abutments can be brought into proper mutual engagement in this way.

[0016] Furthermore, it is advisable to swing the emptied pallet in the horizontal processing machine up out of the path of movement of the other pallet before removing the other pallet with the workpiece in order to avoid collisions.

[0017] After the additional pallet with the workpiece has been removed, e.g. using a floor-side transport device combined with the support, the emptied pallet is turned over until its setup side is facing up and then set down. The emptied pallet can then be removed, e.g. using the pallet transport device, preferably to a setup station where it can be loaded with a new blank, or to a pallet storage area. The additional pallet that has been removed can be returned with the workpiece to the horizontal machining center for machining the other side, or to another horizontal machining center, or to a pallet storage area, e.g. a pallet rack. In this process variant, blanks, finished parts and, if applicable, semi-finished parts are always moved on pallets.

[0018] According to the process, it is expedient to carry out the workpiece change and, if necessary, even the supply and removal of raw parts and finished parts in the system in an automatically controlled manner, so that the steps are carried out unmanned and quickly, and no auxiliary equipment is required.

[0019] In another process variant, raw parts and finished parts are fed in and out separately, i.e. without pallets.

[0020] In this case, only two pallets need to be used alternately.

[0021] In a practical embodiment of the system, a distance can be set between the pallet and the additional pallet in the horizontal transfer position. The aligned additional pallet moves through this distance in a linear lifting movement of the support to transfer the workpiece. This reliably aligns the clamping device with the clamping abutments. However, the system can also be designed so that in the further lowered transfer position, the workpiece comes into contact with the additional pallet and is transferred.

[0022] In a practical embodiment, the clamping device of the additional pallet has hydraulically actuated bore clamps. The clamping abutments of the workpiece are bores or blind holes in the workpiece, which are created, for example, during machining and used for the engagement of the bore clamps. Such bore clamps have, for example, expandable mandrels and stops for the workpiece. However, other types of clamping devices can also be used, provided they can handle large masses and ensure high precision.

[0023] In order to be able to carry out the workpiece change automatically, it is expedient if the system has at least one, preferably programmable, control which is linked to the drives of the swivel arms, the pallet carriers and the positioning device of the pallet support or even the carrying device.

[0024] In one embodiment, the pallet support can be combined with a transport device for maneuvering only the pallets, e.g., a roller conveyor, for example, with driven rollers, or a floor-mounted rail-slide unit. Particularly important is a system design with a carrying device for the separate feeding and removal of raw parts and finished parts to and from the machine. This carrying device can be, for example, a hoist, a robot, or a movable support frame.

[0025] If the workpieces are fed in and out in a vertical or almost vertical (slightly inclined) position with the workpiece side parallel to the machining area in the machine with or without a pallet on the floor-side transport device, it is advisable to provide a horizontal positioning device in the transport device or support in order to bring the workpiece into and out of the machine more easily.

[0026] The subject matter of the invention is explained with reference to the drawings. They show:

[0027] Fig. 1 is a schematic perspective view of a horizontal machining machine with a pallet manipulation system for a workpiece change, in a phase in which a workpiece is being or has been machined,

[0028] Fig. 2 another phase at the beginning of a workpiece change,

[0029] Fig. 3 another phase before the workpiece change,

[0030] Fig. 4 a phase when the workpiece change has been completed,

[0031] Fig. 5 a phase after the workpiece change has been completed,

[0032] Fig. 6 another phase before the removal of the changed workpiece,

[0033] Fig. 7 the removal of the changed workpiece,

[0034] Fig. 8 a phase before the empty pallet is removed

[0035] Fig. 9 a phase during the removal of the emptied pallet,

[0036] Fig. 10 the removal of the emptied pallet,

[0037] Fig. 11 feeding a new or replaced workpiece,

[0038] Fig. 12 shows another embodiment of the system, and

[0039] Fig. 13 shows a further embodiment of the system for carrying out a further variant of the method. In Fig. 1, a workpiece (not visible in Fig. 1) that is fixed on a pallet P1 is being machined, e.g., by cutting, in a horizontal machining center M in a machining area 1. The pallet P1 is fixed in the shown, approximately vertical working position in the machining area 1. The workpiece is to be machined on both sides and must therefore be changed or reclamped after machining one side in order to be able to machine the other side as well.

[0040] A system S is provided on the horizontal processing machine M, which is used for manipulating pallets, e.g. P1. The system S comprises two parallel and synchronously pivoting pivot arms 4 with drives 5, at whose free ends a pallet carrier 2 is rotatably mounted and driven by a drive 3. The pallet carriers 2 hold the respective pallet P1 with engagement elements (not shown) at both ends and serve to turn the pallet P1 on the pivot arms 4, while the pivot arms 4 are provided for pivoting the pallets by approximately 90°. The pivot arms are coupled to one another in a rotationally fixed manner, for example via a cross shaft 6.

[0041] The system S also includes a pallet support T, which is arranged in front of the horizontal processing machine M. In the non-limiting case shown, this is a rail-slide unit with a rail section 7, on which, for example, slides 8 can be moved. In the pallet support T, for example on or near the slides 8, a positioning device 11 is provided, which serves to align a further pallet P2 lying horizontally on the slides 8 horizontally, i.e. in a direction corresponding to the travel section 7 and in a direction perpendicular thereto, and also to raise and lower it vertically linearly (arrows 11'). On the further pallet P2, a clamping device 9 is provided, which has, for example, several hydraulically actuated bore clamps 10 for fixing and holding a workpiece.The drives 3, 5 and the positioning device 11 are connected, for example, to separate, preferably programmable, controls CU1, CU2 or a common control in order to carry out at least one unmanned automatic workpiece change, for example by means of the system S, as shown in the following figures.

[0042] Fig. 1 shows a fixed pallet P1 in the processing area 1. The pallet carriers 2 are designed such that they can hold two pallets back to back at the same time, for example in order to shorten the changeover from a machined workpiece to a workpiece to be machined. The pallet carriers 2 engage with devices not shown in detail but indicated twice here (Fig. 11, engagement elements 16, 17) in the end faces of the pallet to be manipulated, so that each pallet can be individually introduced into and removed from the horizontal processing machine M. The further pallet P2 shown in Fig. 1 is provided on the support T, e.g. a table, in order to receive the at least one half-machined workpiece W from the pallet P1.

[0043] In Fig. 2, after machining is complete, the pallet P1, on which the workpiece W is fixed, is pivoted by means of the pivot arms 4 toward the pallet support T or the additional pallet P2. The workpiece W still faces the horizontal machining machine M with its machined side.

[0044] In the next phase according to Fig. 3, according to a non-limiting process variant, the pallet P1 has arrived and is secured in a reversed horizontal transfer position AP by pivoting the pivot arms 4 and rotating the pallet carriers 2 on the pivot arms 4 (arrow 19). In this transfer position AP, the machined side of the workpiece W, now facing the further pallet P2, maintains a vertical distance from the clamping device 9 of the further pallet P2.

[0045] According to Fig. 4, the additional pallet P2 is aligned by means of the positioning device 11 of the slide 8 such that the clamping device 9, for example with engagement elements 10 in the form of hydraulically actuated bore clamps of the additional pallet P2, is aligned with clamping abutments 18 (bores or blind bores drilled during machining, indicated by dashed lines in Fig. 6) of the workpiece W. Furthermore, the additional pallet P2 is raised vertically in a straight line in the direction of the orthogonally indicated arrows 1T until the clamping device 9 of the additional pallet P2 has engaged the clamping abutments 18 of the workpiece W, whereupon the fixation of the workpiece W on the pallet P1 is released and the workpiece is transferred to the additional pallet P2 in such a way that the machined side points to the setup side of the additional pallet P2 without contact with the latter.

[0046] In the next phase according to Fig. 5, the additional pallet P2 with the transferred workpiece W is lowered onto the support T so that the emptied free pallet P1, the setup side of which is indicated by 12, would allow the additional pallet P2 to be removed. However, the pivot arms 4 still obstruct the path of movement of the additional pallet 2, so that according to Fig. 6, the pivot arms 4 with the pallet P1 are first moved upwards out of the path of movement of the additional pallet P2 in the pallet transport device P. Only then is the additional pallet P2 with the workpiece W fixed to it, the non-machined side of which is designated by 13, removed, for example to a setup station R or a pallet warehouse, or again to the same or another horizontal processing machine M in order to also machine side 13 of the workpiece W.The machined side of the workpiece W, which faces the further pallet P2, is indicated by 14 and maintains a distance 15 from the further pallet P2, namely via the clamping device 9 of the further pallet, e.g. the engaged bore clamps 10, which are hydraulically spread in the clamping abutments 18, e.g. bores or blind holes in the workpiece W, and can also have stops for the workpiece W, which support the clamped workpiece.

[0047] The process explained with reference to Figs. 3, 4, and 5 for transferring the workpiece W to the additional pallet P2 and its temporary removal, for example, is, as mentioned, a non-limiting process variant. An advantage of this process variant is that the clamping device 9 can be brought into engagement with the clamping abutments 18 of the workpiece W in a rectilinear vertical movement.

[0048] However, if the clamping device 9, 10 of the additional pallet and the clamping abutments 18 of the workpiece do not tolerate exactly linear joining movements, then the pallet P1 does not need to be stopped in the transfer position AP shown in Figs. 3 to 5, but the pallet P1 can be lowered further into this lower transfer position (not shown) by means of the pivot arms 4 until the workpiece W comes into contact with the clamping device 9, 10 of the additional pallet P2, while being held horizontally by the pallet supports 2. The joining of the clamping device 9, 10 and the clamping abutments 18 then takes place with an arcuate movement around the pivot axis defined by the pivot arms 4 in system S.

[0049] After the phase of Fig. 7, a new additional pallet P2 with either a workpiece that has not yet been machined or with a half-finished workpiece could be fed in and back and back with the still present emptied pallet P1 turned into the processing area 1 of the horizontal processing machine M and fixed (not shown), and / or the pallet P1 previously emptied during the change can subsequently be removed as shown in Figs. 8 to 10 or placed on the support T as shown in Fig. 12.

[0050] The emptied pallet P1 can be removed from the horizontal machining center M via the carriages 8, as shown in Figs. 8, 9, and 10. The removed, emptied pallet P1 can be transported to a setup station (not shown) to re-clamp a blank as a workpiece, or to a pallet storage area. According to Fig. 10, the swivel arms 4 can be pivoted upwards into a standby position, so to speak, and the pallet carriers 2 can also be aligned to receive a pallet delivered later. A new machining cycle can then begin.

[0051] The additional pallet P2 on the carriage 8 indicated in Fig. 11 is, for example, the previously removed additional pallet P2 on which the workpiece W is fixed with the still unmachined side 13 facing upwards. However, it could also be another additional pallet P2' on which another workpiece W, not yet machined on side 13, or a blank is fixed.

[0052] In the process shown in Fig. 1-11, raw parts, semi-finished parts and finished parts are transported on pallets P1, P2, PT.

[0053] The further pallet P2 with the half-machined workpiece W, which is removed as shown in Fig. 7, could alternatively be transferred to another horizontal machining machine (not shown) for further machining.

[0054] The bore clamps 10 explained as clamping device 9 and the clamping abutments 18 on the workpiece W represent only one non-limiting possibility for the design of the clamping device of the further pallet P2. Any other clamping device can be provided on the pallet P2 which is capable of bearing the relatively high weight of the workpiece W and, if necessary, of supporting it stably during machining in the horizontal machining machine M.

[0055] The explained system S for manipulating the pallets P1, P2 is referred to in this technology as “automation” of the horizontal processing machine M.

[0056] In the further embodiment of the system shown in Fig. 12, raw parts and finished parts are each fed in and removed separately by means of a carrying device 21 functionally assigned to the horizontal processing machine M (e.g. a lifting device or robot or carrying frame), with gripping elements 22 for holding the raw parts and also the finished parts, e.g. with vertical movements (arrows 21'), and only the two pallets P1, P2 are used alternately in the process, onto which raw parts are fed from above and from which finished parts are removed upwards. The carrying device 21 is only indicated schematically and in practice can be designed differently than shown, e.g. with clamping devices similar to those of the pallets P1, P2.

[0057] The support T can be a table with the positioning device 11, to which a transport device 7 (shown in the figure) can be assigned for easier handling of the pallets P1, P2. The pivot arms 4 can be supported on floor-side brackets 20 in Fig. 12.

[0058] In Fig. 12, the pallet P1 with the raw part is pivoted into the processing area 1 and secured. The other pallet P2 is on the support T ready for the described transfer. After the transfer, the empty pallet P1 is secured in the processing area 1 and the other pallet P2 is picked up, turned over and brought with its back to the back of the pallet P1 until both pallets are hanging on the pallet supports 2 and turned together, so that the other pallet P2 can now be brought into the processing area 1 and secured, after which the empty pallet P1 is turned over alone and placed on the support T and receives a new raw part from the carrying device 21. The other pallet P2 is manipulated in a similar way to transfer the semi-finished part and pick up the finished part, which is then to be removed from the carrying device 21. This is a non-limiting example of the sequence of a cycle when using the carrying device 21.During the feeding and removal, the carrying device 21 could alternatively handle raw parts and finished parts in a vertical or almost vertical position, i.e. with the workpiece sides essentially parallel to the machining area 1 of the machine M in the case of a cuboid- or plate-shaped workpiece W.

[0059] Fig. 13 shows an embodiment of the system S, with which the method can be carried out during supply and removal and optionally during transfer of the semi-machined workpiece to the further pallet P2 in at least substantially vertical position of the workpiece W. The workpiece W shown stands during supply and removal with the transport device 7, e.g. vertically, as shown, on the carriage 8, e.g. supported by an L-shaped frame 26, or L-shaped arranged pallets P1, P2, and is transferred during the supply either separately to a pallet placed vertically on the pivot arms 4, held on the pallet carriers 2, or together with the pallet from the support T to the pallet carriers 2. For removal, the semi-finished part or finished part is transferred accordingly in a vertical position, either to the frame 26 or the L-shaped pallets P1, P2.The transfer of the workpiece to the machine M or from the machine M to the support T can be supported by a horizontal positioning device 24 generating horizontal movements (double arrow 25), e.g. the carriage 8 of the support T of the transport device 7.

[0060] The pallet P1 can have holding and clamping devices 24 (e.g., lever grippers) specifically for the raw parts, if necessary with vacuum support; the other pallet P2, on the other hand, has the aforementioned clamping device 9 suitable for the semi-finished and finished parts with their clamping abutments 18.

Claims

Claims: A method for changing at least one workpiece (W) fixed on a pallet (P1) and machined on both sides after machining one side (14) of the workpiece on a horizontal machining machine (M), wherein a system (S) with two pivoting arms (4) for pivoting, pallet carriers (2) rotatable thereon for turning the pallet (P1), and a pallet support (T) in front of the horizontal machining machine (M) is used to move the pallet (P1) with the partially machined workpiece (W) from a substantially vertical machining position towards the pallet support (T) for workpiece change, characterized in that the pallet (P1) is moved into a transfer position (AP) during the movement until the machined side (14) of the workpiece (W) points towards the pallet support (T), and that a further pallet (P2) having a workpiece clamping device (9) is provided on the pallet support (T).and that the workpiece (W) is transferred to the clamping device (9) and returned to the machining position or removed with the further pallet (P2). Method according to claim 1, characterized in that the pallet (P1) for changing the workpiece (W) is either brought into the horizontal transfer position (AP) with the machined side (14) of the workpiece (W) facing downwards, relative to the further pallet (P2) provided horizontally on the support (T), or is brought into the transfer position with the machined side (14) of the workpiece (W) facing outwards, relative to the further pallet (P2) provided at least substantially vertically. Method according to claim 2, characterized in that the respective,The workpiece (W), designed as a raw part and / or semi-finished part and / or finished part, is positioned at least substantially vertically with its side approximately parallel to the processing area (1) of the machine (M), and is either placed on the floor or fed to and / or removed from the machine (M) from above. The method according to claim 2 is characterized in that the pallet (P1) is initially held at a distance above the further pallet (P2) in the horizontal transfer position (AP), and that the further pallet (P2) is aligned for transferring the workpiece (W) onto the workpiece (W) and lifted in the direction of the transfer position (AP) of the pallet (P1), preferably by engaging the workpiece. Clamping device (9) of the further pallet (P2) on clamping abutments (18) of the workpiece (W). Method according to claim 2, characterized in that the pallet (P1) is lowered into the transfer position (AP) for transferring the workpiece (W) to the clamping device (9) of the further pallet (P2), which lies horizontally on the pallet support and is aligned with the workpiece (W). Method according to claim 2, characterized in that the further pallet (P2) with the semi-machined workpiece (W) is removed from the machine (M), and that the emptied pallet (P1) is pivoted upwards out of the path of movement of the further pallet (P2) before the further pallet (P2) is removed.A method according to at least one of the preceding claims, characterized in that, after the removal of the further pallet (P2) with the workpiece (W), the emptied pallet (P1) is turned over until its setup side (12) faces upwards, and is subsequently placed down and conveyed away, preferably to a setup station (R) or pallet rack. A method according to claim 1, characterized in that workpieces (W) as raw parts are fed separately from above by a support device (21) functionally associated with the horizontal machining machine (M), and as finished parts or semi-finished parts are lifted upwards and conveyed away separately, preferably using the pallet (P1) placed on the support (T) or the further pallet (P2) that has been placed down.A method according to at least one of the preceding claims, characterized in that the machining is carried out using only two pallets (P1, P2) alternately, of which pallet (P1) is equipped with clamping devices (24) suitable for raw parts and pallet (P2) with a clamping device (9) suitable for semi-finished and finished workpieces (W). A method according to claim 7, characterized in that the removed further pallet (P2) is transferred back to the horizontal machining machine (M) or to another horizontal machining machine or to a pallet storage, preferably a pallet rack, for machining the other side of the workpiece. A method according to at least one of the preceding claims, characterized in that the workpiece change, and, preferably, also the pallet supply, is carried out by means of a pallet change. and - removal and / or the separate feeding of the raw parts and removal of the finished parts are carried out automatically controlled by the system (S). System (S) for carrying out the method according to at least claim 1, wherein the system has two pivoting arms (4) for pivoting, pallet carriers (2) rotatable thereon for turning the respective pallet (P1, P2) and a pallet support (T) in front of the horizontal machining machine (M), and the pallet (P1) with the semi-machined workpiece (W) can be moved from a substantially vertical machining position towards the pallet support (T) for workpiece change, characterized in that the pallet (P1) is moved into a transfer position (AP) such that the machined side (14) of the workpiece (W) points towards the pallet support (T), and that a further pallet (P2) having a workpiece clamping device (9) is provided on the pallet support (T).and that the workpiece (W) can be transferred to the workpiece clamping device (9) and moved back into or out of the machining position with the further pallet (P2). System according to claim 12, characterized by a horizontal or at least substantially vertical transfer position (AP) of the pallet (P1) and a horizontal or at least substantially vertical position of the further pallet (P2) on the support (T). System according to claim 12, characterized in that the pallet support (T) has a positioning device (11) with which the further pallet (P2) can be aligned with the clamping device (9) relative to clamping abutments (18) of the workpiece (W) and the workpiece (W) can be transferred to the clamping device (9) by a relative lifting and / or lowering movement between the further pallet (P2) and the pallet (P1). System according to claim 12, characterized in thatthat in the horizontal transfer position (AP) between the pallet (P1) and the further pallet (P2) on the pallet support (T) a distance can be adjusted which the aligned further pallet (P2) traverses for the transfer of the workpiece (W) with a linear movement of the positioning device (11). System according to claim 14, characterized in that the clamping device (9) of the further pallet (P2) comprises hydraulically actuated bore clamps (10), and that bores or blind bores produced during machining are provided in the workpiece (W) as clamping abutments (18) for engagement of the bore clamps (10). System according to at least one of claims 12 to 16, characterized in that the system (S) comprises at least one, preferably programmable, control unit (CU1, CU2) linked to drives (2, 3) of the swivel arms (4) and the pallet carriers (2) as well as the positioning device (11) of the pallet support (T), at least for automatically performing the workpiece change. System according to at least one of the preceding claims, characterized in that the support (T) is combined with a transport device (7), preferably a roller conveyor or a rail-slide unit. System according to at least one of claims 12 to 18, characterized in that the system (S) comprises a support device (21) functionally associated with the horizontal machining machine (M), preferably in front of and / or above it, for separately feeding and depositing raw parts from above and lifting and removing finished parts, such as a hoist, a robot, or a support frame.System according to claim 13, characterized in that the support (T), which is preferably combined with a bottom-side transport device (7), has a horizontal positioning device (24) for essentially horizontally moving the vertically positioned workpiece (W) being fed or removed relative to the machine (M).

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