Material machining system and method for transporting material parts

Abstract

The invention relates to a material machining system, in particular a sheet-metal machining system, comprising a material machining device, in particular a sheet-metal machining device, in particular a laser cutting device, and a transport device for loading and / or unloading material parts, in particular sheet-metal parts, onto / from the material machining device, in particular the sheet-metal machining device, said transport device comprising: a first primary support with a first primary linear drive and a second primary support with a second primary linear drive, a secondary support with a secondary linear drive, a tertiary support with a tertiary drive, and a part receiving device for receiving material parts, in particular sheet-metal parts, wherein the secondary support is coupled to the first primary linear drive and to the second primary linear drive and can be moved by same, the tertiary support is coupled to the secondary linear drive and can be moved by same, the part receiving device is coupled to the tertiary drive and can be moved by same, and for at least one transport process, the transport device is designed to transport a material part, in particular a sheet-metal part, primarily in a transport direction which runs at least substantially along the secondary linear drive.

Description

[0001] Material processing system and method for transporting material parts

[0002] The invention relates to a material processing system, in particular a sheet metal processing system, comprising a material processing device, in particular a sheet metal processing device, in particular a laser cutting device, and a transport device for loading and / or unloading the material processing device with material parts, wherein the transport device comprises: a first primary carrier with a first primary linear drive, a second primary carrier with a second primary linear drive, a secondary carrier with a secondary linear drive, a tertiary carrier with a tertiary drive and a parts receiving device for receiving sheet metal parts, wherein the secondary carrier is coupled to the first primary linear drive and the second primary linear drive and is movable thereby, wherein the tertiary carrier is coupled to the secondary linear drive and is movable thereby,wherein the parts receiving device is coupled to the tertiary drive and is movable by it.,

[0003] The invention also relates to a method for transporting material parts, in particular sheet metal parts, in a material processing system, in particular a sheet metal processing system, of the type mentioned above.

[0004] Laser cutting systems offer the possibility of cutting sheet metal at high speed and with high precision. Due to the high operating speed of modern laser cutting systems, the speed of sheet metal parts transport during loading and unloading has become a decisive factor for the cost-effectiveness of the sheet metal parts production process. In general, the transport speed in sheet metal processing systems often has a significant impact on the system's cost-effectiveness.

[0005] Various types of sheet metal processing systems with conveyor systems are known. Cartesian robots are typically used, which are relatively simple to construct and program. However, these conveyor systems often represent a bottleneck in terms of throughput in the production process.

[0006] It is an object of the invention to accelerate the transport of material parts in a material processing system of the type mentioned above. Sheet metal is particularly suitable as the material in this case. In the following, the invention will be described largely with reference to the material "sheet metal," since sheet metal processing is a particular application of the invention. Therefore, when sheet metal is mentioned below, this is not necessarily limited to steel sheets, but can also refer to other materials.

[0007] This object is achieved by a material processing system, in particular a sheet metal processing system according to claim 1 and in particular in that the transport device is designed for at least one transport process, in particular for a plurality of transport processes, to transport a material part, in particular a sheet metal part, mainly in a transport direction which runs at least substantially along the secondary linear drive.

[0008] A particular advantage of this solution is that the secondary carrier does not need to be moved, or only needs to be moved relatively slightly, to carry out the transport process. This is because the transport process takes place primarily along the secondary carrier. Since the secondary carrier typically has a relatively large mass, extremely powerful drives would otherwise be required for rapid movement of the secondary carrier. In general, the achievable acceleration is limited by the mass of the secondary carrier and ultimately also by the associated masses, such as the tertiary carrier and the parts handling device.

[0009] In the known solutions, it is common for the transport direction during the transport processes to run primarily along the primary linear drives. This has the disadvantage mentioned above that the secondary carrier must be moved relatively frequently. In particular, in the known solutions the secondary carrier often covers almost the entire distance traveled by the sheet metal part. By largely avoiding movement of the secondary carrier during a transport process with the transport device designed according to the invention, particularly rapid transport of the sheet metal parts can be achieved. This applies in particular, but not only, to smaller individual sheet metal parts and / or the process of unloading the sheet metal processing device. This is because significantly more transport processes are usually necessary for smaller individual sheet metal parts. Nevertheless, the advantage also arises when transporting large sheets and / or in cases where relatively few transport processes are necessary.

[0010] The transport process can, in particular, be an unloading process or a loading process. Several and / or different transport processes can also be implemented according to the invention.

[0011] The main transport direction preferably runs transversely, in particular at least substantially perpendicular to the first and / or second primary carrier and / or to the first and / or second primary linear drive.

[0012] In particular, it can be provided that a respective sheet metal part can be transported from a first area or receiving area to a second area or depositing area by means of the part receiving device. The terms receiving area and depositing area refer to a transport process and can be different for different transport processes. For example, a receiving area of ​​a first transport process, for example an unloading process, can coincide or overlap with a depositing area of ​​a second transport process, for example a loading process. For example, a loading area, feeding tray and / or material feed area can be provided for the sheet metal processing device, which serves both for loading and unloading the sheet metal processing device. For example, one or more storage areas can be provided, in each of which, for example,Sheet metal parts for feeding to the sheet metal processing device or sheet metal parts removed from the sheet metal processing device can be stored. Preferably, the secondary carrier and / or the secondary linear drive spans both a receiving area and a depositing area of ​​at least one transport process in a direction parallel to the secondary carrier or secondary linear drive.

[0013] The secondary linear drive can, for example, have a longitudinal extension, wherein a receiving area and a depositing area of ​​at least one transport process are located in different sections with respect to the longitudinal extension.

[0014] In principle, further elements and / or drives or carriers can be provided between the aforementioned units of the transport device, in particular between the parts receiving device and the tertiary drive or the tertiary carrier.

[0015] The first and / or second primary linear drive can preferably be designed as a linear motor. Alternatively, a design as a rack and pinion drive, spindle drive, or with a push and / or pull mechanism, such as a belt, a rope, or a chain, is possible.

[0016] The secondary linear drive is preferably designed as a linear motor. Alternatively, it can be designed as a rack and pinion drive, a spindle drive, or with a push and / or pull mechanism, such as a belt, a rope, or a chain.

[0017] The tertiary drive can preferably be designed as a linear drive, in particular a linear motor. Alternatively, a design as a rack and pinion drive, spindle drive, or with a push and / or pull mechanism, such as a belt, a rope, or a chain, is possible. In addition to a linear drive, a design as a rotary drive, preferably as a rotary motor, is also possible.

[0018] According to one embodiment, the transport device comprises a second secondary linear drive on the secondary carrier, a second tertiary carrier with a second tertiary drive, and a second parts receiving device. The second parts receiving device is coupled to the second tertiary drive and movable by it, and the second tertiary carrier is coupled to the second secondary linear drive and movable by it. This embodiment makes it easy to transport more parts per unit of time.

[0019] In particular, at least two part-receiving devices with associated secondary linear drives can be provided on a common secondary carrier. Several such independently movable secondary carriers can also be provided. More than two secondary linear drives and / or more than two tertiary carriers or part-receiving devices can also be provided on a secondary carrier.

[0020] The second secondary linear drive can, in principle, be arranged collinearly with the first secondary linear drive, for example, and can, for example, have an overlapping range of motion. The second secondary linear drive can, for example, have a common guide and / or a common stator, in particular a motor stator, with the first secondary linear drive. A rotor, in particular a motor rotor, of the corresponding secondary linear drive can be arranged on the respective tertiary support.

[0021] Generally, within the scope of this application, a drive or linear drive is to be understood as a combination of a fixed part or stator with a moving part or rotor. It is fundamentally possible for one and the same stator to serve as the stator for two or more rotors, i.e., for two or more drives or linear drives. In particular, a linear motor stator can serve as a stator for two or more linear motor rotors, and these can be moved independently of one another by means of the linear motor stator.

[0022] It can be particularly advantageous if the second secondary linear drive is arranged parallel to, but offset from, the first secondary linear drive. It is also particularly advantageous if the first and second secondary linear drives are arranged on opposite sides of a common secondary carrier. The offset or opposite arrangement of the secondary linear drives results in the advantage that the respectively assigned part receiving devices can be aligned in such a way that they do not block one another. Especially in the case of aligned secondary linear drives, part receiving devices can otherwise typically be moved essentially synchronously, whereas operation in opposite directions and / or passing one another is problematic or impossible. In particular, the offset orBy arranging the secondary linear drives opposite one another, it is easy to configure the part receiving devices or tertiary carriers for simultaneous transport operation, i.e., in particular, to enable one part receiving device, for example, with a sheet metal part, to move in a first direction along the corresponding secondary linear drive, while the other part receiving device, for example, without a sheet metal part, moves in a second direction opposite to the first. In particular, mutual passing can also be provided. The potential throughput of transported sheet metal parts can thus be further increased.

[0023] The transport device can alternatively or additionally comprise a third and a fourth primary linear drive, in particular on the first and second primary carriers, respectively, a second secondary carrier with a second secondary linear drive, a second tertiary carrier with a second tertiary drive, and a second parts receiving device. The second parts receiving device can be coupled to the second tertiary drive and movable thereby. The second tertiary carrier can be coupled to the second secondary linear drive and movable thereby. The second secondary carrier can be coupled to the third and fourth primary linear drives and movable thereby. This embodiment also serves to further increase the throughput and the transport speed.

[0024] In particular, at least two, particularly independent, secondary supports can be provided. The secondary supports can also each have two or more secondary linear drives, tertiary supports, tertiary drives, or partial support devices.

[0025] In principle, the first and / or the second primary support may, for example, be the factory floor or a separate support, wherein a separate support may preferably be firmly connected to the factory floor.

[0026] The third primary linear drive can preferably be designed to be at least substantially collinear with the first primary linear drive. The first and third primary linear drives can, for example, have a common linear motor stator. The third primary linear drive can, for example, have a common guide and / or a common stator with the first primary linear drive.

[0027] The fourth primary linear drive can preferably be designed to be at least substantially collinear with the second primary linear drive. The second and fourth primary linear drives can, for example, have a common linear motor stator. The fourth primary linear drive can, for example, have a common guide and / or a common stator with the second primary linear drive.

[0028] In principle, one or more additional primary linear drives can be provided for corresponding secondary carriers, wherein the primary linear drives can be arranged, for example, parallel and / or offset to the first, second, third and / or fourth primary linear drive.

[0029] It is advantageous if the second secondary linear drive can be operated independently of the first secondary linear drive. This increases the flexibility of the operation of the transport device and thus ultimately the speed of the transport. In particular, it can thus be provided that the second parts receiving device can be moved independently of the first parts receiving device along the respective secondary linear drive. According to a further example, the transport device is configured such that at least the first and the second parts receiving device are moved at least substantially in opposite directions with respect to the first and / or the second secondary linear drive and / or with respect to a main transport direction. The opposite direction of operation allows a particularly high throughput of transported sheet metal parts, in particular when unloading the sheet metal processing device.

[0030] According to one embodiment, the transport device can be configured such that the first parts receiving device, with a received sheet metal part, is moved from a receiving area to a storage area, while the second parts receiving device is moved from the storage area to the receiving area, in particular without a sheet metal part. The described sequence can also be described as "simultaneous transport," since one parts receiving device can move back from the storage area or back to the receiving area, while the other parts receiving device moves with a part to the storage area. The parts receiving devices thus move "simultaneously," so to speak.

[0031] Simultaneous transport is preferably used when both parts-holding devices are arranged on a common secondary carrier. A second and / or additional carrier with two parts-holding devices can be designed accordingly. Simultaneous transport can also be implemented with parts-holding devices arranged on different secondary carriers.

[0032] For example, part pick-up devices can also be used together to transport a sheet metal part, e.g. to feed a whole sheet to the sheet metal processing device or to transport a sheet metal part of a size that is too large for a single part pick-up device.

[0033] The second primary carrier and / or the second primary linear drive can be arranged parallel and / or offset from the first primary linear drive. For example, the secondary linear drive can extend between the first and second primary linear drives.

[0034] The first and second primary supports can preferably be rigidly connected to each other. For example, they can both be formed by a factory floor or be rigidly connected to each other by such a floor.

[0035] Preferably, the first and second primary linear drives can be arranged on opposite sides of a receiving and / or depositing area for sheet metal parts and / or enclose all receiving and depositing areas of the transport device on opposite sides.

[0036] In particular, two or more secondary carriers can also be provided, each of which can be moved by two, in particular opposite, primary linear drives.

[0037] The secondary carrier can preferably be rotatably coupled to the first and second primary linear drives and movable by them. For example, a rotary drive can be provided between the respective primary linear drive and the secondary carrier.

[0038] A rotatable secondary carrier has the advantage that the secondary carrier does not have to be moved translationally in order to realize a movement of the part holding device in question parallel to the respective primary linear drive. Even if the main transport direction runs essentially parallel to the secondary linear drive, a certain movement of the sheet metal part parallel to the respective primary linear drive may be desired. By rotating the secondary carrier, inertial effects can be counteracted. With a purely translational movement of the secondary carrier, the entire mass of the carrier acts on the inertia during a movement, whereas the possibility of rotation allows the secondary carrier to be moved more favorably in terms of inertia. For example, the transport device can be set up to rotate the secondary carrier at least essentially around its center of gravity for a transport process.

[0039] For example, the transport device can be configured to rotate the carrier by a maximum of 20°, preferably a maximum of 10°, for a transport process. In general, the rotation of the secondary carrier can be limited to a maximum of 20°, preferably a maximum of 10°.

[0040] According to one embodiment, the secondary carrier can be moved independently of each other by the first and second primary linear drives.

[0041] The double-rotatable coupling, or double rotatability, results in a technically particularly advantageous drive concept, namely particularly fast and flexible transport while simultaneously placing relatively low resulting loads on the elements involved in the transport system. These low loads ensure, on the one hand, that the drives do not have to be particularly large and, on the other hand, that high acceleration of the sheet metal parts is possible with the moderately dimensioned drives.

[0042] Rotary couplings between the secondary carrier and the first and second primary linear drives are preferably spaced apart from one another, preferably arranged at opposite ends of the secondary carrier. In particular, it can be provided that the secondary carrier is coupled to the first and second primary linear drives via a rotary coupling, and the rotary couplings are movable independently of one another by means of the first and second primary linear drives, respectively.

[0043] In one embodiment, a second secondary carrier is rotatably coupled to a third and a fourth primary linear drive and can be moved independently of one another by these.

[0044] The third primary linear drive can preferably be designed to be collinear with the first primary linear drive and / or have a common linear motor and / or a common guide. The fourth primary linear drive can preferably be designed to be collinear with the second primary linear drive and / or have a common linear motor and / or a common guide.

[0045] In particular, two or, in principle, more than two doubly rotatably suspended secondary supports can be provided, which can, for example, each have several part-receiving devices, each with an associated secondary linear drive. A respective support can, in principle, have one, two, or more secondary linear drives, in particular by which a tertiary drive and a part-receiving device can be moved.

[0046] For example, at least two secondary carriers can be provided which are rotatably coupled to the first and second or third and fourth primary linear drives and are movable independently of one another by these, wherein a first of the secondary carriers carries the first secondary linear drive and a second of the secondary carriers carries a second secondary linear drive, in particular wherein each of the at least two secondary carriers has at least two secondary linear drives, by means of which a tertiary drive and a parts receiving device are movable in each case.

[0047] The rotatable coupling between the secondary support and the first primary linear drive can be designed to be rigid. The rotatable coupling between the secondary support and the first primary linear drive can form a fixed bearing. A cable outlet of the secondary support can preferably be routed via the coupling between the secondary support and the first primary linear drive, via the rigid coupling, and / or via the fixed bearing.

[0048] The rotatable coupling between the secondary carrier and the second primary linear drive, or the second rotatable coupling, can preferably be designed to be displaceable. The, in particular, second, rotatable coupling, or the coupling between the secondary carrier and the second primary linear drive, can form a floating bearing. The rotatable coupling between the secondary carrier and the second primary linear drive, or the second rotatable coupling, can preferably be designed to be displaceable parallel to the secondary linear drive and / or to the secondary carrier. This enables a particularly easy-to-calculate movement of the secondary carrier, in particular compared to displaceability at a fixed angle, in particular perpendicular, to the primary linear drive.

[0049] The coupling between the secondary carrier and the first primary linear drive and / or the coupling between the secondary carrier and the second primary linear drive is preferably arranged at least substantially at one end, in particular at opposite ends, of the secondary carrier and / or secondary linear drive. This allows for particularly extensive utilization of the range of motion of the secondary linear drives for transporting the sheet metal parts. In other words, the receiving area and storage area can be designed to be relatively large compared to the size of the transport device. In the case of rotatable secondary carriers, the suspension at the ends has a particularly beneficial effect on the load on the drives due to the effective levers.

[0050] According to one embodiment, the transport device is configured for a transport process in which a sheet metal part is transported simultaneously by at least two parts receiving devices. For example, larger parts can also be transported using the available transport means. The parts receiving devices, which are used simultaneously for transport, can be arranged, for example, on different secondary supports, which increases movement flexibility.

[0051] In one embodiment of the sheet metal processing system according to the invention, a transport device is provided, wherein part receiving devices are equipped with different tertiary carriers and / or different tertiary drives and / or with tertiary drives of different types for different part receiving devices. With such a transport device for a sheet metal processing system, it can be taken into account in particular that the sheet metal parts to be transported can be very different. In practice, this is particularly the case, for example, when smaller sheet metal pieces are cut out of a very large sheet metal part. In this case, both these large sheet metal parts with the resulting recesses and the smaller, just-cut sheet metal parts lie in similar predefined positions or regions and can thus be picked up particularly expediently by the transport device.A large sheet metal part is picked up by a parts pick-up device on a tertiary carrier with a correspondingly powerful and resilient tertiary drive, while the small parts are picked up by other tertiary carriers with smaller tertiary drives. This does not have to happen simultaneously, but can occur sequentially, with the placement also being possible at different positions.

[0052] Tertiary drives can be used with different designs (magnetic or vacuum), or with the same design but with different load capacities. A different design refers not only to the type of gripping mechanism, such as magnetic or vacuum, but also, and especially, to the mechanical design. For example, different numbers of magnets or vacuum suction cups can be installed per gripper, and their size and spacing can also vary.

[0053] Such a design is capable of transporting even very large and heavy sheet metal parts because a tertiary drive with sufficient capacity is always available on the corresponding secondary carrier. However, such a tertiary drive naturally also requires a correspondingly high amount of energy and is also relatively bulky, which is unnecessary and may even be a hindrance when handling smaller sheet metal parts. The energy requirement for transporting small sheet metal parts is therefore determined by the significantly smaller and more space-saving tertiary drives used for these parts. Further embodiments of the sheet metal processing system according to the invention show a modified form of a transport device, wherein one or more of the secondary carriers are equipped with several tertiary carriers and part receiving devices assigned to these tertiary carriers.

[0054] This can be achieved, for example, by equipping a secondary beam with four tertiary beams, two of which are located on each side of the secondary beam.

[0055] Such a design leads to high throughput, which is made possible by the larger number of tertiary beams and tertiary drives, but remains mechanically more complex for the overall structure by eliminating the need for an additional secondary beam. Such a design must, of course, take into account that if multiple tertiary beams are arranged on one and the same secondary beam, these tertiary beams cannot be moved past each other if they are located on the same side of the secondary beam. Therefore, the order in which the sheet metal parts are removed must be carefully considered when using such a design. However, since a design is used with foresight and is expected to remain in this function for an extended period, this can be planned in advance.

[0056] In a further alternative embodiment, a different transport device is provided, wherein third and optionally also fourth and further secondary carriers with secondary linear drives are provided, on which one, two or more tertiary carriers with the tertiary drives are arranged.

[0057] For example, three to four secondary carriers can be provided, which cooperate with different numbers of tertiary carriers, but preferably with two per secondary carrier.

[0058] Such designs may be advantageous when transporting very large, flat sheet metal parts, where multiple tertiary supports with tertiary drives are to engage the sheet metal part on one surface. These tertiary supports can then be distributed across multiple secondary supports and engage various, widely separated areas of the flat sheet metal part to be transported.

[0059] A combination with the design featuring differently designed tertiary drives is also possible. Especially with very large sheet metal parts, it is often desirable to distribute the load of the flat parts to be transported as evenly as possible and to optimize this so that the sheet metal does not sag or even bend. This design allows different parts handling devices with tertiary drives to distribute the loads to be picked up among themselves, whereby different sizes and thus different load capacities can be achieved.

[0060] A completely new possibility is created by a sheet metal processing system, in which a mechanism that can be rotated or pivoted about one or more rotation or pivot axes is arranged on the secondary supports as or in addition to the tertiary supports and is movable by means of tertiary drives.

[0061] With such a design, it can be provided that a sheet metal part picked up by the transport device is not only transported from one position to another, but that it is also processed, for example, bent, in an intermediate station or final station of this transport. The robot, which takes on a function in addition to or instead of the tertiary carrier, can hold the sheet metal part while other tools work on it. With such a design, which naturally requires the use of a relatively complex robot, an entire processing station can be replaced during transport. This is associated with enormous time, space, and cost advantages. The sheet metal part can be rotated during a transport process. This can be the case during a transport process with one part pick-up device or during a transport process with two or more part pick-up devices.

[0062] Some embodiments of the invention further allow the sheet metal part to be rotated during a transport process. The transport device can, for example, be configured to stack sheet metal parts, particularly in a depositing area and / or storage area, during unloading of the sheet metal processing device and / or to remove sheet metal parts from a stack, particularly arranged in a receiving area and / or storage area, during loading of the sheet metal processing device.

[0063] The transport device can, for example, be configured to pick up sheet metal parts at a predefined position when unloading the sheet metal processing device and / or to deposit them at a predefined position. The part position can therefore be known in particular in advance. The sheet metal processing system can preferably be configured such that the sheet metal parts to be transported are static before and / or after transport and / or that the sheet metal parts are transported from a static position in a pick-up area and / or to a static position in a deposit area. One advantage of the known or static pick-up and / or deposit positions is that the path of the part pick-up devices can be determined in advance. Since determining the path is a form of the traveling salesman problem, a good solution can often only be found with a relatively high computational effort.Determining the route in advance allows for significantly more computational effort to be invested in the calculation than would be the case if the calculation had to be carried out continuously and during operation. This allows a significantly better route to be determined, ultimately increasing transport speed.

[0064] According to one embodiment, the sheet metal processing system comprises a control device for controlling the transport device, wherein the control device is configured to: plan a sequence in which a predetermined quantity of sheet metal parts is transported, and optimize the sequence with respect to the total time required for transporting the quantity of sheet metal parts using an optimization algorithm. The optimization algorithm can, in particular, be of a heuristic nature.

[0065] Preferably, the sheet metal processing system is designed to move sheet metal parts, in particular after processing by means of the sheet metal processing device, by means of the transport device, wherein the surface of the sheet metal parts is at least 10 cm 2 , preferably at least 100 cm 2 , preferably at least 500 cm 2 and / or wherein the weight of the sheet metal parts is at least 50 g, preferably at least 0.1 kg, preferably at least 0.5 kg, preferably at least 1 kg.

[0066] Alternatively or additionally, the sheet metal processing system can be designed to move sheet metal parts, for example raw material sheets for a laser cutting device, by means of the transport device, the area of ​​which is at least 2 m 2 , preferably at least 3 m 2 and / or whose weight is at least 1000 kg, preferably at least 2000 kg.

[0067] The primary linear drives can preferably have a range of motion of at least 1 m, preferably at least 2 m.

[0068] The secondary linear drive and / or the secondary linear drives can preferably have a range of motion of at least 1 m, preferably at least 2 m.

[0069] The tertiary drive, in particular linear drive, and / or the tertiary drives, in particular linear drives, can preferably have a range of motion of at least 100 mm, preferably at least 300 mm.

[0070] The transport device can preferably be configured to both load and unload the sheet metal processing device. The object of the invention is also achieved by a method for transporting sheet metal parts according to the claim directed thereto. This method serves to transport sheet metal parts in a sheet metal processing system of the type mentioned above. According to the method, during at least one transport process, in particular an unloading of the sheet metal processing device, at least one sheet metal part is transported at least primarily in a transport direction which runs at least substantially along the secondary linear drive and / or at least substantially perpendicular to the first and / or second primary linear drive.

[0071] The secondary carrier is preferably moved by the first and second primary linear drives, in particular independently of one another. The sheet metal processing device is preferably loaded and / or unloaded with sheet metal parts by means of the transport device. The tertiary carrier is preferably moved by the secondary linear drive. The parts receiving device is preferably moved by the tertiary drive. By means of the parts receiving device, a respective sheet metal part is preferably transported from a receiving area to a storage area. The drives together ensure that the parts receiving device can be moved in three independent spatial directions.

[0072] The embodiments described for the sheet metal processing system can be applied accordingly to the described method, and vice versa. The sheet metal processing system can generally be designed with one, two, three, more than two, or more than three secondary supports. Individual or each of these secondary supports can be designed according to the above-described embodiments of a secondary support.

[0073] Further preferred features are specified in the subclaims and in the following description of the figures.

[0074] The invention is explained below merely by way of example with reference to the schematic drawings.

[0075] Fig. 1 shows a sheet metal processing system;

[0076] Fig. 2 shows another sheet metal processing system;

[0077] Fig. 3 shows another sheet metal processing system;

[0078] Fig. 4 shows another sheet metal processing system in a side view;

[0079] Fig. 5 shows another sheet metal processing system in a schematic representation; and

[0080] Fig. 6 shows another sheet metal processing system in a schematic representation similar to Figure 5.

[0081] The description of the figures also describes the invention using a sheet metal processing system 10, which processes sheet metal parts or raw sheets and in which transport processes take place. The description can also be applied to other flat materials, but for the sake of simplicity, it is described using sheet metal.

[0082] Fig. 1 shows a schematic plan view of a sheet metal processing system 10. The sheet metal processing system 10 comprises a sheet metal processing device 12, which has a loading area 14. The loading area 14 is used for both loading and unloading the sheet metal processing device 12. To load the sheet metal processing device 12, a sheet metal part or raw sheet is placed in the loading area 14. This transport process is explained in more detail below. The sheet metal processing device 12 has means (not shown in detail) by which the sheet metal part or raw sheet can be moved into the sheet metal processing device 12. The sheet metal part or raw sheet is then processed in the sheet metal processing device 12. For example, the sheet metal processing device 12 can be a laser cutting device, and the processing can include cutting sheet metal parts out of a raw sheet.Subsequently, the machined sheet metal part or raw sheet or the resulting sheet metal parts are moved from the sheet metal processing device 12 into the loading area 14 by means not shown in detail.

[0083] The sheet metal processing system 10 of Fig. 1 comprises a transport device 16. The transport device 16 comprises a first primary carrier 18.1 and a second primary carrier 18.2.

[0084] The first primary carrier 18.1 comprises a first primary linear guide 20.1. A first primary rotor 21.1, a second primary rotor 21.2, and a third primary rotor 21.3 are coupled to the first primary linear guide 20.1 such that each primary rotor 21, together with the primary linear guide 20, forms a primary linear drive. The second primary carrier 18.2 comprises a second primary linear guide 20.2, and corresponding primary rotors 21.4, 21.5, and 21.6 are provided. Thus, a total of three primary linear drives are provided on both the first primary carrier 18.1 and the second primary carrier 18.2, although in this example, they are aligned and feature a common guide.

[0085] The transport device 16 comprises a first secondary carrier 22.1, a second secondary carrier 22.2 and a third secondary carrier 22.3. The first secondary carrier 22.1 is connected to the primary rotor 21.1 and the primary rotor 21.4, such that the first secondary carrier 22.1 can be moved by means of the primary linear drives 20.1, 21.1 and 20.2, 21.4. In this example, the secondary carrier 22.1 is firmly connected to the respective rotor 21.1 and 21.4 and the secondary carrier 22.1 can be moved along the primary carriers 18.1 and 18.2 or along the primary linear drives 20.1, 21.1 and 20.2, 21.4, although the orientation of the secondary carrier 22.1 remains the same. The same applies to the secondary carriers 22.2 and 22.3.

[0086] The first secondary carrier 22.1 comprises a first secondary linear drive 24.1 and a second secondary linear drive 24.2. The secondary linear drives 24 also generally comprise a guide and a slider, although these are not shown or referenced separately here for the sake of clarity. The second secondary carrier 22.2 and the third secondary carrier 22.3 also comprise secondary linear drives 24, which are not referenced separately for the sake of clarity.

[0087] A first part receiving device 26.1 and a second part receiving device 26.2 are arranged on the first secondary carrier 22.1. The part receiving devices 26 are each coupled to a tertiary carrier (not shown in detail in Fig. 1) and a tertiary drive, and can be moved by these, in particular perpendicular to the image plane. Several part receiving devices 26 are also arranged on the further secondary carriers 22.2 and 22.3; for the sake of clarity, these devices are not separately referenced.

[0088] The sheet metal processing system 10 also comprises a plurality of storage areas 28, namely, for example, a first storage area 28.1, a second storage area 28.2, a third storage area 28.3 and a fourth storage area 28.4.

[0089] One or more of the storage areas 28, preferably the storage area 28.1 and / or the storage area 28.2, can be designed as follows: For example, the storage area 28 can form a storage area for sheet metal parts for unloading the sheet metal processing device 12 or the loading area 14. In the storage area 28, for example, a pallet can be arranged, on which sheet metal parts can be placed, in particular stacked. Alternatively, for example, a vehicle of a driverless transport system can be positioned in the storage area 28 and loaded, for example, by placing the sheet metal parts directly on the vehicle. One or more of the storage areas 28, preferably the storage area 28.3, can be designed as follows: The storage area 28 can, for example, form a receiving area for sheet metal parts or, for example, for a raw sheet for loading the sheet metal processing device 12 or the loading area 14.

[0090] One or more of the storage areas 28, preferably the storage area 28.4, can be designed as follows: The storage area 28 can, for example, form a receiving and / or storage area for tools that can be connected to a part-receiving device 26. Magnets and / or suction cups, for example, can be used as tools. A tool can, for example, also comprise a carrier with several magnets and / or suction cups.

[0091] Fig. 1 shows a coordinate system with an x-direction and a y-direction. The primary linear drives 20, 21 run parallel to the x-direction. The secondary linear drives 24 are aligned parallel to the y-direction. The secondary supports 22 can therefore be moved parallel to the x-direction by means of the primary linear drives 20, 21. The part receiving devices 26 can be moved along the corresponding secondary support 22 by means of the secondary linear drives 24, in the case shown here parallel to the y-direction. A respective part receiving device 26 can be moved in a z-direction, which runs perpendicular to the image plane of Fig. 1, by means of the tertiary drive (not shown here). By means of the associated tertiary drive, the part receiving device 26 can therefore be brought closer to a sheet metal part located in one of the regions 14, 28 for the purpose of receiving it from above.

[0092] The transport device 16 is configured to transport sheet metal parts, particularly after processing by the sheet metal processing device 12, between the loading area 14 and the storage area 28.1. During each such transport process, the transport device 16 is configured to transport a sheet metal part primarily in a transport direction that runs at least substantially along the relevant secondary linear drive 24. A transport process between the loading area 14 and the storage area 28.3 has a transport direction that runs primarily along the primary linear drives 20, 21. The transport device can, for example, be configured additionally to carry out such transport processes.

[0093] From Fig. 1 and the above explanations, it is clear that a transport process that runs primarily parallel to the primary linear drives 20, 21 requires that the respective secondary carrier(s) 22 be moved relatively strongly. In contrast, a transport process that runs at least primarily along a secondary carrier 22, in particular a transport process between the regions 14 and 28.1, requires a comparatively small or sometimes even no movement of the respective secondary carrier 22.

[0094] The parts receiving devices 26.1 and 26.2 can be moved independently of one another along the respective secondary linear drive 24.1 and 24.2 and can be controlled independently of one another. In particular, they can also be moved in opposite directions. Since the secondary linear drives 24.1 and 24.2 or the parts receiving devices 26.1 and 26.2 are arranged on opposite sides of the secondary carrier 22.1, the parts receiving devices 26.1 and 26.2 can be moved past one another without colliding. The transport device 16 can be configured to move the parts receiving device 26.1 in a first direction along the secondary carrier 22.1, in particular with a sheet metal part to be transported, while the parts receiving device 26.2 is moved in a second direction opposite to the first direction along the secondary carrier 22.1, in particular without a sheet metal part. In other words, the parts receiving device 26.1 can carry out a transport operation, while the parts receiving device 26.2 can carry out an empty return journey.

[0095] Unlike the other secondary carriers 22.1 and 22.2, the third secondary carrier 22.3 is provided with four part receiving devices 26, which are not separately referenced for the sake of clarity. Thus, four secondary linear drives are provided on the third secondary carrier. Two of the secondary linear drives can preferably be aligned and designed with a common guide. The part receiving devices 26 on the same side of the secondary carrier 22.3 can, in particular, be movable independently of one another. In principle, a different number of part receiving devices 26 can be arranged on a secondary carrier 22.

[0096] Fig. 2 shows a sheet metal processing system 10 which is fundamentally constructed similarly to the sheet metal processing system of Fig. 1. In particular, the primary supports 18 and the regions 14, 28 are arranged similarly here. The transport device 16 of the sheet metal processing system 10 of Fig. 2 comprises two secondary supports 22.1 and 22.2 with respective secondary linear drives 24 and part receiving devices 26. In the present example, both secondary supports 22 each have two part receiving devices 26, although a different number and a different arrangement would also be possible. In this example, the second secondary support 22.2 is constructed correspondingly to the first secondary support 22.1, and in the following reference is made only to the first secondary support 22.1, whereby the explanations apply accordingly.

[0097] The first secondary carrier 22.1 is rotatably coupled to the first primary linear drive 20.1, 21.1, namely via a rotary coupling 30.1 at one of its ends. At the opposite end of the secondary carrier 22.1, the secondary carrier 22.1 is rotatably coupled to the second primary linear drive 20.2, 21.3 via a rotary coupling 30.2.

[0098] The secondary carrier 22.1 is thus rotatably mounted relative to the corresponding primary rotor 21 via the respective rotary coupling 30. When the primary rotor 21 moves along the primary linear guide 20, the pivot point of the rotary coupling 30 moves accordingly. The primary rotors 21.1 and 21.3 are movable independently of each other.

[0099] At one end of the secondary support 22.1, the coupling to the primary linear drive 21, 20, here the rotary coupling 30.2, is designed to be movable. For this purpose, the rotary coupling 30.2 has a guide element 32. This allows different angles of the secondary linear drive 22.1 to be compensated.

[0100] The secondary support 22.1 is mounted parallel to its secondary linear drives 24 and parallel to its extension direction, respectively, and is displaceable relative to the primary linear drive 21.3, 20.2. With this design, the kinematics of the secondary support 22.1 or the part receiving devices 26 can be calculated particularly easily using a control device (not shown here) of the sheet metal processing system or the transport device.

[0101] A cable outlet of the secondary linear drives 22 and / or the tertiary drives not shown here and / or the parts receiving devices 26 is preferably guided via the rigidly mounted end of the secondary carrier 22.1, i.e. here via the rotary coupling 30.1.

[0102] Similar to the sheet metal processing system 10 of Fig. 1, sheet metal parts can be transported particularly quickly in the sheet metal processing system 10 of Fig. 2, particularly between the loading area 14 and the storage area 28.1, since the secondary carrier 22.1 only needs to be moved relatively slightly for this purpose. Each transport process takes place primarily along the secondary carrier 22.1 or its secondary linear drives 24 by means of the corresponding parts receiving device 26.

[0103] A special feature compared to Fig. 1 is that the primary rotor 21.1 and the primary rotor 21.3 or the opposite ends of the secondary carrier 22.1 are independent of one another and can therefore in principle also move in opposite directions. This means that the secondary carrier 22.1 can also be rotated, namely about a pivot point located between the two ends of the secondary carrier 22.1. The pivot point does not necessarily have to be exactly in the middle and can in principle also move. Ultimately, very complex movement sequences are possible. In principle, the rotatability of the secondary carrier, particularly when the pivot point is relatively close to the middle of the secondary carrier 22.1, enables a movement of a parts receiving device 26 in the x-direction, whereby the secondary carrier 22.1 does not have to be moved in a translational manner or only has to be moved slightly, so that the inertia of the secondary carrier 42.1 is correspondingly small.

[0104] While the secondary carrier 22.1 also inherently exhibits inertia with respect to rotation, it is particularly advantageous that the angles through which the secondary carrier 22.1 is moved can be relatively small. As a result, the inertial effect of the secondary carrier 22.1 can be further reduced by the rotatable, particularly double-rotatable, suspension and control. This allows the transport speed to be further increased, especially in cases where a certain movement of the respective sheet metal part in the x-direction is also necessary.

[0105] In addition, the rotatability of the secondary carrier in combination with simultaneous transport significantly improves the possible throughput.

[0106] Fig. 3 shows an example of another sheet metal processing system. The kinematics of the transport device 16 are similar to those of the sheet metal processing system 10 in Fig. 2. In particular, the secondary supports 22.1 and 22.2 are both mounted on double pivots and are controllable.

[0107] In the sheet metal processing system 10 of Fig. 3, the loading area 14 and two storage areas 28.1 and 28.2 are arranged in a row that runs essentially along the secondary supports 22. With this arrangement, it is possible for all transport operations between the areas 14, 28.1, and 28.2 to take place primarily along the secondary linear drives 24 and / or primarily in the y-direction.

[0108] Fig. 4 shows a side view of a sheet metal processing system 10, which is particularly similar to that of Fig. 1. A secondary support 22 is visible, which is movable perpendicular to the image plane, i.e., in an x-direction, by means of a first primary linear drive 20.1, 21.1 and a second primary linear drive 20.2, 21.2. Similar to the sheet metal processing systems 10 of Figs. 2 and 3, the secondary support 22 can be rotatably coupled to the primary linear drives 20, 21, although this is not shown in Fig. 4.

[0109] On the side facing the viewer in Fig. 4, the secondary carrier 22 has a secondary linear drive 24. This comprises a secondary linear guide, which is fixedly connected to the secondary carrier 22, and a secondary rotor, which is fixedly connected to a tertiary carrier 34.1. The tertiary carrier 34.1 comprises a tertiary linear guide. A tertiary rotor is fixedly connected to a parts receiving device 26.1. The tertiary rotor and the tertiary linear guide together form a tertiary linear drive 36. On the side of the secondary carrier 22 facing away from the viewer in Fig. 4, a further parts receiving device 26.2 is provided, which is coupled to a further tertiary carrier 34.2 and is coupled and movable to the secondary carrier 22 in accordance with the parts receiving device 26.1.

[0110] In the illustration in Fig. 4, the parts receiving device 26.1 carries a sheet metal part 38 and is about to place this sheet metal part 38 on a stack 40 of sheet metal parts. The stack 40 is located in a storage area 28, for example, on a pallet. In the loading area 14 of the sheet metal processing device (not shown here), there are additional sheet metal parts 38 that still need to be transported, for example, to the storage area 28. For this purpose, the parts receiving device 26.2 can, for example, be controlled to pick up one of the sheet metal parts 38 and transport it to the storage area 28.

[0111] The tertiary linear drive 36 enables the respective parts receiving device 26 to be moved in the z-direction, i.e., in the vertical direction. Thus, the parts receiving device 26 can be vertically approached to a respective sheet metal part 38 in order to pick it up. The connection to the sheet metal part 38 can be realized, for example, by a magnet and / or a suction cup. The sheet metal part 38 or the parts receiving device 26.1 can then be lifted, for example, by the tertiary linear drive 36 and transported in the y-direction by the secondary linear drive 24 and in the x-direction by the primary linear drives 20, 21. The x-direction runs perpendicular to the image plane in Fig. 4.

[0112] The sheet metal processing systems 10 and transport devices 16 of the figures described above enable particularly fast transport of sheet metal parts, in particular with transport processes that run primarily along the respective secondary carrier 22 or primarily in the y-direction. This enables a particularly high throughput in the processing operation of the sheet metal processing system.

[0113] Fig. 5 shows a further embodiment in a simplified schematic representation. Two primary supports 18.1 and 18.2 are shown running parallel to each other from top to bottom in the plane of the page. Perpendicular to them, but also in the plane of the page (only perpendicular in this representation, but basically suspended for double rotation), is a secondary support 22. This secondary support 22 can be moved. In the plane of the page, but in reality below the primary supports 18 and secondary supports 22, there is a region with sheet metal parts of various sizes lying thereon, which are labeled as sheet metal part 38.1 and 38.2 respectively. In the example shown, these are circular shapes, but the difference in size between the sheet metal parts 38 can also be significantly greater.

[0114] A region with sheet metal parts 38 is seen adjacent to the first primary carrier 18.1 and a region with sheet metal parts 38 is seen adjacent to the second primary carrier 18.2.

[0115] Two tertiary supports 34 are shown on the secondary support 22. These are located on different sides of the secondary support 22 and can be moved independently of each other. A purely schematic representation of the different sizes indicates that the two tertiary supports 34.1 and 34.2 either have different dimensions or proportions, or perhaps are of a completely different type, for example, operating with magnetism or with negative pressure.

[0116] The sheet metal processing system 10 can thus be configured so that the tertiary supports 34.1 directly and specifically target smaller-sized bleaching parts 38.1, pick them up, and then transfer them to the other side parallel to the secondary support 22. The tertiary supports 34.2, with significantly greater forces, can then also pick up the larger bleaching parts 38.2, transfer them, and stack them on top of each other as a stack 40, as indicated in the figure.

[0117] The top right of Figure 5 shows how the X, Y, and Z axes are arranged in practice. Rotation around the Z axis is also indicated by a radius Rz.

[0118] In Fig. 6, a further embodiment is shown in a similar form to that in Fig. 5, which illustrates several features.

[0119] One can again see a primary beam 18 on the far left and one on the far right. Three secondary beams 22.1, 22.2, and 22.3 run perpendicular to the primary beam 18. All three secondary beams 22 are movable in a direction parallel to the primary beam 18, as indicated by arrows.

[0120] Below the secondary supports 22, two conveyor belts can be seen, on which sheet metal parts 38 are located on the left in a disordered state and on the right in an ordered state after transport. For simplicity, the sheet metal parts 38 are all the same size here, but are shown as elongated ovals. Of course, completely different relative sizes and shapes are also possible. On each of the three secondary supports 22.1, 22.2 and 22.3 there are one or more tertiary supports 34 with tertiary linear drives 36. These tertiary supports 34 are movable perpendicular to the plane of the page or usually upwards and downwards. It can clearly be seen that the tertiary support 34 on the middle secondary support 22.2 is shown larger, which is intended to illustrate a more robust structure or a different mode of operation.The parts receiving devices 26 on the tertiary supports 34 receive sheet metal parts 38 transported on the left conveyor belt, move upwards out of the access area of ​​the conveyor belt and then move overall along the secondary support 22 to the right, while the secondary support 22 is moved relative to the conveyor belts.

[0121] The sheet metal parts 38 are then placed in an orderly fashion on the conveyor belt shown on the right and are available for further processing in the sheet metal processing device 12. The two conveyor belts can be moved parallel or adjacent to each other, at a constant speed or at different speeds.

[0122] For illustration purposes, you can see the movement axes X, Y and Z as well as a direction of rotation Rz in the top right corner.

[0123] List of reference symbols

[0124] 10 Sheet metal processing system

[0125] 12 sheet metal processing equipment

[0126] 14 Loading area

[0127] 16 Transport facility

[0128] 18 primary carriers

[0129] 20 Primary linear guide

[0130] 21 primary runners

[0131] 22 secondary carriers

[0132] 24 Secondary linear drive

[0133] 26 Parts receiving device

[0134] 28 Storage area

[0135] 30 rotary coupling

[0136] 32 guide element

[0137] 34 tertiary carriers

[0138] 36 Tertiary linear drive

[0139] 38 sheet metal part

[0140] 40 stacks

Claims

Claims 1. A material processing system, in particular a sheet metal processing system (10), comprising a material processing device, in particular a sheet metal processing device (12), in particular a laser cutting device, and a transport device (16) for loading and / or unloading the material processing device (12) with material parts, wherein the transport device (16) comprises: a first primary carrier (18) with a first primary linear drive (20, 21), a second primary carrier (18) with a second primary linear drive (20, 21), a secondary carrier (22) with a secondary linear drive (24), a tertiary carrier (34) with a tertiary drive (36), and a parts receiving device (26) for receiving material parts, in particular sheet metal parts (38), wherein the secondary carrier (22) is coupled to the first primary linear drive (20, 21) and the second primary linear drive (20, 21) and is movable by the latter,wherein the tertiary carrier (34) is coupled to the secondary linear drive (24) and is movable thereby, wherein the parts receiving device (26) is coupled to the tertiary drive (36) and is movable thereby, wherein the transport device (16) is configured for at least one transport operation to transport a material part, in particular a sheet metal part (38) mainly in a transport direction which runs at least substantially along the secondary linear drive (24).

2. Material processing system, in particular sheet metal processing system (10) according to claim 1, wherein the transport device (16) comprises: a second secondary linear drive (24) on the secondary carrier (22), a second tertiary carrier (34) with a second tertiary drive (36) and a second part receiving device (26), wherein the second part receiving device (26) is connected to the second Tertiary drive (36) is coupled to and movable by this, wherein the second tertiary carrier (34) is coupled to and movable by the second secondary linear drive (24).

3. Material processing system, in particular sheet metal processing system (10) according to claim 2, wherein the second secondary linear drive (24) is arranged parallel but offset to the first secondary linear drive (24) and / or wherein the first and the second secondary linear drive (24) are arranged on opposite sides of the common secondary carrier (22).

4. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein the transport device (16) comprises: a third and a fourth primary linear drive (20, 21), a second secondary carrier (22) with a second secondary linear drive (24), a second tertiary carrier (34) with a second tertiary drive (36) and a second parts receiving device (26), wherein the second parts receiving device (26) is coupled to the second tertiary drive (36) and movable thereby, wherein the second tertiary carrier (34) is coupled to the second secondary linear drive (24) and movable thereby, and wherein the second secondary carrier (22) is coupled to the third and the fourth primary linear drive (20, 21) in each case and movable thereby.

5. Material processing system, in particular sheet metal processing system (10) according to claim 4, wherein the third primary linear drive (20, 21) is designed to be at least substantially collinear with the first primary linear drive (20, 21) and / or wherein the fourth primary linear drive (20, 21) is designed to be at least substantially collinear with the second primary linear drive (20, 21).

6. Material processing system, in particular sheet metal processing system (10) according to one of claims 2 to 5, wherein the second secondary linear drive (24) is operable independently of the first secondary linear drive (24).

7. Material processing system, in particular sheet metal processing system (10) according to one of claims 2 to 6, wherein the transport device (16) is designed such that the first part receiving device (26) with a received sheet metal part (38) is moved from a receiving area (14) to a storage area (28), while the second part receiving device (26) is moved from the storage area (28) to the receiving area (14), in particular without a sheet metal part (28).

8. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein the secondary carrier (24) is rotatably coupled to the first and the second primary linear drive (20, 21), in particular wherein the secondary carrier (22) is movable independently of one another by the first and the second primary linear drive (20, 21).

9. Material processing system, in particular sheet metal processing system (10) according to claim 8, wherein the rotatable coupling (30) between the secondary carrier (22) and the first primary linear drive (20, 21) is designed to be rigid, in particular wherein a cable outlet of the secondary carrier (22) is guided via the coupling (30) between the secondary carrier (22) and the first primary linear drive (20, 21), and / or wherein the rotatable coupling (30) between the secondary carrier (22) and the second primary linear drive (20, 21) is designed to be displaceable.

10. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein the coupling (30) between the secondary carrier (22) and the first primary linear drive (20, 21) and / or between the secondary carrier (22) and the second primary linear drive (20, 21) is arranged at least substantially at one end, in particular at opposite ends, of the secondary carrier (22) and / or secondary linear drive (24).

11. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein part receiving devices (26) are equipped with different tertiary supports (34) and / or different tertiary drives (36) and / or with tertiary drives (36) of different types for different part receiving devices (26).

12. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein one or more of the secondary supports (22) are equipped with a plurality of tertiary supports (34) and part receiving devices (26) associated with these tertiary supports (34).

13. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein third and optionally also fourth and further secondary carriers (22) are provided with secondary linear drives (24) on which one, two or more tertiary supports (34) with tertiary drives (36) are arranged.

14. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein a controllable mechanism which can be rotated or pivoted about one or more rotation or pivot axes is arranged on the secondary supports (22) as or in addition to the tertiary supports (34) and is movable by means of tertiary drives (36).

15. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein the transport device (16) is set up for a transport process in which a material part, in particular a sheet metal part (38) is transported simultaneously by means of at least two part receiving devices (26), in particular wherein the part receiving devices (26) are arranged on different secondary carriers (22) and / or in particular wherein the material part, in particular the sheet metal part (38) is rotated during transport.

16. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein the transport device (16) is designed to stack material parts, in particular sheet metal parts (38) when unloading the material processing device, in particular the sheet metal processing device (12) and / or to remove material parts, in particular sheet metal parts (38) from a stack (40) when loading the material processing device, in particular the sheet metal processing device (12) and / or wherein the transport device (16) is designed to pick up material parts, in particular sheet metal parts (38) at a respective predefined position and / or to deposit them at a respective predefined position.

17. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein the material processing system, in particular sheet metal processing system, comprises a control device for controlling the transport device, wherein the control device is designed to: plan a sequence in which a predetermined quantity of material parts, in particular sheet metal parts (38) is transported, and to optimize the sequence with regard to the total time required for transporting the quantity of material parts, in particular sheet metal parts, by means of an optimization algorithm.

18. Material processing system, in particular sheet metal processing system (10) according to one of the preceding claims, wherein the material processing system, in particular the sheet metal processing system (12) is designed to move material parts, in particular sheet metal parts (38), in particular after processing by means of the material processing device, in particular the sheet metal processing device (12), by means of the transport device (16), the area of ​​which is at least 10 cm 2 , preferably at least 100 cm 2 , preferably at least 500 cm 2and / or whose weight is at least 50 g, preferably at least 0.1 kg, preferably at least 0.5 kg, preferably at least 1 kg, and / or wherein the material processing system, in particular the sheet metal processing system (12) is designed to move material parts, in particular sheet metal parts (38), for example raw material plates for a laser cutting device, by means of the transport device (16), the area of ​​which is at least 2 m 2 , preferably at least 3 m 2 and / or whose weight is at least 1000 kg, preferably at least 2000 kg, and / or wherein the transport device (16) is designed to both load and unload the material processing device, in particular sheet metal processing device (12).

19. Method for transporting material parts, in particular sheet metal parts (14) in a material processing system, in particular a sheet metal processing system (10) according to one of the preceding claims, wherein in at least one transport process, in particular an unloading of the material processing device, in particular the sheet metal processing device (12), at least one material part, in particular a sheet metal part (38) is transported at least mainly in a transport direction which runs at least substantially along the secondary linear drive (24) and / or at least substantially perpendicular to the first and / or a second primary linear drive (20, 21).

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