Handling device and method for separating at least one workpiece from a residual grid of a residual grid assembly of parts
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- TRUMPF WERKZEUGMASCHINEN GMBH & CO KG
- Filing Date
- 2024-06-30
- Publication Date
- 2026-05-06
Smart Images
Figure EP2024068418_02012025_PF_FP_ABST
Abstract
Description
[0001] Handling device and method for separating at least one workpiece from a residual grid of a residual grid part assembly
[0002] The invention relates to a handling device for separating at least one workpiece from a residual skeleton of a residual skeleton part assembly and a method therefor.
[0003] EP 2 662 182 B1 further discloses a method and a device for removing a residual skeleton assembly from a workpiece support in a machine tool, with subsequent separation of the workpieces from the residual skeleton. This device comprises a support frame on which a rear gripping device is provided, which comprises rake-like rear gripping elements that are movable relative to the support frame. To remove the residual skeleton assembly, the device is positioned with an open rear gripping device relative to the workpiece support, such that the rake-like rear gripping elements can be positioned between support webs of the workpiece support in order to engage an underside of the residual skeleton assembly. The residual skeleton assembly resting on the rear gripping elements is then lifted from the workpiece support.The remnant skeleton assembly is then lifted off the retaining elements, allowing the workpiece parts to fall out of the remnant skeleton. Particularly in the case of a remnant skeleton assembly in which the workpieces are completely cut free from the remnant skeleton, the workpieces may tilt relative to the remnant skeleton when the remnant skeleton assembly is lifted off the workpiece support, which can make subsequent separation of the workpieces more difficult.
[0004] EP 3 708 524 A1 discloses a method for removing a workpiece from a scrap skeleton of a scrap-skeleton assembly. The workpiece to be removed is held in place by a suction gripping device and lifted from the scrap skeleton. If a hooking occurs between the workpiece and the scrap skeleton, a vibration plate is subsequently lowered from above onto the workpiece to be removed. After the vibration plate lands on the workpiece, a vibration element is activated to release the hooking between the workpiece and the scrap skeleton. DE 10 2021 117 265 A1 discloses a device for separating a cut-out workpiece from a scrap skeleton. The workpiece is held fixed to the scrap skeleton by at least one web connection.The device for separating the workpiece comprises at least one gripping element, a pulling device, and an impact device, wherein the gripping element is movable toward the workpiece. The gripping element is designed to grip the cut-out workpiece, and the pulling device is configured to apply a pulling force away from the workpiece to the gripping element when connected to the workpiece. The impact device is oriented such that an impact element of the impact device exerts an impact force on the base body at the web connection in order to break the web connection.
[0005] DE 10 2010 031 001 A1 discloses an industrial conveyor having elongated workpiece storage elements and a floor-mounted chassis. To facilitate workpiece transfer between a workpiece support and the industrial conveyor, the workpiece storage elements can be arranged in several spaces between the support elements of the workpiece support. This allows for easy lifting of the scrap skeleton with the cut workpieces. If the workpiece storage elements are arranged above a sheet metal cutout holder, the workpieces can be pushed through the workpiece storage elements. Alternatively, a vibrating device can be provided to free the workpieces that are still connected to the scrap skeleton, for example via microjoints. One variant is when a lifting device provided on the industrial conveyor serves as a vibrating device for raising and lowering the workpiece storage elements.
[0006] The invention is based on the object of proposing a handling device and a method for separating at least one workpiece from a residual skeleton of a residual skeleton part assembly in order to achieve a shortening of the process time in automation.
[0007] This object is achieved by a handling device with a support frame on which a rear gripping device with rear gripping elements is provided and with a holding device which comprises at least one holding element which, perpendicular to a workpiece plane, transfers the residual skeleton part assembly from a gripping position resting on the rear gripping elements into a separating position in which the residual skeleton part assembly is lifted relative to the rear gripping elements, in which the residual skeleton part assembly arranged in the separating position relative to the support frame can be subjected to vibrations by a vibration tool and / or shaking tool in order to separate the at least one workpiece from the residual skeleton.This allows the at least one workpiece to be separated from the reclaimed skeleton immediately after the reclaimed skeleton component assembly has been removed from a workpiece support on a pallet or pallet changer by the handling device. Advantageously, the vibration tool can separate the at least one workpiece from the reclaimed skeleton, which is secured to the reclaimed skeleton by a web connection, in particular a microjoint or nanojoint. Thus, such a handling device not only serves to remove the reclaimed skeleton component assembly from the workpiece support in a machine tool, but simultaneously also enables the at least one workpiece to be separated from the reclaimed skeleton.
[0008] In order to separate the at least one workpiece from the residual skeleton, a pulsed introduction of the vibrations by the vibration tool can preferably be controlled.
[0009] Preferably, the at least one holding element of the holding device engages the residual skeleton assembly or can be positioned engagingly in an opening in the residual skeleton assembly. This allows the residual skeleton assembly to be lifted relative to the residual skeleton assembly by the at least one holding element after the rear gripping elements have been transferred into a gripping position. Subsequently, vibrations can be introduced into the residual skeleton assembly by the vibration tool. Known holding elements, such as suction elements or holding magnets, cannot ensure a secure gripping function due to the vibrations introduced.
[0010] Advantageously, it is provided that the at least one holding element is rod-shaped and has a gripping hook on a free end opposite the support frame, which grips an edge of the residual skeleton assembly or engages in at least one opening, in particular a residual skeleton, and can be positioned relative to this, for example by rotation, in a secured receiving position for the residual skeleton assembly. Advantageously, it is provided that after the residual skeleton assembly has been positioned in the separation position, the residual skeleton assembly is in contact with the vibration tool. The vibration tool can then be activated to generate the vibrations and transmit them to the residual skeleton assembly. Preferably, it is provided that the vibration tool couples the vibrations into the residual skeleton of the residual skeleton assembly.This can be done on a surface of the rebar that is aligned parallel to the workpiece plane. The vibrations can also be coupled to a front side of the rebar or to a peripheral edge of the rebar.
[0011] The vibration tool can preferably be arranged on the support frame. After positioning the remnant skeleton assembly in the separation position, the vibration tool can be moved toward the remnant skeleton assembly so that it rests against or on the remnant skeleton. It can also be provided that, after transferring the remnant skeleton assembly to the separation position, the remnant skeleton assembly rests directly against the vibration tool.
[0012] The vibration tool can have one or more vibrating heads which are in direct contact with the residual skeleton part assembly, in particular the residual skeleton.
[0013] Alternatively, a vibrating piston vibrator can be used as the vibration tool. Furthermore, vibrations can be introduced using an impact wrench. This occurs particularly along the peripheral edge of the remnant skeleton assembly or at one end of the remnant skeleton. This impact wrench technique is preferably used for so-called thin sheets with a thickness of up to approximately 3 mm.
[0014] Furthermore, it can alternatively be provided that the vibration tool comprises a hold-down element which advantageously extends parallel to the residual skeleton component assembly in the separation position. In such an embodiment of the vibration tool with the hold-down element, workpieces which are either completely cut free from the residual skeleton or are fixed to the residual skeleton with a plug-in connection, in particular a microjoint or nanojoint, can be separated from the residual skeleton of the residual skeleton component assembly. In particular, the hold-down element is positioned in the separation position such that the hold-down element rests against an upper side of the residual skeleton component assembly. This has the advantage that the at least one workpiece which is released from the residual skeleton by the vibrations can be specifically separated only downwards.
[0015] Preferably, the hold-down element is designed as a hold-down plate. In particular, the hold-down element extends over its entire surface, with the format of the hold-down element being equal to or larger than the format of the residual skeleton assembly. This allows the hold-down element to be arranged in the separation position with its entire surface, in particular resting completely on the residual skeleton assembly. The format refers to the planar extent, i.e., the length and width of the residual skeleton assembly.
[0016] The object underlying the invention is further achieved by a method for separating at least one workpiece from a residual skeleton of a residual skeleton-part assembly using a handling device, in particular according to one of the previously described embodiments, in which a residual skeleton-part assembly, which is held in a gripping position by rear gripping elements, is transferred by at least one holding element of a holding device into a separating position in which the residual skeleton-part assembly is lifted relative to the rear gripping elements, and in which the residual skeleton-part assembly transferred into the separating position is subjected to vibrations by a vibration tool arranged on the support frame. This enables the at least one workpiece to be separated from the residual skeleton in the handling device.Thus, this handling device can be used not only for removing the residual skeleton part assembly from a workpiece support of a pallet or a pallet changer, but also subsequently for separating at least one workpiece from the residual skeleton.
[0017] Advantageously, the residual skeleton assembly is lifted from the gripping position resting on the rear gripping elements by the at least one holding element of the holding device to a height in a separation position which corresponds to at least 1.5 times the thickness of the residual skeleton assembly. For example, this allows the at least one workpiece to be separated downwards relative to the residual skeleton and placed on the rear gripping elements, which are arranged in a gripping position, with a safety distance from the underside of the residual skeleton. Furthermore, it is preferably provided that the vibration tool is placed on or contacted with the residual skeleton assembly after the residual skeleton assembly has been positioned in the separation position and / or is positioned engaging an end face.This allows the vibrations to be introduced into the residual grid assembly both from above onto a flat extension plane and / or into a peripheral edge or end face of the residual grid assembly.
[0018] Furthermore, it is preferably provided that during the cutting processing of the plate-shaped material for producing at least one workpiece, perforations are introduced into the residual skeleton, so that the at least one holding element of the holding device engages in the perforation in the residual skeleton, and the residual skeleton is transferred and held in the separation position by the at least one holding element. This has the advantage that the holding device enables secure reception of the residual skeleton component assembly, regardless of the intensity of the vibrations introduced into the residual skeleton component assembly by the vibration tool.
[0019] Furthermore, it is preferably provided that a hold-down element is arranged on the support frame, which is positioned resting against the remnant skeleton assembly when the remnant skeleton assembly is transferred into the separation position. Opposite the remnant skeleton assembly, the vibration tool can introduce the vibrations into the hold-down element, so that the vibrations are transmitted via the hold-down element to the remnant skeleton assembly. This has the advantage that the at least one workpiece is separated from the remnant skeleton in a targeted manner, exclusively downwards.
[0020] The hold-down element is preferably mounted on the support frame in a detachable and / or replaceable manner. This also allows for replacement, for example, to accommodate different formats of the residual skeleton and part assembly.
[0021] A preferred embodiment of the method for separating the at least one workpiece from the residual skeleton provides that, during the separation process, the gripping elements remain positioned in the gripping position below the residual skeleton assembly and are held and picked up by the gripping elements. The residual skeleton advantageously remains held to the support frame by the at least one holding element of the holding device. Subsequently, the separated workpieces can be transported to a conveyor belt or another storage location by means of the handling device and deposited. The residual skeleton can then be deposited separately in an unloading station or the like.
[0022] According to an alternative embodiment of the method, before the start of the separation process, the handling device is positioned over a conveyor belt, and the gripping elements are moved into a disengaged position, so that the at least one workpiece removed from the skeleton during the separation process is transferred directly to a conveyor belt. The skeleton remains held to the support frame by the holding elements of the holding device. After all workpieces have been separated from the skeleton, the skeleton can advantageously be deposited in an unloading station or storage station in a separate work step.
[0023] Preferably, the vibration tool is operated at frequencies, in particular variable frequencies, with the frequencies spanning a specific frequency band. The frequency band is selected such that the natural frequency of at least one component involved in the vibrations lies within the specific frequency band. This allows for an effective response to the natural frequency profile during the separation process by the removed workpieces.
[0024] The invention, as well as further advantageous embodiments and developments thereof, are described and explained in more detail below with reference to the examples shown in the drawings. The features shown in the description and the drawings can be used individually or in any combination according to the invention. They show:
[0025] Figure 1 shows a machine arrangement for laser cutting plate-shaped workpieces with a laser cutting machine and an automation unit arranged in front of it with a handling device,
[0026] Figure 2 is a schematic side view of the handling device above a workpiece support,
[0027] Figure 3 is a schematic side view of the handling device in a lowered position relative to the residual skeleton assembly, Figure 4 is a schematic side view of the handling device in a gripping position relative to the residual skeleton assembly after lifting from the workpiece support,
[0028] Figure 5 is a schematic side view of the handling device at the beginning of a separation process,
[0029] Figure 6 is a schematic side view of the handling device with workpieces separated from the residual skeleton,
[0030] Figure 7 is a schematic side view of the handling device during unloading of the workpieces,
[0031] Figure 8 is a schematic side view of the handling device before unloading the residual skeleton,
[0032] Figure 9 is a schematic side view of the handling device after unloading the residual skeleton,
[0033] Figure 10 is a schematic side view of the handling device according to an alternative embodiment to Figure 5,
[0034] Figure 11 is a schematic side view of the handling device according to a further alternative embodiment to Figure 5, and
[0035] Figure 12 is a schematic view of a holding element in an opening in the residual grid.
[0036] Figure 1 shows a perspective view of a mechanical assembly 1 with a machine tool 3, in which a sheet-like material 2 is separated by a cutting device into at least one workpiece 7 and a residual skeleton 8 or several residual skeleton parts. The machine tool 3 is preferably designed as a laser cutting machine.
[0037] For cutting, the plate-shaped material 2, in particular the sheet metal, is placed on a workpiece support 15 inside a work area 5 of the machine tool 3. In a known manner, the plate-shaped material 2 is passed over by a laser cutting head 6 of the laser cutting machine for cutting. Figure 1 shows a plate-shaped material 2 inside the work area after cutting, during which workpiece blanks or workpieces 7 in the form of finished parts and a scrap skeleton 8 at least partially surrounding the workpiece 7 have been produced as processing products. Between the workpiece 7 and the scrap skeleton 8 there is a cutting gap a few millimeters wide. The at least one cut workpiece 7 and the scrap skeleton 8 form a scrap skeleton component assembly 9. It is preferably provided that the at least one workpiece 7 is completely cut free from the scrap skeleton 8.Alternatively, it can also be provided that the workpiece 7 is connected and held in the residual skeleton 8 by at least one web section, in particular a microjoint or nanojoint.
[0038] The workpiece support 15 is provided on a movable pallet 4, which was moved with the sheet material 2 through a slot-shaped opening in a housing of the machine tool 3 into its working area 5. Previously, the workpiece support 15 with the raw sheet material 2 was placed on the front side of the machine tool 3 on a conventional pallet changer 10. After the sheet material 2 has been machined, the pallet 4 with the workpiece support 15 is moved back onto the pallet changer 10 with the residual skeleton assembly 9 resting thereon. From the pallet changer 10, the residual skeleton assembly 9 is removed jointly by a handling device 11 of an automation unit 12.
[0039] The handling device 11 is motor-driven and can be moved along a linear device 13 of the automation unit 12 in the direction of a double arrow 14. The handling device 11 can be moved either via the pallet changer 10 or via a workpiece support 15 arranged laterally next to the pallet changer 10. Furthermore, in the example shown, the handling device 11 can approach a pallet 4 (not shown in Figure 1) on which unprocessed sheet-like material 2 is stored.
[0040] In Figure 1, the pallet 4 with the residual skeleton assembly 9 is still located inside the work area 5 of the machine tool 3. After the transfer of the pallet 4 and the residual skeleton assembly 9 resting on it to the pallet changer 10, the conditions schematically shown in Figure 2 result. Figure 2 shows a schematic side view of the workpiece support 15. This workpiece support 15 consists of several support strips 16 arranged one behind the other. These support strips 16 are advantageously aligned parallel to one another at a predetermined distance from one another. The residual skeleton assembly 9 is mounted on tips of the support strips 16. This is shown schematically in a further side view according to Figure 3. The at least one workpiece 7 and the residual skeleton 8 of the residual skeleton assembly 9 lie in a horizontal workpiece plane 18, which is indicated by dash-dotted lines in Figures 2 and 4.
[0041] The handling device 11 is moved to a position above the pallet changer 10 or the pallet 4. Rear gripping elements 19, 20 are movably arranged on a support frame 23 of the handling device 11. These rear gripping elements 19, 20 are preferably rake-like and have rake tines 21, 22 arranged one behind the other with spaces perpendicular to the plane of the drawing in Figure 2. The rear gripping elements 19, 20 are positioned in an open position or a disengaged position relative to the support frame 23 according to Figure 2. Together, the rake-like rear gripping elements 19, 20 form a rear gripping device 24 of the handling device 11. A schematically illustrated rake drive 25 on the support frame 23 serves to move the rake-like rear gripping elements 19, 20.
[0042] The handling device 11, as shown in Figure 2, can be moved up and down or displaced vertically relative to the pallet changer 10 or the pallet 4 by means of a drive motor 31 shown in Figure 1. Figure 1 also shows a chassis 32 of the handling device 11, which supports the support frame 23 with its attachments in a height-adjustable manner and which, in turn, can be moved by motor drive on the linear unit 13 of the automation unit 12.
[0043] To remove the residual skeleton part assembly 9, the handling device 11 with the rear gripping elements 19, 20 opened is lowered into the position shown in Figure 3.
[0044] The rear gripping elements 19, 20 are positioned at a level slightly below the underside of the residual skeleton part assembly 9.
[0045] Starting from the position of the handling device 11 shown in Figure 3, the rear gripping elements 19, 20 are moved relative to one another by means of the rake drive 25 and transferred into a gripping position 33. In the gripping position 33 of the rear gripping elements 19, 20, the residual skeleton assembly 9 is positioned resting on the rake tines 21, 22.
[0046] The handling device 11 is then moved upward by means of the lifting drive motor 31. In a first lifting phase, the rear gripping elements 19, 20 engage the underside of the residual skeleton assembly 9. This is illustrated in Figure 4. The residual skeleton assembly 9 rests on the rake tines 21, 22.
[0047] A drive 29 is provided on the handling device 11 on the support frame 23. This drive 29 is connected to holding elements 27 of the holding device 28. These holding elements 27 are known, for example, from DE 10 2012 207 867 B3, to which reference is made in its entirety. These holding elements 27 have a gripping hook 30 at their lower ends. This gripping hook 30 is inserted into an opening 42 in the residual skeleton 8. This at least one opening 42 can be created during the cutting process to separate the workpiece 7 from the residual skeleton 8. The holding element 27 is then rotated and / or displaced so that the gripping hook 30 engages behind the opening 42 in the residual skeleton 8. The holding element 27 of the holding device 28 is shown in a position in the opening 42 in the residual skeleton 8 in Figure 12.
[0048] The engagement of the holding elements 27 in the scrap skeleton 8 can occur during the lowering movement of the handling device 11 onto the scrap skeleton assembly 9, as shown in Figure 3. After the gripping position 33 has been assumed by the rear gripping elements 19, 20, the engagement of the holding elements 27 in the opening of the scrap skeleton 8 can also be controlled. Figure 5 shows a schematic side view of the handling device 11 before the start of a separation process for the at least one workpiece 7 from the scrap skeleton 8 of the scrap skeleton assembly 9. The scrap skeleton assembly 9 has been raised from the gripping position 33, in which the scrap skeleton assembly rests on the rear gripping elements 19, 20, into a separation position 35. The drive 29 moves the holding elements 27 of the holding device 28 upward relative to the support frame 23.In this case, a travel path is preferably provided which corresponds to a height H of at least 1.0 times, in particular 1.5 times, the thickness of the residual skeleton component assembly 9. This enables the workpiece 7 to be securely supported on the rear gripping elements after it has been separated from the residual skeleton 8, and on the other hand, a safety distance remains from the underside of the residual skeleton.
[0049] The handling device 11 comprises a vibration tool 34. This vibration tool 34 can be arranged on the support frame 23 or connected thereto. The vibration tool 34 can be fixedly positioned on the support frame 23. The vibration tool 34 can also be designed to be movable relative to the support frame 23 using a drive. Thus, for example, if the material of the residual skeleton component assembly 9 differs, a corresponding displacement movement can be controlled so that, for example, the vibration tool rests on an upper side of the residual skeleton component assembly 9. The vibration tool can also be moved, for example, parallel to the upper side of the residual skeleton component assembly 9. Such a displacement movement can be controlled in particular when the vibration tool 34 introduces the vibrations into the residual skeleton of the residual skeleton component assembly 9 and not into the workpiece 7.
[0050] The vibration tool 34 can generate vibrations or a shaking movement and transmit them to the residual skeleton part assembly 9. Pulsed introduction of the vibrations can be advantageous. This allows a cut-free workpiece 7, which is glued or clamped in the residual skeleton 8, to be separated from the residual skeleton. Furthermore, it can also be provided that the at least one workpiece 7, which is connected to the residual skeleton 8 by a plug-in connection, in particular by a microjoint or nanojoint, is separated from the residual skeleton 8. The vibration excitation and / or shaking movement breaks the plug-in connection, so that the at least one workpiece 7 is separated from the residual skeleton 8.
[0051] The separation process in the handling device 11 can advantageously be monitored by at least one sensor or a camera. For example, after all workpieces 7 have been separated from the residual skeleton 8 and these have advantageously been detected by at least one sensor, the separation process can be terminated. The vibration tool 34 is shut down.
[0052] Due to the gravity of the workpiece 7, it is separated downwards relative to the residual skeleton 8 and subsequently rests on the rear gripping elements 19, 20. This is shown in Figure 6. Starting from the position of the handling device 11 shown in Figure 6 above a storage pallet 38, the separated workpieces 7 can be unloaded. The rear gripping elements 19, 20 are moved from the gripping position 33 into a disengaged position. By means of the strippers 40 arranged on the support frame 23, the workpieces 7 are held above the storage pallet 38 during the movement of the rear gripping elements 19, 20 and can subsequently be placed on the storage pallet 38. This is shown in Figure 7.
[0053] Alternatively, the handling device 11 can also be positioned above a conveyor belt. The unloading of the workpieces 7 takes place analogously to that described above for Figures 6 and 7. The workpieces 7 are then placed on a conveyor belt and transported away. They can then be fed to another processing station. Alternatively, they can also be transferred to a collection container or storage unit.
[0054] In a subsequent work step, the residual skeleton 8 is removed from the handling device 11. Figure 8 shows a position of the handling device 11 above another storage pallet 38. The holding elements 27 are lowered from the separation position 35 relative to the support frame 23. The holding elements 27 are then controlled using a release strategy so that the gripping hooks 30 are released from the openings in the residual skeleton 8 and the residual skeleton 8 is placed lying on the other storage pallet 38. This is shown in Figure 9. Figure 10 shows a schematic side view of an alternative embodiment of the handling device to Figure 5. In this embodiment, the vibration tool 34 comprises a hold-down element 26. The hold-down element 26 can be arranged interchangeably on other holding elements.This allows different sizes or flat formats of the hold-down element 26 to be used. The hold-down element 26 is preferably designed as a hold-down plate. This hold-down element 26 is advantageously designed to be fully surface-covered, so that a flat surface extends completely over the entire format. An underside of the hold-down element 26 is preferably provided in the separation position 35. After the residual skeleton assembly 9 has been transferred from the gripping position 33 to the separation position 35, the residual skeleton assembly 9 rests with an upper side against the underside of the hold-down element 26. The vibration tool 34 is positioned on the upper side of the hold-down element 26. After the residual skeleton assembly 9 is positioned against the hold-down element 26 in the separation position 35, the vibration tool 34 is switched on, and the generated vibrations are introduced into the hold-down element 26.The vibrations propagate within the hold-down element 26. As a result, vibrations are transmitted across the entire underside of the hold-down element 26 to the upper side of the residual skeleton assembly 9. This has the advantage that the entire residual skeleton assembly 9 is subjected to vibrations for separating at least one workpiece 7 from the residual skeleton 8.
[0055] In Figure 10, the vibration tool 34 is shown only as an example, as one element. It is understood that multiple vibration tools 34 can be assigned to the hold-down element 26 at different positions. It is also possible for a vibration tool to be positioned on one end face of the peripheral edge of the hold-down element 26.
[0056] Figure 11 shows a schematic side view of an alternative embodiment of the handling device 11 to Figure 5. Before the separation process begins, the residual skeleton assembly 9 is raised to the separation position 35. The rear gripping elements 19, 20 can remain in the gripping position 33 or can be moved into a disengaged position, provided the handling device 11 is positioned above a conveyor belt or a storage pallet.
[0057] This handling device 11 comprises a vibration tool 34 that uses impact wrench technology. For example, a U-shaped or fork-shaped impact element 47 can be provided, which can be positioned to engage an end face of the residual skeleton assembly 9. By successively rotating the impact element 47 back and forth, a shaking movement can be initiated into the residual skeleton assembly 9 to separate the at least one workpiece 7. Particularly in the case of thin sheet metal, the impact element 47 can engage an end face of the residual skeleton assembly 9.
Claims
Claims 1. Handling device for separating a workpiece (7) from a residual skeleton (8) of a residual skeleton composite (9), which can be produced by cutting from a plate-shaped material (2), with a support frame (23) on which a rear gripping device (24) is provided, which has rear gripping elements (19, 20) that can be moved relative to the support frame (23) from a disengaged position into a gripping position (33) in which the residual skeleton composite (9) is engaged from behind, with a holding device (28) arranged on the support frame (23) which comprises at least one holding element (27) by means of which the residual skeleton composite (9) can be transferred from a gripping position (33) into a separating position (35) in which the residual skeleton composite (9) is lifted off from the rear gripping elements (19, 20), characterized in that the holding device arranged in the separating position (35) Remaining skeleton parts composite (9) for separating the at least one workpiece (7) from the residual grid (8) can be subjected to vibrations of a vibration tool (34).
2. Handling device according to claim 1, characterized in that the vibrations of the vibration tool (34) can be controlled in pulses.
3. Handling device according to claim 1 or 2, characterized in that after positioning the residual skeleton part assembly (9) in the separation position (35), the residual skeleton part assembly (9) is contacted with the vibration tool (34).
4. Handling device according to one of the preceding claims, characterized in that the vibration tool (34) has one or more vibration heads or at least one vibration piston oscillator, which can advantageously be contacted directly with the residual skeleton (8) of the residual skeleton part assembly (9).
5. Handling device according to one of claims 1 to 3, characterized in that the vibration tool (34) is designed as an impact wrench, by means of which the vibrations can be introduced into a circumferential edge of the residual skeleton part assembly (9).
6. Handling device according to one of the preceding claims, characterized in that the vibration tool (34) comprises a hold-down element (26) which advantageously extends parallel to the separating position (35), and the residual skeleton part assembly (9) can be positioned in the separating position (35) against the hold-down element (26).
7. Handling device according to claim 6, characterized in that the hold-down element (26) extends over its entire surface and preferably the format of the hold-down element (26) is equal to or larger than the format of the residual skeleton part assembly (9).
8. A method for separating at least one workpiece (7) from a residual skeleton (8) of a residual skeleton composite (9), which can be produced by cutting from a plate-shaped material (2), in which a rear gripping device (24) with rear gripping elements (19, 20) is moved on a support frame (23) of the handling device (11) between a disengaged position and a gripping position (33), in which the residual skeleton composite (9) is gripped from behind, in which a holding device (28) arranged on the support frame (23), which comprises at least one holding element (27), transfers the residual skeleton composite (9) from a gripping position (33) to a separating position (35), in which the residual skeleton composite (9) is lifted relative to the rear gripping elements (19, 20), characterized in that that the residual skeleton part assembly (9) arranged in the separation position (35) is subjected to vibrations by a vibration tool (34) for separating the at least one workpiece (7) from the residual skeleton (8).
9. Method according to claim 8, characterized in that the residual skeleton part assembly (9) is lifted from the gripping position (33) relative to the rear gripping elements (19, 20) to a height for assuming the separating position (35) which corresponds to at least 1 times the thickness, preferably 1.5 times the thickness, of the residual skeleton part assembly (9).
10. Method according to claim 8 or 9, characterized in that the vibration tool (34), which is preferably positioned on the support frame (23), is placed on an upper side of the residual skeleton part assembly (9) and / or positioned on an end face of the residual skeleton part assembly (9) after the positioning of the residual skeleton part assembly (9) in the separation position (35).
11. Method according to one of claims 8 to 10, characterized in that during the cutting processing of the plate-shaped material (2) for producing the at least one workpiece (7) at least one opening is made in the residual skeleton (8) and that the at least one rod-shaped holding element (27) with a gripping hook (30) provided at the end opposite the support frame (23) is introduced into the at least one opening in the residual skeleton part assembly (9), in particular the at least one opening in the residual skeleton (8) and subsequently the residual skeleton part assembly (9) is lifted into the separating position.
12. Method according to one of claims 8 to 11, characterized in that the vibration tool (34) comprises a hold-down element which is received by the support frame (23), and that when the residual skeleton part assembly (9) is transferred into the separation position (35), the hold-down element (26) is positioned resting on the residual skeleton part assembly (9), and preferably the hold-down element (26) is releasably and / or replaceably received by further holding elements on the support frame (23).
13. Method according to one of claims 8 to 12, characterized in that during a separation process in which the residual skeleton composite part (9) is Vibrations are applied, the rear gripping elements (19, 20) remain positioned below the residual skeleton part assembly (9) in the gripping position (33) and the at least one workpiece (7) separated from the residual skeleton (8) is held in place by the rear gripping elements (19, 20).
14. Method according to one of claims 8 to 12, characterized in that before the start of a separation process in which the residual skeleton part assembly (9) is subjected to vibrations, the handling device (11) is positioned above a conveyor belt and the rear gripping elements (19, 20) are moved into a disengaged position, so that the at least one workpiece (7) separated from the residual skeleton (8) is transferred to the conveyor belt.
15. Method according to claim 13 or 14, characterized in that after the at least one workpiece (7) has been separated from the residual grid (8), the residual grid (8) is deposited in an unloading station or a storage station in a separate work step.
16. Method according to one of claims 8 to 15, characterized in that the vibration tool (34) is operated at frequencies which pass through a specific frequency band, wherein the natural frequency of the at least one component excited to vibrate lies within the frequency band.