Handling device and method for removing a residual grid assembly

Abstract

The invention relates to a handling device and to a method for removing a residual grid assembly (9) from a workpiece support (15) in a machine tool (3), which assembly can be produced from a plate-shaped material (2) by means of a cutting process and comprises at least one workpiece (7) and a residual grid (8) that are arranged in a common workpiece plane (18) after the cutting process, the handling device comprising a support framework (23) on which a rear-engagement device (24) is provided, the rear-engagement device having rear-engagement elements (19, 20) that can be moved relative to the support framework (23) and, in a gripping position, jointly engage behind the at least one workpiece (7) and the residual grid (8), wherein a holding-down element (26) is provided on the support framework (23), the holding-down element (26) is provided between the support framework (23) and the rear-engagement elements (19, 20) arranged in the gripping position (33), and the residual grid assembly (9) can be positioned so as to be clamped between the holding-down element (26) and the rear-engagement elements (19, 20) arranged in the gripping position.

Description

[0001] Handling device and method for removing a residual skeleton part assembly

[0002] The invention relates to a handling device for removing a residual skeleton part assembly from a workpiece support in a machine tool and to a method for removing the residual skeleton part assembly from the workpiece support in the machine tool.

[0003] EP 2 177 293 A1 discloses a method for removing a workpiece from a scrap skeleton produced by cutting a sheet-like material. This method involves positioning a suction element above the workpiece to be removed. Subsequently, a portion of the workpiece support is lifted simultaneously with the suction element, so that the workpiece in between is lifted relative to the scrap skeleton. The workpiece removed from the scrap skeleton is then transferred to an unloading station with the suction element. This allows for individual removal of each cut workpiece from the scrap skeleton.

[0004] 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.

[0005] The invention is based on the object of proposing a handling device and a method for removing a residual skeleton part assembly from a workpiece support in a machine tool in order to achieve increased process reliability for an automated removal of a residual skeleton part assembly.

[0006] This object is achieved by a handling device with a support frame on which a rear gripping device with rear gripping elements is provided, in which a hold-down element is provided on the support frame and is arranged between the support frame and the rear gripping elements arranged in a gripping position, such that for removal of the residual skeleton partial assembly from the workpiece support in the machine tool, the residual skeleton partial assembly is clamped between the hold-down element and the rear gripping elements. The hold-down element, which is positioned above and resting on the residual skeleton partial assembly for removal of the residual skeleton partial assembly, can counteract tilting of the at least one workpiece relative to the residual skeleton. As a result, the at least one workpiece and the residual skeleton can remain aligned in a common plane or workpiece plane of the residual skeleton partial assembly during removal.This enables safe and controlled removal of the residual skeleton part assembly from the workpiece support, thereby increasing process reliability for automation.

[0007] Preferably, the hold-down element and / or the back-grip elements are adjustable in height relative to the support frame. Alternatively or additionally, the hold-down element and / or the back-grip elements can be adjustable in distance from one another. This enables simple and rapid adaptation to the thickness of the plate-like material from which the residual skeleton composite is produced by cutting the workpiece.

[0008] Furthermore, it is preferably provided that the hold-down element is positioned resiliently relative to the support frame. This enables at least a slight holding force between the hold-down element and the gripping elements to securely receive the remnant skeleton assembly. Furthermore, it can be provided that, for example, the hold-down element is positioned with a spring-loaded resting position on the remnant skeleton assembly relative to the support frame, in order to subsequently move the gripping elements into a gripping position, so that upon subsequent lifting, a clamping force remains between the hold-down element and the gripping elements to securely remove the remnant skeleton assembly from the workpiece support.

[0009] The hold-down element is advantageously aligned parallel to the back-grip elements. This allows for a uniform clamping force to be applied to the entire surface of the skeleton part assembly.

[0010] The hold-down element is designed, in particular, as a hold-down plate that extends over the entire surface. This allows the hold-down element to rest completely on the format of the residual skeleton assembly. In particular, it is provided that the hold-down element is provided in a format that is the same size as or slightly larger than the format of the residual skeleton assembly.

[0011] The support frame of the handling device preferably features retaining elements that removably and / or replaceably hold the hold-down element. This allows for the easy selection and use of various formats for the hold-down element.

[0012] The remnant skeleton component assembly can comprise at least one workpiece in a remnant skeleton or in multiple remnant skeleton sections. The at least one workpiece can be completely free-cut in the remnant skeleton. Alternatively, at least one web connection, in particular a so-called microjoint or nanojoint, can be provided between the at least one workpiece and the remnant skeleton.

[0013] The object underlying the invention is further achieved by a method for removing a residual skeleton assembly from a workpiece support in a machine tool, in which the handling device is fed from above with the rear gripping elements in an open position or a disengaged position on the residual skeleton assembly, and in which a hold-down element arranged on the support frame is positioned above the residual skeleton assembly, and in which the rear gripping elements are moved into a gripping position, and in which the residual skeleton assembly is held clamped between the hold-down element and the rear gripping elements, so that the residual skeleton assembly is then lifted from the workpiece support. This method for removing the residual skeleton assembly has the advantage that, when the residual skeleton assembly is lifted, tilting of at least one workpiece relative to the residual skeleton is prevented.The hold-down element can counteract any tilting or jamming of at least one workpiece in the skeleton, and the at least one workpiece remains aligned in the plane of the skeleton. This can increase process reliability during removal.

[0014] Furthermore, it is preferably provided that the support frame of the handling device, with a hold-down element arranged thereon, is fed onto the remnant skeleton assembly until the hold-down element rests on the remnant skeleton assembly, and the rear gripping elements are subsequently moved into the gripping position. This allows at least one workpiece in the remnant skeleton to be secured in its position before the rear gripping elements are moved into the gripping position for gripping behind or under the remnant skeleton assembly.

[0015] A further advantageous embodiment of the method provides that the hold-down element is fed onto the residual skeleton assembly and, after resting on the residual skeleton assembly, is retracted along a spring path relative to the support frame. This has the advantage that a defined clamping effect can be set between the hold-down element and the rear gripping elements to enable safe removal of the residual skeleton assembly.

[0016] Furthermore, it is preferably provided that the composite skeleton part assembly and the hold-down element resting thereon are transferred together into a separating device, in which the at least one workpiece is separated from the skeleton. This joint transfer of the composite skeleton part assembly with the hold-down element resting thereon into the separating device has the advantage that the at least one workpiece is guided out of the skeleton or separated exclusively downwards, thus enabling a targeted separation of the at least one workpiece from the skeleton. The invention and 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 evident from the description and the drawings can be used individually or in any combination according to the invention. They show:

[0017] 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,

[0018] Figure 2 is a schematic side view of the handling device above a workpiece support,

[0019] Figure 3 is a schematic side view of the workpiece support with a residual skeleton assembly mounted thereon, corresponding to section AA in Figure 2

[0020] Figure 4 is a schematic side view of the handling device in an arrangement resting on the residual skeleton part assembly,

[0021] Figure 5 is a schematic side view of the handling device in a gripping position for the residual skeleton part assembly,

[0022] Figure 6 is a further schematic side view of the handling device in gripping position according to Figure 5, corresponding to section BB in Figure 5 and

[0023] Figure 7 is a schematic side view of the handling device with the residual skeleton assembly in a raised position for supporting the workpiece.

[0024] Figure 1 shows a perspective view of a mechanical arrangement 1 with a machine tool 3, in which a plate-shaped material 2 is separated by a cutting device into at least one workpiece 7 and a residual skeleton 8 or a plurality of residual skeleton parts by cutting. The machine tool 3 is preferably designed as a laser cutting machine. For cutting, the plate-shaped material 2, in particular the sheet metal, is arranged 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 orWorkpieces 7 in the form of finished parts and a residual skeleton 8 at least partially surrounding the workpiece 7 have been produced. Between the workpiece 7 and the residual skeleton 8 there is a cutting gap a few millimeters wide. The at least one cut workpiece 7 and the residual skeleton 8 form a residual skeleton part assembly 9. It is preferably provided that the at least one workpiece 7 is completely cut free from the residual 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.

[0025] 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.

[0026] The handling device 11 is motor-driven and can be moved in the direction of a double arrow 14 on a linear device 13 of the automation unit 12. 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. In Figure 1, the pallet 4 with the scrap 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 scrap skeleton assembly 9 resting on it to the pallet changer 10, the conditions schematically shown in Figure 2 result.

[0027] 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 schematically illustrated 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 3.

[0028] 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.

[0029] A hold-down element 26 is provided on the support frame 23 of the handling device 11. This hold-down element 26 is positioned at a distance from the support frame 23. Advantageously, at least one holding element 27 is provided on the support frame 23. This holding element 27 receives the hold-down element 26 in a detachable, in particular replaceable, manner. The hold-down element 26 can be designed as a hold-down plate. The hold-down element 26 can be made in one piece or consist of several sections, which are arranged in a common plane to the support frame 23. The holding elements 27 can be spring-loaded to the support frame 23. This enables the hold-down element 26 to exercise a relative movement in the direction of the support frame 23. The spring bearing is designed such that the hold-down element 26, in an arrangement of the handling device 11 according to Figure 2, is positioned away from the residual skeleton part assembly 9 at a predetermined ormaximum distance from the supporting structure 23.

[0030] 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.

[0031] To remove the residual skeleton assembly 9, the handling device 11 is lowered with the rear gripping elements 19, 20 open into the position shown in Figure 4. The hold-down element 26 is fed from above onto the residual skeleton assembly 9. The lowering movement is preferably continued until the hold-down element 26 is positioned at least resting on the residual skeleton assembly 9. Preferably, it can be provided that the hold-down element 26 is positioned resting on the residual skeleton assembly 9 with a contact force. In this case, the hold-down element 26 is retracted in the direction of the support frame 23 along a predetermined spring travel due to the spring bearing.

[0032] After the hold-down element 26 has rested on the residual skeleton part assembly 9, the rear gripping elements 19, 20 are positioned at a level slightly below the underside of the residual skeleton part assembly 9.

[0033] Starting from the position of the handling device 11 shown in Figure 4, the rear gripping elements 19, 20 are moved against each other by means of the rake drive 25 and transferred into a gripping position 33. This is shown in Figure 5. In the gripping position 33 of the rear gripping elements 19, 20, the residual skeleton partial assembly 9 is positioned between the rake tines 21, 22 on the one hand and the hold-down element 26 on the other. The positioning of the residual skeleton partial assembly 9 between the hold-down element 26 and the rear gripping elements 19, 20 is shown in a simplified schematic in a further side view according to Figure 6. This shows that tilting of the at least one workpiece 7 towards the residual skeleton 8 is prevented. 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 an underside of the residual skeleton partial assembly 9.Due to the hold-down element 26, which is preferably arranged with a retracted spring travel, this hold-down element 26 remains held in contact with the upper side of the residual skeleton assembly 9 during the first lifting phase, so that the residual skeleton assembly 9 is then clamped between the hold-down element 26 and the rear gripping elements 19, 20. This enables, as can be seen from the side view according to Figure 6, both the residual skeleton 8 and the at least one workpiece 7 of the residual skeleton assembly 9 to remain aligned in a defined position relative to the hold-down element 26. Tilting of the at least one workpiece 7 relative to the residual skeleton 8 can thus be prevented.

[0034] In this position, where the residual skeleton assembly 9 is clamped between the hold-down element 26 and the rear gripping elements 19, 20, the residual skeleton assembly 9 can be securely lifted or removed from the workpiece support 15. Figure 7 shows the handling device 11 with the residual skeleton assembly 9 lifted relative to the workpiece support 15. The residual skeleton assembly 9 is held between the hold-down element 26 and the rear gripping elements 19, 20 or the rake tines 21, 22, as shown in Figure 6.

[0035] The remnant skeleton assembly 9, lifted from the workpiece support 15, is fed by the handling device 11 to a separating device (not shown in detail). The remnant skeleton assembly 9 and the hold-down element 26 resting thereon are transferred together as a single unit into the separating device. Subsequently, the at least one workpiece 7 is separated from the remnant skeleton 8 in the separating device and selectively separated only downwards.

Claims

Claims 1. Handling device for removing a residual skeleton assembly (9) from a workpiece support (15) in a machine tool (3), which can be produced from a plate-shaped material (2) by cutting machining and comprises at least one workpiece (7) and a residual skeleton (8) which are arranged in a common workpiece plane (18) after machining, with a support frame (23) on which a rear gripping device (24) is provided, which has rear gripping elements (19, 20) which are movable relative to the support frame (23) and, in a gripping position (33), jointly grip behind the at least one workpiece (7) and the residual skeleton (8), characterized in that - that a hold-down element (26) is provided on the support frame (23), - that the hold-down element (26) is provided between the support frame (23) and the rear gripping elements (19, 20) arranged in the gripping position (33), and - that the residual skeleton part assembly (9) can be clamped between the hold-down element (26) and the rear gripping elements (19, 20) arranged in the gripping position.

2. Handling device according to claim 1, characterized in that the hold-down element (26) and / or the rear gripping elements (19, 20) are adjustable in height relative to the support frame (23) and / or in a distance from one another.

3. Handling device according to claim 1 or 2, characterized in that the hold-down element (26) is arranged resiliently to the support frame (23).

4. Handling device according to one of the preceding claims, characterized in that the hold-down element (26) is aligned parallel to the rear gripping elements (19, 20).

5. Handling device according to one of the preceding claims, characterized in that the hold-down element (26) is designed as at least one hold-down plate.

6. Handling device according to one of the preceding claims, characterized in that the hold-down element (26) extends over its entire surface and preferably comprises a format which corresponds to or is larger than the format of the residual skeleton part assembly (9).

7. Handling device according to one of the preceding claims, characterized in that holding elements (27) are provided on the support frame (23), by means of which the hold-down element (26) is arranged detachably and / or replaceably on the support frame (23).

8. Handling device according to one of the preceding claims, characterized in that the residual skeleton part assembly (9) comprises at least one workpiece (7) which is at least partially surrounded by the residual skeleton (8), and in that the at least one workpiece (7) is completely cut free from the residual skeleton (8), or in that the at least one workpiece (7) is connected to the residual skeleton (8) by at least one web connection.

9. Method for removing a residual skeleton assembly (9) from a workpiece support (15) in a machine tool (3), which is produced by cutting a plate-shaped material (2) positioned on the workpiece support (15) and comprises at least one workpiece (7) and a residual skeleton (8), which are arranged in a common workpiece plane (18) after processing, in which the residual skeleton assembly (9) is jointly gripped behind by a rear gripping device (24) of a handling device (11), in particular according to one of claims 1 to 8, wherein the rear gripping device (24) is arranged with rear gripping elements (19, 20) relative to a support frame (23) of the handling device (11) is moved between an open position and a gripping position (33), characterized in that - that the handling device (11) is fed from above with an open position of the rear gripping elements (19, 20) onto the residual skeleton part assembly (9) to be removed, - that a hold-down element (26) arranged on the support frame (23) is positioned above the residual grid assembly (9), - that the rear gripping elements (19, 20) are moved into the gripping position (33) below the residual skeleton part assembly (9), - that the residual skeleton part assembly (9) is held clamped by the hold-down element (26) and the rear gripping elements (19, 20), and then the residual skeleton part assembly (9) is lifted off the workpiece support (15).

10. Method according to claim 9, characterized in that the support frame (23) of the handling device (11) with the hold-down element (26) arranged thereon is fed onto the residual skeleton part assembly (9) until the hold-down element (26) rests on the residual skeleton part assembly (9) and subsequently the rear gripping elements (19, 20) are moved into the gripping position.

11. Method according to claim 9 or 10, characterized in that the hold-down element (26) is fed onto the residual skeleton part assembly (9) and after the hold-down element (26) has flown onto the residual skeleton part assembly (9), the hold-down element (26) is retracted relative to the support frame (23) along a spring path.

12. Method according to one of claims 9 to 11, characterized in that the residual skeleton part assembly (9) and the hold-down element (26) resting thereon are transferred together into a separating device for separating the at least one workpiece (7) from the residual skeleton (8).

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