Handling system and handling device for handling a work palette

Abstract

The invention relates to a handling system (1000) comprising a handling device (100) having a transport device (20) and handling means (30) intended for handling work pallets (101, 101a, 101b) transported by the transport device (20). The handling device (100) comprises an exchange device (40) having at least two receiving spaces (41a, 41b) designed for receiving the work pallets (101, 101a, 101b), the handling means (30) being designed to move the exchange device (40) in a first movement direction X relative to the transport device (20) such that both receiving spaces (41a, 41b) move together. The handling means (30) is also characterized in that it is designed to separate the work pallets (101a, 101b) handled by the handling means (30) and received in one of the at least two receiving spaces (41a, 41b) from the exchange device (40) via at least one separation device (42a, 42b) in such a way that the separated work pallets (101a; 101b) substantially retain their relative position with respect to the conveying device (20) during movement of the exchange device (40) in the first movement direction X.

Description

Technical Field

[0001] The present invention relates to a handling system including a handling device for handling a work pallet, a handling device used together with the handling system, and a machine tool including the handling system.

Background Art

[0002] Handling systems for handling work pallets used in partially or fully automated manufacturing processes are known from the prior art. For this purpose, it is always desirable to provide a handling system that can handle work pallets as versatilely and efficiently as possible on the one hand, and that features a relatively compact design on the other hand.

[0003] Possible applications of such a handling system include handling of work pallets on a machine tool, in particular handling during the process of pallet exchange within the working space of the machine tool, or handling related to a pallet storage or installation station.

[0004] The problem with known handling systems is that usually only one work pallet is moved by the handling device of the handling system, and as a result, for example, pallet exchange in the working space of a machine tool requires a combination of multiple movements. In this process, before the new work pallet to be inserted is picked up from another storage location and transferred to the receiving device in the working space, the work pallet to be removed is first picked up by the receiving device in the working space and transferred to the storage location.

[0005] Other handling systems of the prior art rely, among other things, on handling two work pallets essentially simultaneously in order to reduce the number of required movements to address the above-mentioned problems.

[0006] However, since the handling device is subject to additional loads that must be considered when configuring and using the handling system, the larger the number of workpiece pallets handled simultaneously, the more disadvantageous it is for the handling device itself.

Summary of the Invention

[0007] Therefore, an object of the present invention is to provide a handling system that improves the simultaneous handling of a plurality of workpiece pallets.

[0008] To achieve this object, a handling system is proposed that includes the handling device according to claim 1 and a handling device used in the handling system according to claim 14.

[0009] A further object of the present invention is also to provide a machine tool that enhances the possibility of exchanging a workpiece pallet within the working space of the machine tool.

[0010] To achieve this object, a machine tool including the handling system according to claim 15 is proposed.

[0011] Each dependent claim relates to a preferred embodiment of the handling system according to the present invention, the handling device according to the present invention, and the machine tool according to the present invention, and these may be provided individually or in combination.

[0012] According to a first aspect of the present invention, there is provided a handling system for handling a work pallet, the handling system comprising a handling device. The handling device includes a conveying device and handling means for handling the work pallet, the handling means including at least two receiving spaces configured to be conveyed by the conveying device and receive the work pallet. The handling means is further configured to move an exchange device relative to the conveying device along a first moving direction such that both receiving spaces move together. The handling system is configured such that the handling means uses at least one separating device to separate a work pallet handled by the handling means and received in one of the at least two receiving spaces, and to substantially maintain the relative position of the separated work pallet with respect to the conveying device during movement of the exchange device along the first moving direction.

[0013] The work pallet should be understood as a pallet configured to convey work, which can be used in a number of receiving devices having a generally standardized receiving interface.

[0014] Movement of the exchange device along the first moving direction should be understood as both forward and backward movement. In other words, the exchange device may be moved back and forth along the first moving direction.

[0015] "Substantially" maintaining the relative position to the transfer device of the separated work palette means that the numerical position of the separated work palette relative to the transfer device need not be constant throughout the movement of the exchange device, but may move within typical deformation and storage limits. For example, during the movement of the exchange device, changes in the position information due to deformation of the elastic members of the handling device or unstable attachment of the separated work palette are acceptable as long as they do not conflict with the purpose of moving the exchange device without moving the separated work palette to the same extent as the magnitude of the traversing movement during the process of traversing movement relative to the transfer device.

[0016] The handling system according to the present invention including the handling device can be advantageously used to handle at least two work palettes substantially simultaneously by the handling system, particularly by the handling means of the handling device. In this way, for example, it is not necessary to first place the first work palette before the second work palette can be handled by the handling means, so that the number of movements required during any handling process can be significantly reduced.

[0017] Furthermore, the second receiving space of at least two receiving spaces may be used as an additional storage space for the work palette, which means that the maximum number of work palettes in the handling system can be increased by at least one. For example, in the case of a pallet storage associated with the handling system, the number of work palettes that can be stored or arranged in the handling system can be increased by one without the need to make the pallet storage itself larger.

[0018] Since the weight of a single workpiece pallet to be handled can sometimes be 1.5 tons or more, the possibility of additionally receiving multiple workpiece pallets will inevitably lead to an increase in the load on the entire handling device. The additional weight of the further workpiece pallets causes not only an additional static load on the handling device but also an additional dynamic load during the transverse movement, which is advantageously addressed by the configuration according to the present invention having a separating device, as will be described in detail below.

[0019] In the initial state of the exchange device, the receiving space is preferably arranged with respect to the rest of the handling device such that the workpiece pallets received in the receiving space are arranged as symmetrically as possible, particularly with respect to the load-bearing conveying device. In other words, when the handling device is in the initial state, the receiving space is preferably arranged symmetrically with respect to the conveying device.

[0020] In this way, since the individual tilting moments of the workpiece pallets in the symmetrically arranged receiving space are substantially offset from each other, the resulting tilting moment caused by the weight of the workpiece pallets, acting on the handling means and thus also on the conveying device, can be significantly reduced in the initial state.

[0021] During the process of moving from the initial state to the extended state of the exchange device, the exchange device also moves the workpiece pallets received in the receiving space into a non-symmetrical arrangement, so that a redistribution of the mass to be conveyed inevitably occurs. This is because the movement path of the exchange device usually has to move a fairly large distance, which in particular results in a significant increase in the resulting tilting moment, and as a result, a relatively long lever arm is formed between the conveying device that conveys the handling means and the extended receiving space of the exchange device. Combined with the usually large mass of the workpiece pallets, the resulting tilting moment represents a total amount that is directly related to the configuration in particular.

[0022] The additional load acting on the handling means and, as a result, also on the conveying device in the extended state results in both an increase in the material load (in the sense of material stress) and an increase in the deformation of the components of the handling device, particularly in the form of bending and / or torsion. This is not only disadvantageous for the service life of the entire handling device, but can also have an adverse effect on the precise handling of the workpiece pallet, particularly when the handling device interacts with other receiving devices for the workpiece pallet.

[0023] The separating device according to the invention enables at least one workpiece pallet to be kinematically separated from the changing device before movement so that movement along the first movement direction of the changing device is not transmitted to the separated workpiece pallet. The handling device continues to convey the workpiece pallet separated from the changing device, while the changing device itself is released so that it does not need to convey or move the mass of the separated workpiece pallet. For example, during the movement of the changing device along the first movement direction from the initial state to the extended state, the separated workpiece pallet remains substantially stationary relative to the conveying device.

[0024] Thus, during the displacement of the changing device, the mass movement that causes the tilting moment is reduced, and as a result, the aforementioned effect of increasing the resulting tilting moment can be significantly reduced. In addition, the separated workpiece pallet may advantageously function as a counterweight to other workpiece pallets moved by the changing device in order to further reduce the resulting tilting moment.

[0025] In this way, the resulting tilting moment in the extended state can be significantly reduced compared to the normal movement of all workpiece pallets, which has a beneficial effect on the load and deformation of the individual components of the handling device. As a result, for example, the changing device or the conveying device can be embodied in a form that saves more material.

[0026] Furthermore, the reduction of the mass to be moved leads to a significant reduction of the inertia effect (in the case of two receiving spaces, these are approximately halved), so that the dynamic load on the handling device is advantageously reduced, and as a result, for example, the driving force required for the drive of the changing device is lower, or the moving time can be shortened by making the acceleration and / or braking process more prominent. In other words, the reduction of the mass to be moved enables the handling based on the movement of the workpiece pallet to be performed faster and more accurately.

[0027] Therefore, the handling device of the handling system according to the present invention not only reduces the number of necessary transverse movements, but also enables the handling of a plurality of workpiece pallets essentially simultaneously while keeping the associated additional load as low as possible in order to ensure the rapid and accurate handling of the workpiece pallet. In other words, without sacrificing the possibility of handling a plurality of workpiece pallets essentially simultaneously, the overall mechanical load on the handling device can be significantly reduced.

[0028] The term "essentially simultaneous handling" does not mean that the workpiece pallets must always be moved simultaneously. Rather, it should be understood as the basic possibility of being able to move a plurality of workpiece pallets received and handled by the handling means during a process of partially simultaneous or rapid successive transverse movements of the handling means and the changing device.

[0029] The separating device is of course also configured to reconnect the separated workpiece pallets so that they can be moved again along the first movement direction by the changing device.

[0030] Preferably, the first movement direction of the changing device is a horizontal direction parallel to the floor surface.

[0031] As a result, the work pallet that is moved along the first moving direction by the exchange device is always moved perpendicular (or at least substantially perpendicular) to the earth's gravitational field, so the drive device of the exchange device does not need to act directly against the force of gravity acting in the vertical direction.

[0032] The “vertical” and “horizontal” directions should always be understood as directions in relation to the floor surface on which the handling system according to the invention is arranged. With respect to the floor surface, “horizontal” indicates an essentially parallel orientation, and “vertical” indicates a perpendicular orientation. The vertical direction usually extends parallel to the direction of the earth's gravitational field.

[0033] The handling device preferably comprises a first drive unit, whereby the exchange device is driven to move the exchange device along the first moving direction. The drive device preferably comprises a chain drive that enables the transmission of driving force and / or driving moment in a space-saving manner.

[0034] In a preferred embodiment, the handling device is configured to transfer a work pallet received in one of at least two receiving spaces to at least one target device so as to receive the work pallet, and / or to receive a work pallet received from at least one target device into one of at least two receiving spaces.

[0035] This creates the possibility of interaction between the handling device and other devices or target devices, during which the work pallet can be moved or exchanged between them. In this way, the handling system enables comprehensive, especially automated, handling of the work pallet, and the work pallet can be moved and exchanged between the handling device and one or more target devices. In this way, the necessary exchange process of the work pallet can be optimized within the framework of fully and / or partially automated production in order to reduce both production time and production costs.

[0036] Here, the target device is configured to always receive and convey the work pallet. Preferably, the target device comprises receiving means for positioning means which are arranged on the work pallet and can position the work pallet independently with respect to the target device in a predetermined manner, thereby improving the subsequent interaction of additional devices which usually depend greatly on the accurate and independent positioning of the work pallet. Alternatively, the target device may also comprise positioning means, and the work pallet may comprise associated receiving means.

[0037] Preferably, at least one target device is a receiving device of a machine tool, a receiving device of an installation station, a holding device of a transport device for transporting the work pallet, a storage and / or placement space for temporary storage of the work pallet, one (but not limited to) of a group of target devices comprising.

[0038] The handling device is preferably configured to interact with each of the target devices described in the group of target devices in the described manner (receiving and / or transferring the work pallet).

[0039] In a particularly preferred embodiment, at least one target device is a receiving device arranged in the working space of a machine tool installed adjacent to the handling system.

[0040] As a result, the work pallet handled by the handling device may be directly conveyed to the working space of the machine tool which is, among other things, in a position suitable for subsequent machining by the machine tool, and may be directly removed from the working space again after the work has been machined by the machine tool. In this way, the process of exchanging the work pallet in the process of automatic machining of fixed work can be significantly shortened.

[0041] The handling system is preferably configured as part of a machine tool. As a result, the machine tool or the working space of the machine tool and the handling device of the handling system can be synchronized with each other from the beginning, so that, for example, the installation space occupied in the production hall can be reduced, or the tightness of the working space at the boundary between the working space and the handling device can be optimized.

[0042] Alternatively, the handling system may be provided as an additional solution for an existing or installed machine tool, whereby the options provided by the handling system according to the invention for handling workpiece pallets can be added to them without problems.

[0043] The use of the handling system according to the invention is not limited to use on a machine tool, but the handling device may in particular be used in a storage system that can be installed, for example, in a production hall or another storage hall. For example, in such a case, the handling system may advantageously improve (basically accelerate) the automatic loading (and / or removal) of a transport device configured to transport a workpiece pallet, especially between a machine tool and / or a machining center, thereby saving time and associated costs.

[0044] In a particularly preferred embodiment, the at least one separating device comprises a lifting device configured to separate a workpiece pallet received in a receiving space associated with the at least one separating device from the changing device by a vertical upward movement.

[0045] The associated receiving space of the separating device should be understood as the receiving space of the changing device in which a workpiece pallet that can be separated from the changing device by the separating device is received in a specific state of the changing device. In particular, this specific state of the changing device is the initial state of the changing device.

[0046] Lifting the work pallet by upward movement is an efficient way to achieve kinematic separation from the exchange device, for example, by using a translatable actuator (linear actuator). In this way, the kinematics required for separation can be kept simple and inexpensive by using a lifting device.

[0047] Naturally, the lifting device is also configured to return and connect the separated work pallet into the exchange device by a downward movement opposite to the upward movement, so that the movement of the exchange device can be transmitted again.

[0048] The exchange device preferably includes a plurality of support portions on which the received work pallets are supported respectively in each of at least two receiving spaces. Further, the exchange device may further include a boundary portion configured to limit the movement of each work pallet on the support portion with respect to the support portion. Thereby, by locking securely, it is ensured that the work pallet does not slip off during the movement of the exchange device and / or the handling means itself. The support portions are usually arranged horizontally, and the boundary portions are inclined with respect to the support portions, particularly arranged vertically.

[0049] Since the upward movement of the lifting device lifts the work pallet from the support portion, the movement along the first movement direction of the exchange device cannot be further transmitted to the lifted and separated work pallet.

[0050] Preferably, the lifting device of at least one separation device includes a plurality of, particularly five, lifting members, which are arranged symmetrically with respect to the separation device, and each is provided with a drive device configured to cause a lifting movement by translational movement.

[0051] As a result, the load to be separated can be evenly distributed among a plurality of drive devices. Further, the symmetrical arrangement of the lifting members reliably prevents the work pallet from tilting during the lifting movement.

[0052] Preferably, the drive device of the lifting device of at least one separating device, in particular the drive device of the individual lifting members, is configured in a self-locking manner such that the position of the lifting device is maintained independently of the energy supply to the drive device of the lifting device.

[0053] As a result, no permanent power supply for the drive device of the separating device or the lifting device is required to hold the separated workpiece pallet in place. This not only reduces the energy cost but also prevents the lifting device from descending in case the energy supply is accidentally interrupted.

[0054] In a particularly preferred embodiment, at least one separating device comprises at least one receptacle for positioning means, which is configured to engage with the positioning means arranged on the lower side of the workpiece pallet to be received in the associated receiving space during the upward movement, such that the position and orientation of the workpiece pallet to be separated by the upward movement relative to the at least one separating device are clearly defined.

[0055] The separating device preferably comprises 1 to 6 receptacles for positioning means, in particular 4 receptacles arranged symmetrically with respect to the separating device.

[0056] As a result, the position of the separated workpiece pallet, or the position of its center of gravity on the handling means, is clearly defined, so that the uneven load on the handling device during the separation process can be prevented or at least reduced.

[0057] Furthermore, during the process of reconnecting the separated workpiece pallet, it may be placed in a controlled manner at a fixed position within the receiving space. This not only avoids the deviation from the target position within the receiving space that may be caused by the separation, but the separating device may also be advantageously used to correct the position of the workpiece pallet that may have been accidentally received (i.e., entered a position not corresponding to the target position) after being received in one of the at least two receiving spaces.

[0058] In a particularly preferred embodiment, the handling means comprises a plurality of separating devices, and each receiving space of the exchange device is associated with one of the plurality of separating devices.

[0059] As a result, the work palette received in each receiving space of the exchange device can be individually separated from the exchange device in an advantageous manner. In this way, the above-described advantages of using the separating device can be extended to each receiving space of the exchange device.

[0060] In a particularly preferred embodiment, the exchange device is configured as a horizontally extensible telescopic device that can move in a first moving direction horizontally with respect to at least one telescopic rail of the telescopic device, and comprises at least one telescopic conveying part on which at least two receiving spaces are arranged.

[0061] For convenience of storage, the telescopic mechanism of the telescopic device usually consists of two telescopic rails, that is, a pair of telescopic rails to which at least one telescopic conveying part is movably attached.

[0062] The telescopic device preferably comprises two pairs of telescopic rails and two telescopic conveying parts. The first telescopic conveying part is attached to the first pair of telescopic rails so as to be movable along the first moving direction, and the second telescopic conveying part is arranged on the first telescopic conveying part and is attached to the second pair of telescopic rails on which at least two receiving spaces are arranged and can also move along the first moving direction. In other words, the telescopic device preferably has a double telescopic extension.

[0063] Configuring the exchange device as a telescopic device, particularly having a double telescopic extension, not only enables the exchange device to move a relatively large distance in the first moving direction when it is in the extended state, but also realizes a relatively rigid structure, thereby minimizing the bending of the exchange device in the extended state.

[0064] Preferably, the rigidity of the exchange device may be further increased by configuring the cross-sectional shape perpendicular to the elongation direction (corresponding to the first movement direction) of the telescopic conveying unit such that the telescopic conveying unit has high bending and / or torsional rigidity.

[0065] In a particularly preferred embodiment, the handling device is configured to translate the handling means along a vertical movement direction relative to the conveying device by means of a translational drive device.

[0066] As a result, the mobility of the handling device is increased by an additional degree of freedom (up and down along the vertical movement direction), so that a more complex movement sequence can be implemented when handling the workpiece pallet.

[0067] Preferably, the translational drive device comprises vertically aligned lead screws driven by a second drive unit.

[0068] In a particularly preferred embodiment, the conveying device is configured in a frame shape having a base member, two side members, and a head member. Each of the two side members is provided with at least two guide rails, and the handling device conveyed by the conveying device is attached via at least two guide rails so that the handling device can move along the vertical movement direction.

[0069] The frame structure of the conveying device requires high bending and torsional rigidity of the conveying device, and thus reduces load-related deformations in the resulting tilt moment, especially when acting in the extended state. The double-sided support by the guide rails ensures optimal support for the entire handling device including the exchange device, especially in the extended state. In addition, jamming of the handling device during the transverse movement along the vertical movement direction can be prevented.

[0070] The handling means is at least partially arranged in a region that is partially surrounded by a frame-shaped transport device. In particular, the handling means protrudes from the front and rear boundary surfaces of the surrounded region. The first moving direction extends parallel to the base and / or the head member through the front and rear boundary surfaces. In other words, the exchange device can be moved back and forth through the opening of the frame-shaped transport device.

[0071] In the initial state, this overall structure can improve the equally symmetric loading on the transport device, which, in addition to the high rigidity of the structure, promotes the accurate placement of the workpiece pallet to be handled.

[0072] In a particularly preferred embodiment, the handling device comprises a base device that carries the transport device, and the handling device is configured to rotate the transport device relative to the base device about a vertical axis of rotation via a rotary drive device.

[0073] As a result, the mobility of the handling device is expanded by the additional degree of freedom, so that when handling the workpiece pallet, a more complex movement sequence can be realized, especially using the rotation of the entire transport device including the handling means.

[0074] The handling device preferably comprises a third drive unit for driving the rotary drive device.

[0075] The handling device of the handling system preferably comprises an electronic control device that is connected to the exchange device, the separation device, and the rotary and / or translational drive devices included in each embodiment, and the electronic control device is configured to control the connected devices, in particular the first, second, and / or third drive units.

[0076] The control device is preferably configured to simultaneously control the connected exchange device, the connected drive device, and the connected separation device.

[0077] As a result, in the handling process, the handling device, particularly the transverse movement from the initial position to the target position of the receiving space, can be optimized in a way that enables a combined movement sequence without performing sequential control of individual drive devices. For example, while the handling device is moving along the vertical movement direction, the exchange device may be returned to its initial state. Alternatively, the already received workpiece pallet can be separated while the transport device is rotating in preparation for receiving another workpiece pallet. In this way, the movement distance and movement time in the process of handling the workpiece pallet can be significantly reduced.

[0078] In a particularly preferred embodiment, for at least one target device, the handling device is configured to position at least one of the two receiving spaces such that a workpiece pallet received from the target device is received by the exchange device in a positioned receiving space and / or a workpiece pallet received in the positioned receiving space is transferred to the target device by movement along the vertical movement direction of the handling device and / or by torsional movement about the vertical axis of rotation and / or by movement along the first movement direction of the exchange device.

[0079] As a result, three degrees of freedom (two translational degrees of freedom + one rotational degree of freedom) are available to align the received workpiece pallet or the empty receiving space with the target device in three spatial directions. In principle, the movement may be executed along the first movement direction and both forward and backward or up and down along the vertical movement direction, and clockwise or counterclockwise in the case of torsional movement about the axis of rotation.

[0080] Preferably, the handling device is configured to place a workpiece pallet of at least one of the two receiving spaces on the target device by movement along the vertical movement direction and / or to lift a workpiece pallet located within the target device from the target device by movement along the vertical movement direction.

[0081] In a particularly preferred embodiment, the handling system comprises a pallet storage having a number of storage spaces configured to receive work pallets, each of the storage spaces being a target device for the handling device.

[0082] For pallet storage, the handling system comprises a number of storage spaces, in each of which a work pallet can be placed and temporarily stored before being received again by the handling device or handling means. For example, the change process on a machine tool can be optimized in this way since the machine tool can be loaded with a work pallet temporarily stored directly from one of the number of storage spaces.

[0083] In a particularly preferred embodiment, the handling system comprises a docking device configured to dock an automated guided vehicle having at least one holding device configured to receive a work pallet, at least one holding device of the transport vehicle being a target device for the handling device when docked to the docking device.

[0084] The possibility of connecting an autonomous transport vehicle to a handling system via a docking device can further expand the options for handling work pallets. The handling system may advantageously be supplied with new work pallets via one or more autonomous transport vehicles, or work pallets that are no longer needed may be transported away from the handling system. As a result, the handling system can be extended to include an interface for connection to a partially or fully automated transport network for transporting work pallets in one or more production halls. Since the docked transport device can be loaded and unloaded more quickly, this has proven to be useful, especially in combination with the configuration of the handling device according to the invention, for the rapid, flexible and precise handling of work pallets. Thereby, the docking time (time in the docked state) of the transport vehicle can be shortened, and a high throughput of work pallets in the entire transport network can be achieved. For example, a work pallet delivered by an autonomous transport vehicle may be placed in an empty receiving space of a handling device or a changing device, and immediately thereafter, a work pallet that is already in the changing device and is no longer needed can be passed to the transport vehicle for transport, without the need to place one of the respective pallets on the handling device in between.

[0085] The handling system also preferably comprises one or more autonomous transport vehicles, each of which includes at least one holding device for a work pallet and is configured to dock with the docking device of the handling system such that at least one holding device acts as a target device of the handling system.

[0086] As a result, the handling system according to the invention advantageously comprises a transport network of one or more driverless transport vehicles which can move over an even greater spatial distance in the process of handling the workpiece carriers, which also shows an improvement in the simultaneous handling of a plurality of workpiece carriers which can be moved simultaneously by the transport vehicles and the handling devices of the handling system.

[0087] The driverless transport vehicles are to be understood as vehicles which move independently and automatically, preferably along a virtual guidance network which is independent of physical control or guidance devices.

[0088] According to a further aspect of the invention, there is provided a handling device for use in a handling system according to the first aspect of the invention.

[0089] According to a further aspect of the invention, there is provided a machine tool, which comprises a working space which includes at least one receiving device which is arranged therein and is configured to receive a workpiece carrier, and a handling system according to the first aspect of the invention which is arranged adjacent to the working space, wherein at least one receiving device arranged in the working space is a target device of the handling system.

[0090] As a result, the machine tool, or the working space and the handling system of the machine tool, can be adapted to one another from the start, in particular for pallet changing in the working space.

[0091] Unnecessary movements, such as the prior placement of a workpiece carrier removed from the working space, are avoided, so that pallet changing can be carried out very quickly using the handling system. For example, the handling device can receive a workpiece carrier from the working space in the empty receiving space of the changing device and then directly fit the workpiece carrier received in another receiving space into the working space without the need to pre-place the removed workpiece carrier.

[0092] Furthermore, the handling system may be arranged within the housing of the machine tool such that the machine tool including the handling system forms a single assembly that is closed off from the outside. Thus, in particular, cost savings can be achieved compared to separate configurations of the machine tool and the handling system, and the space required for installation in the production hall can be reduced.

[0093] Preferably, access of the handling device of the handling system to the working space of the machine tool may be closed off by a flap or door unit so that contamination generated within the working space during machining does not enter the vicinity of the handling system, thereby avoiding damage to the handling system.

[0094] Further aspects and advantages of the present invention, as well as more specific embodiments of the aspects and features described above, will be described below with reference to the figures shown in the accompanying drawings.

Brief Description of the Drawings

[0095]

Figure 1

Figure 2

Figure 3a

Figure 3b

Figure 3c

[0096] It should be noted that the present invention is not limited to the embodiments and their implementation features described below. The present invention also includes modifications of the described embodiments, particularly those resulting from the modification and / or combination of one or more features of the embodiments described within the scope of the independent claims.

Embodiments for Carrying Out the Invention

[0097] FIG. 1 shows an embodiment of a handling system 1000 including a handling device 100, a pallet storage 200, and an installation station 300.

[0098] The handling device 100 includes a base 10, a frame-shaped conveying device 20 connected thereto, and handling means 30 conveyed by the conveying device 20 for handling a work pallet 101, particularly the first and second work pallets 101a and 101b currently being handled in the illustrated state.

[0099] The base 10 is installed on the floor surface and may be connected to the floor surface by appropriate fastening means (not shown here) to enhance the stability of the entire handling device 100.

[0100] The conveying device 20 is rotatably connected to the base 10 and can rotate about a vertical rotation axis R with respect to the base 10 by a rotation drive device (not shown here).

[0101] The conveying device 20 itself is configured in a frame shape, and the side members of the frame are each formed by two separate side struts 22. The side struts 22 are integrated with the lower base member and the upper head member 23 of the conveying device 20.

[0102] The frame-shaped structure of the conveying device 20 configured in this way has high rigidity with respect to bending and torsion, and is therefore particularly suitable for conveying the handling means 30 arranged within the frame.

[0103] On each opposite side of each of the four side struts 22, a vertically extending guide rail 24 (one for each side strut 22) is arranged, and the handling means 30 or the transport member 31 of the handling means 30 is mounted on the guide rail 24 so as to be movable along the vertical movement direction Y (Y-direction). Thus, the guide rail 24 restricts the movement of the transport member 31 relative to the transport device 20 that can occur to vertical movement in the Y-direction, and at the same time ensures that the load acting on the handling means 30, in particular the tilting moment caused by the weight of the work pallets 101a, 101b being handled, becomes an optimal load for the transport device 20.

[0104] The movement of the handling means 30 is performed via a translational drive device having a vertical spindle 25 that is driven by a spindle drive 26 arranged above the head member 25.

[0105] The handling means 30 is vertically movable along the Y-direction and includes a transport member 31 movably connected to the transport device 20, and an exchange device 40 arranged on the transport member 31 and having first and second receiving spaces 44a, 44b for the work pallet and the separating device. Although not shown, the work pallets 101a, 101b handled by the handling means 30 can be separated from the exchange device 40 via the separating device.

[0106] The exchange device 40 can be horizontally moved along the first movement direction X (X-direction) with respect to the transport member 31 and also with respect to the transport device 20, together with the two receiving spaces 44a, 44b. Here, the state shown in FIG. 1 corresponds to an extended state in which the second work pallet 101b received in the second receiving space 44b is moved in the X-direction to be transferred to a target device (not shown here) configured to receive it, for example.

[0107] Note that at this point, the selected direction designations X and Y or the X-direction and the Y-direction are not restrictive and are merely arbitrarily selected designations for distinguishing the individual directions.

[0108] The extension mechanism of the exchanger in the X direction is based on double telescopic extension, where the first telescopic transfer part 46a can be telescopically extended into the transfer member 31 in a nested manner, and then the second telescopic transfer part 46b can be telescopically extended into the first telescopic transfer part 46b in a nested manner. The two receiving spaces 44a, 44b are arranged on the second telescopic transfer part 46b.

[0109] In the illustrated extended state, since the first workpiece pallet 101a is separated from the exchanger 40 in advance, the first receiving space 44a is empty.

[0110] Before the exchanger 40 moves to the extended state shown in the figure, since the first workpiece pallet 101a is separated from the exchanger 40 by the separating device associated with the first receiving space 44a, the movement of the exchanger 40 to achieve the state shown in the figure is not transmitted to the separated first workpiece pallet 101a, and as a result, the first workpiece pallet 101a remains in a fixed position.

[0111] FIG. 1 clearly shows that the separation of the first workpiece pallet 101a significantly reduces the load acting on the handling means 30, and thus significantly reduces the load acting on the entire handling device 100 in the extended state shown in the figure. Without the separation by the separating device, the currently empty first receiving space 44a would also be occupied by the workpiece pallet, i.e., the first workpiece pallet 101a, and its weight would further load the entire structure. In particular, considering such a long lever arm in the extended state, it would inevitably lead to a relatively high likelihood of tilting moment.

[0112] However, this is advantageously avoided by the configuration according to the present invention having a separating device.

[0113] In addition, the weight of the separated workpiece pallet 101a also acts as a counterweight for the exchanger 40 extended on the other side, so that the tilting moment in the opposite direction leads to a further reduction in the resulting tilting moment.

[0114] To handle the workpiece pallet, for example, to receive the workpiece pallet from a target device configured for this purpose, and / or to transfer the workpiece pallet to the target device, the handling means 30 as a whole is vertically moved in the Y direction by moving the exchange device 40 in the X direction, or the conveying device 20 including the handling means 30 is rotated about the rotation axis R, so that the two receiving spaces 44a, 44b may be spatially positioned. The three movement options form a cylindrical movement system that enables spatial positioning in all three spatial directions (within the possible range).

[0115] The handling device 100 is further configured to interact with the pallet storage 200 and the installation station 300 of the handling system 1000. The handling device 100 transfers the workpiece pallet 101 from the storage space 220 of the pallet storage 200 or from the installation station 300 to the handling means 30 or the exchange device 40, or transfers them from the handling means 30 or the exchange device 40 to the handling means 30 or the exchange device 40.

[0116] The pallet storage 200 includes a plurality of storage levels 210 arranged in an arc shape and at different heights around the handling device 100, and has a plurality of storage spaces 220 configured to receive the workpiece pallet 101 on each storage level 210, each of which is within the range of the cylindrical movement system of the handling device 100.

[0117] For the sake of illustration, the conveying devices of the individual storage levels 210 are not shown in FIG. 1.

[0118] The installation station 300 is also installed on the floor next to the handling device 100, and is configured to receive the workpiece pallet 101 and includes a pallet receiver 310 arranged on the upper side.

[0119] The setup operation, e.g., the fixing of the workpiece, may preferably be performed on the workpiece pallet 101 received at the setup station 300.

[0120] The illustrated handling system 1000 according to the present invention enables a number of workpiece pallets 101, 101a, 101b to be handled quickly and efficiently using the handling device 100, and its advantageous embodiment significantly reduces the load on the handling device 100 by the usually very heavy workpiece pallet, especially when two received workpiece pallets 101a, 101b are handled simultaneously.

[0121] FIG. 2 shows the lower part of the handling device 100 which essentially corresponds to the handling device of the handling system of FIG. 1 in a state where no workpiece pallet is placed on the exchanging device 40 and it is not extended, i.e., the initial state of the exchanging device 40.

[0122] The initial state is characterized in that the separation of the workpiece pallet to be handled by the handling means 30 can be performed using the first and second separation devices 34a and 34b. The initial state is limited only to a specific position or the initial position of the exchanging device in the X direction, but the positioning of the handling means 30 in the Y direction or the positioning of the conveying device 20 around the rotation axis R is not related to the initial state.

[0123] In addition to the description of the embodiment shown in FIG. 1, FIG. 2 shows the linear conveying section 33 which is connected to the conveying member 31, engages with the guide rail 24 on the side support column 22 of the conveying device, and fixes the handling means 30 so that the handling means 30 can move in the Y direction.

[0124] In addition, FIG. 2 shows the base member 21 of the conveying device which is hidden in FIG. 1, and the base 10 is below it.

[0125] In addition to the description of the embodiment shown in FIG. 1, two separating devices 34a, 34b for the two receiving spaces 44a, 44b of the changer 40 and details of the telescopic mechanism of the changer 40 in the initial state are shown.

[0126] In the initial state of the changer 40, the separating devices 34a, 34b are respectively disposed below the receiving spaces 44a, 44b and include a plurality of elevating members 36 disposed on a conveying member 31 having a driving device respectively. The separating devices 34a, 34b are in contact with and lift the workpiece pallet received in each of the receiving spaces 44a, 44b above, or lower the workpiece pallet back into the receiving spaces 44a, 44b. For this purpose, the driving device can move the lifting plate 37 in the vertical direction with respect to the conveying member 31, that is, upward in the upward movement and downward in the downward movement.

[0127] The elevating members 36 of the separating devices 34a, 34b configured as electric linear actuators move the lifting plate 37 in the vertical direction, and by doing so, separate the workpiece pallet located above in the initial state of the changer 40 so that subsequent movement of the changer 40 in the X direction is not transmitted to the separated workpiece pallet any further.

[0128] On the upper side of the lifting plate 37, four symmetrically arranged receptacles 38 for conical positioning means are arranged, in which the corresponding counterpart (cone) is received under the workpiece pallet during the separation process by the lifting movement. As a result, the position and orientation of the separated workpiece pallet in the separated state with respect to each of the separating devices 34a, 34b and also with respect to the conveying member 31 are clearly defined. In other words, there is only one possible arrangement (position and orientation) of the separated workpiece pallet on the lifting plate 37 by the positioning means.

[0129] The switching device 40 is driven by a drive 47 arranged horizontally between the side supports 22 in order to cause a transverse movement or an extending or retracting telescopic movement of the switching device 40. Here, the switching device 40 can be moved in both directions, away from the observer and towards the observer (as indicated by the double arrows in the X direction), in the X direction, from the illustrated initial state.

[0130] The first telescopic conveying unit 46a is connected to the conveying member 31 via a telescopic rail 45 or a pair of telescopic rails 45 so as to be movable in the X direction. A further (second) telescopic rail 45 or a second pair of telescopic rails 45, by which the second telescopic conveying unit 46b having the receiving spaces 44a, 44b can be moved in the X direction with respect to the first telescopic conveying unit 46a, is arranged on the first telescopic conveying unit 46a.

[0131] The telescopic conveying units 46a, 46b are L-shaped in a cross-section perpendicular to the X direction in order to achieve high bending and torsional rigidity.

[0132] The second telescopic conveying unit 46b is also H-shaped when viewed along the vertical direction (Y direction), and has a central horizontal support and two vertical supports extending parallel to the second telescopic rail 45 and arranged on the central horizontal support, so that the engagement of the work pallet received from below is not obstructed by the other horizontal supports.

[0133] Furthermore, the second telescopic conveying unit 46b includes a support portion that is arranged above the vertical supports in the two receiving spaces 44a, 44b and on which the received work pallet is later placed in a connected (non-separable) state.

[0134] FIG. 3a shows the lower part of the handling device 100 of FIG. 2 in a state where the first and second work pallets 101a and 101b are placed on the switching device 40 and not extended.

[0135] The first work pallet 101a is received in the first receiving space 44a of the switching device 40, and the second work pallet 101b is received in the second receiving space 44b.

[0136] The received work pallets 101a and 101b are placed on both sides of the support portion of the second telescopic conveyor portion 46b disposed on the upper side. The usually high weight of the received work pallets 101a and 101b also causes a high static friction between the work pallets 101a and 101b and the second telescopic conveyor portion 46b, so that their relative movement on the second telescopic conveyor portion 46b is prevented until the adhesion limit is exceeded.

[0137] FIG. 3b shows a lower part of the handling device 100 of FIG. 3a having the first separating device 34a partially lifted, from a perspective different from that of FIG. 3a.

[0138] In addition to the view of FIG. 3a, a vertical spindle 25 for the transverse movement of the handling means 30 in the Y direction is shown in the side perspective view of FIG. 3b. To this end, the handling means 30 or the conveying member 31 is connected via a spindle nut 32, and through which the rotation of the vertical spindle 25 is converted into a vertical translational movement of the handling means 30 in the Y direction. The vertical spindle is of a self-locking type.

[0139] Furthermore, the first separating device 34a associated with the illustrated first receiving space 44a has already moved to the lower side of the first work pallet 101a received in the first receiving space 44a without completely separating the first work pallet 101a from the exchanging device 40. Therefore, the weight of the first work pallet 101a is still at least partially placed on the exchanging device 40.

[0140] For this purpose, the lifting member 43 vertically lifts the lifting plate 37 in the direction of the lower side of the work pallet 101a as compared with the configuration shown in FIG. 3a. Continuing this movement causes the separation of the first work pallet 101a, and as a result, the configuration of the handling device 100 shown in FIG. 3c can be finally achieved.

[0141] Figure 3c shows the lower part of the handling device 100 of FIGS. 3a and 3b in the extended state of the exchange device 40 and together with the separated first work pallet 101a.

[0142] In the illustrated extended state, the exchange device 40 is extended by drive 47 such that the first telescopic transport section 46a moves to approximately half its length relative to the transport member 31, and the second telescopic transport section 46b moves to approximately half its length again relative to the first telescopic transport section 46b.

[0143] In the illustrated state, the first work pallet 101a is either completely separated from the exchange device 40 or separated so as not to move during the lateral movement of the exchange device 40 in the X direction, but the relative position with respect to the transport device is essentially maintained.

[0144] For separation, the lifting movement of the lifting member 36 already shown in FIG. 3b is continued, so that the first work pallet 101a is lifted from the support section of the second telescopic transport section 46a. The weight of the separated first work pallet 101a is completely supported on the lifting plate 37 and evenly transferred to the transport member 31 of the handling means 30 via the five lifting members 36 of the first separation device 34a, thereby releasing the exchange device 40 itself.

[0145] The five lifting members 36 are symmetrically arranged with respect to the lifting plate 37, four of the lifting members 36 are located at the corners of the lifting plate 37 respectively, and one lifting member 36 is arranged in the center, thereby preventing both the lifting plate 37 and the lifting members 36 themselves from being unevenly loaded on the condition that the separated work pallet 101a is arranged in the center of the lifting plate 37 by the interaction of the positioning means and the associated receptacle 38.

[0146] Due to the separation of the first work pallet 101a, only the empty first receiving space 44a is moved together with the second receiving space 44b containing the second work pallet 101b received in the second receiving space 44b in order to achieve the extended state shown in FIG. 3c during the subsequent movement of the exchange device 40 in the X direction.

[0147] As a result, the tilting moment due to the weights of the work pallets 101a, 101b becomes lower than the case where the first work pallet 101a is received in the first receiving space 44a (i.e., not separated in advance).

[0148] This reduces the load on the fixing of the handling means 30, particularly the load on the guide rail 24 used for this purpose, as well as the load on the conveying device that conveys the handling means 30, the base 10 disposed thereunder, and the load-bearing floor surface. This necessarily leads to reducing the load (reducing the material stress) and reducing the deformation of the components such as in the form of bending or torsion, which improves the accuracy when handling the work pallets 101a, 101b.

[0149] In particular, the mechanical stress on the telescopic mechanisms 45, 46a, 46b of the exchanger 40 that are strongly bent in the extended state is reduced.

[0150] In other words, without sacrificing the possibility of simultaneously and accurately handling a plurality of work pallets 101a, 101b, the overall mechanical load on the handling device 100 can be significantly reduced by the configuration according to the present invention.

[0151] Incidentally, the exchanger 40 can also extend the first work pallet 101a, in which case the second work pallet 101b can be separated by the corresponding second separating device 34b. The handling means 30 is symmetrically constructed so that it can extend the exchanger 40 on both sides in order to extend or telescope either the first work pallet 101a or the second work pallet 101b. Of course, the same applies to the transverse movement to return to the initial state.

[0152] As a result, one exchange device 40 having two receiving spaces 44a, 44b and one drive 47 is configured to handle two workpiece pallets 101a, 101b on both sides, which means that the handling process can be accelerated and made more flexible without relying on the addition of further exchange devices.

[0153] As described above, the embodiments of the present invention and their advantages have been described in detail with reference to the accompanying drawings.

[0154] It is again pointed out that the present invention is not at all limited to the above-described embodiments and their implementation features. The present invention also includes those resulting from modifications of the described embodiments, in particular, modifications and / or combinations of one or more features of the embodiments described within the scope of the independent claims.

Explanation of Reference Numerals

[0155] 10 Base 20 Frame-shaped conveying device 21 Base member 22 Side strut 23 Head member 24 Guide rail 25 Vertical spindle 26 Spindle drive 30 Handling means 31 Conveying member 32 Spindle nut 33 Linear conveying section 34a Separation device for the first receiving space 34b Separation device for the second receiving space 36 Lifting member 37 Lifting plate 38 Receptacle for conical positioning means 40 Exchange device 44a First receiving space 44b Second receiving space 45 Telescopic rail 46a First telescopic conveying section 46b Second telescopic conveying section Drive for the switching device 100 Handling device 101 Work pallet 101a First work pallet 101b Second work pallet 200 Pallet storage 210 Storage floor 220 Storage space for work pallets 300 Installation station 310 Pallet receiver of the installation station 1000 Handling system X First moving direction Y Vertical moving direction R Rotation axis

Claims

1. A handling system (1000) comprising a handling device (100), wherein: The handling device (100) includes: A conveying device (20); Handling means (30) for handling workpiece pallets (101, 101a, 101b) conveyed by the conveying device (20), the handling means (30) including an exchange device (40) having at least two receiving spaces (44a, 44b) configured to receive the workpiece pallets (101, 101a, 101b); and has: The handling means (30) is configured to move the exchange device (40) along a first moving direction (X) relative to the conveying device (20) such that both receiving spaces (44a, 44b) move together; The handling means (30) is further configured such that, during the movement of the exchange device (40) along the first moving direction (X), a workpiece pallet (101a, 101b) received in one of the at least two receiving spaces (44a, 44b) and handled by the handling means (30) is separated from the exchange device (40) by at least one separating device (34a, 34b) so as to maintain the relative position of the workpiece pallet (101a, 101b) with respect to the conveying device (20). A handling system (1000).

2. The handling device (100) is configured to transfer a workpiece pallet (101a, 101b) received in one of the at least two receiving spaces (44a, 44b) to at least one target device (220, 310) configured to receive a plurality of workpiece pallets (101), and / or The handling device (100) is configured to receive a workpiece pallet (101) received by the at least one target device (220, 310) into one of the at least two receiving spaces (44a, 44b). The handling system (1000) according to Claim 1, characterized in that.

3. The at least one target device is a receiving device arranged in a working space of a machine tool installed adjacent to the handling system (1000). The handling system (1000) according to claim 2.

4. The at least one separating device (34a, 34b) comprises a lifting device (36) configured to separate a work pallet (101a, 101b) in a receiving space (44a, 44b) associated with the at least one separating device (34a, 34b) from the exchanging device (40) by a vertical upward movement. The handling system (1000) according to any one of claims 1 to 3.

5. The at least one separating device (34a, 34b) comprises at least one receptacle (38) for positioning means, configured to engage with the positioning means disposed on the lower side of the work pallet (101a, 101b) during the upward movement, such that the position and orientation of the work pallet (101a, 101b) separated by the upward movement with respect to the at least one separating device (34a, 34b) are clearly defined. The handling system (1000) according to claim 4.

6. The handling means (30) comprises a plurality of separating devices (34a, 34b), and each receiving space (44a, 44b) of the exchanging device (40) is associated with one of the plurality of separating devices (34a, 34b). The handling system (1000) according to any one of claims 1 to 5.

7. The exchanging device (40) is configured as a horizontally extensible telescopic device, and the telescopic device comprises at least one telescopic conveying part (46b) capable of horizontally moving in the first movement direction (X) with respect to at least one telescopic rail (45) of the telescopic device, and the at least two receiving spaces (44a, 44b) are disposed thereon. The handling system (1000) according to any one of claims 1 to 6.

8. The handling device (100) is configured to translate the handling means (30) along the vertical movement direction (Y) with respect to the conveying device (20) by a translational drive device (25). The handling system (1000) according to any one of claims 1 to 7.

9. The transfer device (20) is configured in a frame shape having a base member (21), two side members (22), and a head member (23), and each of the two side members (22) is provided with at least two guide rails (24) to which the handling means (30) transferred by the transfer device (20) is attached so as to be movable along the vertical movement direction (Y). The handling system (1000) according to claim 8.

10. The handling device (100) further includes a base device (10) that supports the transfer device (20), and the handling device (100) is configured to twist the transfer device (20) with respect to the base device (10) about a vertical rotation axis (R) via a rotation drive device. The handling system (1000) according to claim 8 or 9.

11. The handling device (100) is configured such that, with respect to at least one target device (220, 310), a work pallet (101) received by the target device (220, 310) is received by the exchange device (40) in a positioned receiving space (44a, 44b), and / or a work pallet (101a, 101b) received in the positioned receiving space (44a, 44b) is transferred to the target device (220, 310) by moving the handling means (30) along the vertical movement direction (Y), and / or by twisting about the vertical rotation axis (R), and / or by moving the exchange device (40) along the first movement direction (X), so as to position one of the at least two receiving spaces (44a, 44b). The handling system (1000) according to claim 10.

12. The handling system (1000) includes a pallet storage (200) including a plurality of storage spaces (220), each of which is a target device (220) for the handling device (100), and is configured to receive a work pallet (101). The handling system (1000) according to any one of claims 1 to 11.

13. The handling system (1000) includes a docking device configured to dock an unmanned transport vehicle having at least one holding device configured to receive a work pallet (101), and at least one holding device of the transport vehicle in a state of being docked to the docking device is a target device for the handling device (100). The handling system (1000) according to any one of claims 1 to 12.

14. A handling device (100) for use in the handling system (1000) according to any one of claims 1 to 13.

15. A work space having at least one receiving device for receiving a work pallet (101) into the work space and the handling system (1000) according to any one of claims 2 to 13 disposed adjacent to the work space. The at least one receiving device disposed in the work space is a target device of the handling system (1000). Machine tool

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