Automation cell and method for machining workpieces

Abstract

The invention relates to an automation cell (10) for machining, in particular for labelling, workpieces (12), comprising: - at least one working chamber (14), - a feed chamber (18) adjoining the working chamber (14) for feeding workpieces (12) into the working chamber (14), - a discharge chamber (20) adjoining the working chamber (14) for discharging workpieces (12) from the working chamber (14), - at least one machining device (38) arranged in the working chamber (14) for machining, in particular for labelling, workpieces (12), - at least one handling device (24) arranged in the working chamber (14) with a first interchangeable receptacle (26) for receiving and handling a workpiece (12) in such a way that the workpiece (12) is gripped in the feed chamber (18) and moved into the working chamber (14), that the workpiece (12) is held and machined in the working chamber (14) by the handling device (24), and that the workpiece (12) is moved out of the working chamber (14) into the discharge chamber (20) after machining and deposited there, - at least one receptacle station (48) arranged in the working chamber (14) having various receptacles (26A) for changing the first interchangeable receptacle (26) on the handling device (24) depending on the workpiece (12) to be handled, - at least one sensor device (28) for detecting a presence and / or position of a workpiece pallet (22) and / or a presence and / or position of workpieces (12) in the feed chamber (18), and - at least one camera device (30) for monitoring and / or identifying workpieces (12) in the feed chamber (18) and / or in the working chamber (14) and / or in the discharge chamber (20).

Description

[0001] Title: Automation cell and method for machining workpieces

[0002] Description

[0003] The invention relates to an automation cell and a method for processing, in particular labeling, workpieces.

[0004] From DE 10 31 37 92 Al a machining station for stand-alone machining of a workpiece is known.

[0005] The invention is based on the object of eliminating the disadvantages of the prior art, in particular of providing an automation cell which ensures high functional integrity and high flexibility.

[0006] The object underlying the invention is achieved by an automation cell with the features of claim 1. The invention is directed to an automation cell for processing, in particular for labeling, workpieces, comprising: at least one protected work space, a feed space adjacent to the work space for feeding workpieces into the work space, a removal space adjacent to the work space for removing workpieces from the work space, at least one processing device arranged in the work space for processing, in particular for labeling, workpieces, at least one handling device arranged in the work space with an interchangeable holder for receiving and handling a workpiece in such a way that the workpiece is gripped in the feed space and moved into the work space, that the workpiece is held and processed in the work space by the handling device,and that the workpiece is moved from the work area into the discharge area after processing and is deposited there, at least one receiving station arranged in the work area with various interchangeable holders for changing the interchangeable holder on the handling device depending on the workpiece to be handled, at least one sensor device for detecting the position of workpieces in the feed area, and at least one camera device for monitoring and / or identifying workpieces in the feed area and / or in the work area and / or in the discharge area.,

[0007] Due to the integration of the handling device and the processing device in the work area, they can be controlled in a particularly coordinated manner. This enables particularly efficient processing of the workpieces in a limited space. In addition, the handling device and the processing device are protected from external influences by the protected work area. Access can preferably be prevented via light barriers that must be passed, in particular by intervention by an operator leading to the stopping of the handling device and / or processing device. At the same time, the intervention protection serves to protect an operator or an AGV-based robot arm that can be used for automatic machine loading.

[0008] The handling device is preferably designed such that it can reach the feed area, the work area and the removal area and can move workpieces within and / or between the areas. A workpiece pallet with workpieces can be provided in the feed area, the workpiece pallet having a workpiece nest for each workpiece. This ensures safe and clear arrangement of the workpieces in the workpiece pallet. This prevents the workpieces in the workpiece pallet from tipping over, particularly during transport and while the workpieces are being picked up by the handling device. Alternatively, a storage area or a conveyor belt can be provided in the feed area, onto which the workpieces to be machined can be placed in a targeted manner or as required and then fed to the work area.

[0009] In the following, the terms interchangeable holder and workpiece holder are used as synonyms.

[0010] Such a workpiece pallet can also be arranged in the discharge area. Alternatively, a storage area or conveyor belt can be provided in the discharge area, onto which the processed workpieces can be placed in a targeted or random manner.

[0011] The working space preferably has at least one side wall for separating the handling device and the processing device from the cell environment and in particular from the feed space and / or discharge space.

[0012] An advantageous aspect of the invention provides that the processing device is designed as a laser processing device. Accordingly, the working space and the at least one side wall also serve to protect against laser radiation escaping into the cell environment.

[0013] An advantageous aspect of the invention provides that the handling device is designed as a robot arm and / or the interchangeable holder is designed as a gripping tool. Accordingly, the workpieces can be moved particularly flexibly in the feed area, work area, and discharge area.

[0014] An advantageous aspect of the invention provides that the interchangeable holder can be arranged on the handling device by means of a quick-change system. Accordingly, different workpieces can be handled and / or gripped quickly and precisely using different tools. An advantageous aspect of the invention provides that the at least one camera device is arranged on the handling device and / or on the interchangeable holder. Accordingly, the workpiece and the surroundings of the handling device and / or interchangeable holder can be observed and recorded in a targeted manner in the area of ​​the handle of the workpieces. Consequently, information about the status of the handling device, the workpiece and the processing device is available in real time. This enables targeted, safe and application-specific control of the handling device and / or the processing device.

[0015] An advantageous aspect of the invention provides that the automation cell further comprises: at least one workpiece recognition device, in particular a further camera, for recognizing and / or identifying workpieces in the interchangeable holder. The handling device is preferably configured such that it moves the workpiece in front of the workpiece recognition device and in particular rotates it. The workpiece recognition device preferably detects the workpiece by 360°. The workpiece is preferably arranged such that the workpiece is located between the workpiece recognition device and a contrast screen, in particular a ground glass screen. Accordingly, the workpiece recognition device can detect the workpiece particularly well. A reflected light and / or transmitted light method is preferably used to illuminate the workpiece.For the incident light method, a light source is positioned on the camera side and illuminates the workpiece in the same direction as the workpiece recognition device. For the transmitted light method, a light source is positioned behind the contrast disc, so that the light source and the workpiece recognition device face each other. The contrast disc, as well as the incident and transmitted light methods, each improve the workpiece's detectability by the workpiece recognition device. This information can be displayed, in particular, using a QR code.

[0016] An advantageous aspect of the invention provides that the processing device is configured for marking the workpieces. Accordingly, the workpiece can be marked using a laser beam. For example, type designations or other information can be engraved into the workpiece.

[0017] An advantageous aspect of the invention provides that the automation cell is configured such that the workpiece is moved by the handling device during processing (on the fly). Consequently, the workpiece can be marked from multiple sides. Furthermore, the superimposed movement can achieve a higher processing speed.

[0018] An advantageous aspect of the invention provides that the automation cell further comprises: a further workpiece holder arranged in the work space, in particular in the form of a rotation device for rotating the workpiece, wherein the automation cell, in particular the further workpiece holder, in particular the rotation device, is configured such that the workpiece can be rotated by means of the rotation device during processing. Accordingly, the workpiece is rotated by means of the further workpiece holder, in particular the rotation device, during processing, so that the same advantages can be achieved. In this embodiment, the workpiece is not held by the handling device during processing, but is processed stationary and not "on the fly" in the work space and is only handled before and after processing. This is e.g.This is the case when the workpiece is covered by the first workpiece holder, and in particular by the gripper, in the areas to be machined, and it would be necessary to set the workpiece down and re-grip it. Alternatively or additionally, the additional workpiece holder can be designed as a suction cup or as a gripper with two, three, or four clamping jaws.

[0019] It is conceivable that the rotation device and the interchangeable holder are designed together, in particular as one component.

[0020] An advantageous aspect of the invention provides for the rotary device to be mounted in the work area by means of a zero-point clamping module. This ensures even greater precision and repeatability during stationary machining of the workpiece.

[0021] The rotation device is preferably used to rotate workpieces, in particular rotationally symmetrical workpieces. The workpieces within the meaning of this invention can also be, for example, tools, workpiece or tool holders. The rotation device is preferably also used for arrangement on a handling device, in particular on a robot arm or on a gantry. The rotation device preferably has a tool housing. The rotation device preferably also has a system adapter arranged in or on the tool housing for arranging the rotation device on a handling device. By means of the system adapter, the rotation device can be picked up and handled by the handling device. Furthermore, the rotation device preferably has a workpiece holder mounted in or on the tool housing so as to be rotatable about a rotation axis for receiving a workpiece.The workpiece can be picked up and rotated by means of the workpiece holder. Furthermore, the rotation device has a rotation drive for rotating the workpiece holder. The workpiece holder is preferably designed to be ring-shaped, in particular circular, at least substantially along the rotation axis. The workpiece holder is preferably designed to be closed perpendicular to the rotation axis.

[0022] Accordingly, a workpiece can be held in the workpiece holder and rotated around the rotation axis by means of the rotation drive and the workpiece holder. This ensures that a processing device and / or a labeling device and / or a measuring device gains access to the entire rotational circumference of the workpiece so that the workpiece can be fully processed and / or labeled and / or measured. It is not necessary for the workpiece to be put down and / or gripped again. This ensures that a defined position of the workpiece can be ensured at all times, which is particularly important for high-precision machining processes such as laser engraving. It is advantageous if the workpiece holder has a holder adapter for holding the workpiece.The mounting adapter is preferably adaptable to the size of the workpiece to be mounted, with the inner diameter of the mounting adapter being selected in particular depending on the outer diameter of the workpiece to be mounted. The mounting adapter is preferably designed such that a workpiece to be mounted extends through the mounting adapter, so that the workpiece is accessible above and below the workpiece mount. The mounting adapter is preferably flat, so that as large a section of the workpiece as possible is inaccessible due to the rotation device.

[0023] It is further advantageous if the workpiece holder has a holding disc extending perpendicular to the rotation axis, in particular a flat one, for holding the holding adapter. Due to the design of the holding disc, only a small section of the workpiece is covered by the rotation device. The holding disc is preferably at least substantially annular, in particular circular. The workpiece to be rotated can thus pass through the holding disc and can protrude upwards and downwards along the rotation disc relative to the holding disc. Consequently, machining of the workpiece above and below the holding disc is possible.

[0024] For quick and secure fixing, the holder adapter is preferably arranged on the holder disk by means of a bayonet lock. For this purpose, the holder adapter has recesses with undercuts spaced apart from one another along the circumference. In addition, there are corresponding lugs on the holder disk which engage in the undercuts when the holder adapter rotates relative to the holder disk. The recesses and undercuts are preferably designed such that rotation of the workpiece holder in the main direction of rotation forces the bayonet lock into the closed position. This ensures that the bayonet lock does not accidentally come loose during operation. For the rotatable mounting of the workpiece holder in or on the tool housing, at least one four-point bearing is provided between the tool housing and the workpiece holder.The four-point contact bearing is a rolling bearing that can accommodate axial and radial loads. This allows for a compact design and easy installation and maintenance. A clamping ring is preferably provided for securing the four-point contact bearing.

[0025] The workpiece holder, in particular the holder adapter, preferably has a holder support. To hold a workpiece in the workpiece holder, the workpiece, in particular a section of the workpiece, preferably an annular section of the workpiece, is placed on the holder support. In a simple embodiment, the holder support can be designed as a support surface extending along a support plane running perpendicular to the plane of rotation. To ensure soft, scratch-free support of the workpieces, the holder support can have an axial O-ring. The axial O-ring serves to transfer the rotational moments from the workpiece holder to the workpiece when the workpiece holder is rotated.

[0026] Furthermore, the receiving tray preferably has a radial O-ring, which serves to radially guide the workpiece when it is placed down and when the workpiece holder is rotated.

[0027] An advantageous development of the invention provides that the tool housing has a boom. The workpiece holder is preferably arranged on the boom. Furthermore, the four-point bearing is preferably provided between the boom and the workpiece holder. The tool housing also preferably has a tool frame which extends in particular parallel to the axis of rotation. The tool frame advantageously has a frame top and / or a frame bottom and / or a frame front and / or a frame rear. The tool frame preferably at least partially encloses the rotary drive. The boom is preferably arranged on the frame front in the region of the frame bottom. The system adapter is preferably arranged on the frame top. A holder-side drive section is advantageously provided on an outer circumference of the workpiece holder, in particular an outer circumference of the holder disk.The receiving-side drive section can have a toothing, in particular an external toothing. The receiving disc can preferably be formed in one or two parts. The receiving disc can have a toothed belt pulley with the receiving-side drive section and a rotating core for receiving the receiving adapter. The toothed belt pulley and the rotating core can be screwed together.

[0028] The rotary drive preferably has a servomotor. The servomotor is preferably arranged in the tool frame and extends in particular parallel to the axis of rotation. The rotary drive is preferably designed as a belt drive with a belt. The belt is preferably designed as a toothed belt with belt teeth. To rotate the workpiece holder, the holder-side drive section and the belt interact. The belt teeth engage with the external teeth.

[0029] The servomotor preferably has a motor belt pulley with motor teeth, the belt teeth interacting with the motor teeth. The motor belt pulley is preferably arranged on a motor shaft of the servomotor by means of a tensioning element. The servomotor is advantageously arranged on the tool housing by means of a motor adapter. The motor housing is preferably screwed to the tool housing. Elongated holes can be provided on the tool housing so that the motor adapter and the servomotor can be moved perpendicular to the axis of rotation. Consequently, the tension of the belt can be adjusted by moving the motor adapter along the elongated holes.

[0030] It is advantageous if the belt surrounds the receiving pulley along the circumference of the receiving pulley. Preferably, at least two deflection pulleys are provided on the tool housing. The belt is preferably guided by means of the deflection pulleys. It is advantageous if the wrap angle, i.e. the angle of contact between the receiving pulley and the belt, lies in a range between 180° and 360°, in particular between 270° and 360°, preferably between 320° and 350°. A high wrap angle not only ensures good power transmission but also a safe working environment, since the belt lies closely against the receiving pulley and the surroundings cannot be caught by the belt.

[0031] It is also advantageous if the rotary drive and an external processing device and / or marking device and / or measuring device are linked to each other via information technology. Consequently, the servo motor and the corresponding device can be synchronized, enabling consistent and precise processing and / or marking and / or measurement even when the workpiece is rotated.

[0032] An advantageous aspect of the invention provides that the automation cell further comprises: at least one cleaning device, in particular a rotating brush, arranged in the work space for cleaning machined workpieces. The rotating brush is preferably arranged to rotate about a rotational axis, in particular a vertical one. Accordingly, the workpiece can be moved to the cleaning device by means of the handling device before or after machining and can remain there during the cleaning process, wherein the cleaning device realizes a relative movement between the workpiece and the brush.

[0033] An advantageous aspect of the invention provides that the automation cell further comprises: at least one suction device arranged in the work space for extracting particles and potentially hazardous substances generated during processing and cleaning. An extraction system can be provided in the processing device and / or in the cleaning device. The extraction device preferably has a suction nozzle, in particular a streamlined one, which is directed towards the processing point of the workpiece. This ensures that the work space and the workpieces are clean. The direction of rotation of the cleaning device is preferably set up such that the particles generated during cleaning are thrown towards the suction device. An advantageous aspect of the invention provides that the work space has a ceiling and the receiving station is arranged on the ceiling.It has proven surprisingly advantageous to locate the receiving station on the ceiling. This means that the spatially limited processing area of ​​the workspace, which is usually in the area of ​​the floor of the workspace, can be used for value-added processes such as processing and cleaning. All storage and changing processes can preferably be located on the ceiling of the workspace. This makes it possible to provide a particularly compact automation cell. For the secure arrangement of components on the ceiling, this cell has reinforcing ribs. The reinforcing ribs additionally stiffen the automation cell. For the flexible arrangement of components on the ceiling, hole patterns are preferably provided in the ceiling, particularly in the reinforcing ribs. This means that the components can be attached and relocated quickly and easily.

[0034] An advantageous aspect of the invention provides that the workspace is delimited by a cell housing and / or a cell fence. This ensures permanent protection of the workspace that is hazardous to humans. The workspace preferably has light barriers in the transition area to the feed area and / or the discharge area, through which an operator or an AGV-based robot arm can reach or walk to reach the workspace. The interrupted light barriers preferably cause the automation cell to stop.

[0035] The object underlying the invention is also achieved by a method having the features of claim 15. The invention is directed to a method for processing, in particular labeling, workpieces by means of an automation cell according to one of the preceding claims, comprising the following steps: feeding workpieces provided in a workpiece pallet into the feed space, wherein the workpiece pallet has workpiece nests for receiving a workpiece each, detecting the position of a workpiece in the feed space by means of a first camera device or a sensor device, picking up a detected workpiece by means of the handling device from the feed space and moving it into the work space, detecting the position and / or identifying the workpiece in the handling device by means of a further camera device or a further sensor device;Aligning the processing surface of the workpiece towards the processing device by means of the handling device, in particular a gripper, and / or a rotary tool; Processing, in particular marking, the workpiece by means of the laser processing device, during which the workpiece is held in a first processing position by the handling device, wherein in particular the movement and / or the position of the laser beam of the laser processing device and the movement of the processed workpiece overlap; Moving the processed workpiece by means of the handling device to a cleaning device arranged in the work space for cleaning the workpiece, and Moving the cleaned workpiece from the work space into the removal space and depositing the workpiece in the removal space by means of the handling device;

[0036] Further advantages, features, and details will become apparent from the following description, which illustrates various embodiments of the invention with reference to the drawings. The features mentioned in the claims and the description may be essential to the invention individually or in any combination.

[0037] They show:

[0038] Fig. 1 is a schematic plan view of an automation cell according to the invention;

[0039] Fig. 2 is a schematic side view of the automation cell according to Fig. 1,

[0040] Fig. 3 is a schematic side view of a rotary tool according to the invention with a workpiece and a clamping system according to the invention;

[0041] Fig. 4 is a schematic front view of the rotary tool with workpiece and clamping system according to Fig. 1; Fig. 5 is a schematic side view of the rotary tool with clamping system and a fed / removed workpiece according to Fig. 1;

[0042] Fig. 6 is a schematic side view of the rotary tool with a workpiece according to Fig. 1, wherein the rotary tool is removed from the clamping system;

[0043] Fig. 7 is a perspective side view of the rotary tool according to Fig. 4;

[0044] Fig. 8 is a further perspective side view of the rotary tool according to Fig. 4 removed from the clamping system with a tool adapter according to a first embodiment;

[0045] Fig. 9 is a schematic top view of the rotary tool with workpiece according to Fig. 1;

[0046] Fig. 10 is a schematic sectional view of the rotary tool according to Fig. 6, showing the drive;

[0047] Fig. 11 is a schematic side view of the rotary tool according to Fig. 6;

[0048] Fig. 12 is a schematic sectional view of the rotary tool according to Fig. 6;

[0049] Fig. 13 is a schematic detailed view of the section of the rotary tool according to Fig. 10;

[0050] Fig. 14 is a schematic top view of the rotary tool without workpiece according to Fig. 3;

[0051] Fig. 15 is a schematic top view of a receiving adapter according to the invention;

[0052] Fig. 16 is a schematic side view of the receiving adapter according to Fig. 13;

[0053] Fig. 17 is a schematic sectional view of the receiving adapter according to Fig. 13; Fig. 18 is a schematic view of the method steps for handling and machining a workpiece using the rotary tool according to Fig. 1;

[0054] Fig. 19 is a perspective side view of the rotary tool removed from the clamping system with a tool adapter according to a second embodiment;

[0055] Fig. 20 is a top perspective view of the tool adapter according to the second embodiment;

[0056] Fig. 21 is a side view of the tool adapter according to the second embodiment;

[0057] Fig. 22 is a top view of the tool adapter according to the second embodiment;

[0058] Fig. 23 is a sectional view of the tool adapter according to the second embodiment;

[0059] Fig. 24 is a perspective side view of the rotary tool removed from the clamping system with a tool adapter according to a third embodiment;

[0060] Fig. 25 is a top perspective view of the tool adapter according to the third embodiment;

[0061] Fig. 26 is a side view of the tool adapter according to the third embodiment;

[0062] Fig. 27 is a top view of the tool adapter according to the third embodiment;

[0063] Fig. 28 is a sectional view of the tool adapter according to the third embodiment; and

[0064] Fig. 29 several views of a gripper finger for arrangement on the tool adapter according to the third embodiment.

[0065] The automation cell 10 is configured for processing, in particular marking, workpieces 12. The automation cell 10 has a protected workspace 14, which is defined by side walls 16. The at least one side wall 16 provides a mechanical and visual separation between the workspace 14 and the cell's surroundings.

[0066] Adjacent to the work area 14 are a feed area 18 and a discharge area 20. The workpieces 12 preferably pass through the automation cell 10 from the feed area 18 via the work area 14 to the discharge area 20.

[0067] Workpieces 12 are provided in the feed chamber 18 by means of a workpiece pallet 22. A handling device 24 arranged in the work chamber 14 in the form of a robot arm with a first workpiece holder 26 in the form of a gripper with at least two gripping jaws removes a workpiece 12 from the workpiece pallet 22 and moves the workpiece 12 into the work chamber 14. Alternatively, the handling device 24 can also be designed as a linear axis or as a gantry.

[0068] A sensor device 28 is preferably provided in the feed space 18, which detects the position, in particular the height, or the presence of the workpiece pallet 22 and / or the position, in particular the height, of the workpieces 12 in the workpiece pallet 22. On this basis, the handling device 24 controls the detected workpieces 12 for pickup. In addition, the handling device 24 has a first camera device 30 arranged in the region of the first interchangeable holder 26. The first camera device 30 serves to identify the workpiece 12, to detect the position of the workpiece 12 and to observe the feed space 18, the work space 14 and the removal space 20. Accordingly, the handling device 24 can react in real time to changing conditions in the work space and move safely within the work space 14.

[0069] The handling device 24 first moves the workpiece 12 in front of a workpiece recognition device 32 arranged in the work space 14. The workpiece 12 is rotated by means of the handling device 24 so that the workpiece recognition device 32 can identify the workpiece 12 and / or determine its position. The position of the workpiece 12 in the handling device 24 can be recognized based on characteristic features of the workpiece 12, such as notches, fiducial marks, etc. To improve the recognizability of the workpiece 12, a contrast screen 34 in the form of a partially transparent and / or milky ground glass screen is provided in the work space 14. Accordingly, the workpiece recognition device 32 can recognize the workpiece 12 particularly well and reliably. Improved recognizability of the workpiece 12 is achieved with a combination of incident light and transmitted light methods. Accordingly, the workpiece 12 is illuminated from the front and back. The light sources 36A can be, for example,B. Ring lights are used. During detection, the workpiece 12 is placed between the workpiece detection device 32 and the contrast disk 34. The workpiece 12 and the contrast disk 34 are arranged between a first light source 36A for the incident light method and a second light source 36B for the transmitted light method.

[0070] Once the workpiece recognition device 32 has determined the position of the workpiece 12, the workpiece 12 is moved into the processing area of ​​the processing device 38 by means of the handling device 24. Due to the known position of the workpiece 12, the location to be processed can be aligned with the processing device 38. The corresponding location is then processed. The processing device 38 can be designed, for example, as a laser processing device and can label the workpiece 12, whereby data such as designations, production data or maintenance information can be applied to the workpiece 12, particularly in the format of a QR code. During processing, the handling device 24 can hold the workpiece 12 in position and rotate it. The handling device 24 can place the workpiece 12 in a second workpiece holder 40, which is designed in the manner of a rotation device 40.In this case, the second workpiece holder or the rotating device 40 rotates the workpiece 12 in front of the machining device 38 about the z-axis (vertical). To ensure precise and repeatable machining, the second workpiece holder or rotating device 40 is held in a zero-point clamping system. For greater machining flexibility in an axis inclined to the z-axis (vertical), it is alternatively conceivable for the handling device 24 to pick up the second workpiece holder or rotating device 40 using a quick-change system and guide it into the machining area.

[0071] Since particles or smoke can enter the work space 14 during processing, a first extraction device 42 is provided in the area of ​​the processing device 38. The extraction device 42 has a streamlined extraction nozzle directed toward the processing site. Thus, a clean work space 14 can be ensured.

[0072] Despite suction by means of the first suction device 42, particles can adhere to the workpiece 12. Therefore, the automation cell 10 has a cleaning device 44 arranged in the work space 14. The cleaning device 44 has a cleaning brush which is arranged to be rotatable about an axis of rotation running along the z-axis. The handling device 24 moves the workpiece 12 to the cleaning device 44. The cleaning brush rotates and in the process removes particles from the workpiece 12. To suck up the particles, a second suction device 46 is provided which can be designed analogously to the first suction device 42. The direction of rotation of the rotating brush is preferably set up such that the removed particles are conveyed in the direction of the second suction device 46.

[0073] The workpiece 12 is then moved into the discharge chamber 20 by means of the handling device 24.

[0074] Accordingly, the workpiece 12 is moved by means of the handling device 24 from the feed space 18 into the working space 14 to the workpiece recognition device 32, to the processing device 38 and to the cleaning device 44 and then deposited in the discharge space 20.

[0075] In the workspace 14, a receiving station 48 with various holders 26A is provided for changing the first workpiece holder 26 on the handling device 24. The workpiece holders 26 are preferably arranged on the handling device 24 by means of a quick-change system. Accordingly, different workpieces 12 can be picked up and handled quickly and easily with one handling device 24.

[0076] The automation cell 10 has a ceiling 50. For the purposes of a compact design and efficient use of space in the automation cell 10, the receiving station 48 is arranged on the ceiling 50. To stiffen the ceiling 50, the ceiling 50 has reinforcing ribs 52. A hole pattern is preferably provided in the ceiling 50, particularly in the reinforcing ribs 52, so that the receiving station 48 or other components can be arranged anywhere on the ceiling 50. The components are arranged such that they are located outside the range of movement of the handling device 24.

[0077] To protect the operators of the automation cell 10, a light curtain or a light grid in the form of a light barrier is provided in the area of ​​the entrances to the work space 14, in particular in front of the feed space 18 and / or the discharge space 20. As soon as the light barrier is interrupted, the automation cell 10, in particular the handling device 24 and / or the processing device 38, is stopped, so that there is no danger to the operator. As soon as the light barrier is released again and / or one of the cameras arranged in the work space 14 does not detect a person and / or an external device protruding into the work space 14 from the outside, such as an AGV-based robot arm, in the work space 14, operation of the handling device 24 and / or the processing device 38 can continue.

[0078] Fig. 18 (i) shows a rotation device 40 and an automation cell 10 in the form of a zero-point clamping system, wherein the rotation device 40 is received in the automation cell 10 in a defined position. In Fig. 18 (ii), a workpiece 12, in particular a rotationally symmetrical workpiece 12, is received in a workpiece holder 916 of the rotation device 40. The rotation device 40 further has a system adapter 918 for arranging the rotation device 40 on a tool interface 919 of the handling device 20 in the form of a robot arm. The handling device 20, the rotation device 40 and preferably the automation cell 10 are part of an automation system 21. As soon as the handling device 20 has gripped the rotation device 40 at the system adapter 918 according to Fig. 18 (ii), the rotation device 40 can be released from the automation cell 10 and moved according to Fig.18 (iii) to a processing device 38, e.g., in the form of a laser device. Alternatively, it can also be a marking device 22 or a measuring device 22. By means of the rotation device 40, the workpiece 14 can be rotated about a rotation axis 924, so that the workpiece 12 is accessible along its entire circumference by the processing device 38.

[0079] According to Fig. 18 (i), Fig. 5 shows the rotation device 40, which is clamped in the automation cell 10. According to Figs. 3 and 4, a workpiece 12 can be inserted and placed into the rotation device 40, in particular into the workpiece holder 916.

[0080] According to Figures 6 to 8, the rotation device 40 has a tool housing 926 and a housing frame 928 extending parallel to the rotation axis 924, with a frame top side 930 facing the handling device 24 and running perpendicular to the rotation axis 924, and with a frame bottom side 932 opposite the frame top side 930 and facing the automation cell 10. Furthermore, the housing frame 928 has a frame front side 934 arranged between the frame top side 930 and the frame bottom side 932 and facing the workpiece 12 and / or the workpiece holder 916, and a frame rear side 935 opposite the frame front side 934. The housing frame 928 is preferably designed like a framework.

[0081] The tool housing 926 further comprises, as shown in Fig. 11, a cantilever 936 arranged on the frame front side 934 in the region of the frame underside 932. The cantilever 936 is preferably tennis racket-shaped. The cantilever 936 has a first cantilever end 938 facing the housing frame 928 and a second cantilever end 940 associated with the workpiece holder 916. Preferably, the first cantilever end 938 forms the frame underside 932 of the housing frame 928. Furthermore, it is advantageous if the remaining frame parts are screwed together and / or to the cantilever 936.

[0082] 6 and 7, at least one, preferably at least two, clamping bolts 942, in particular zero-point clamping bolts, are arranged on the first boom end 938 facing the automation cell 10. The clamping bolts preferably extend parallel to the rotation axis 924. The clamping bolts 942 can be screwed to the boom 936. On the automation cell 10, a bolt receptacle 944 for each clamping bolt 942 is provided for receiving the clamping bolt 942. By means of the bolt receptacle 944, the clamping bolts 942 and thus the rotation device 40 can be fixed in a defined position in the automation cell 10. Furthermore, a sensor device 946 is arranged on the automation cell 10, which detects the presence or absence of the rotation device 40. The automation cell 10 can be opened or closed depending on the signal from the sensor device 946.

[0083] According to Fig. 12, the boom 936 has a boom ring 948 at its second boom end 940 with a circular boom recess 950 provided therein. The boom 936 and the boom ring 948 are rigidly connected to the housing frame 928. The workpiece holder 916 is provided on the boom ring 948.

[0084] According to Figs. 12 to 14, the workpiece holder 916 has a receiving disk 952 arranged on the cantilever ring 948 and / or in the cantilever recess 950. The receiving disk 952 is rotatably mounted on the cantilever ring 948 and / or in the cantilever recess 950 by means of a four-point bearing 954. Consequently, the receiving disk 952 can be rotated about the rotation axis 924. A clamping ring 956 is provided to fix the four-point bearing 954 to the cantilever ring, wherein the clamping ring 956 can be screwed to the cantilever ring 948. The receiving disk 952 preferably rests on the cantilever ring 948 and / or the clamping ring 956 and / or engages in the cantilever recess 950. According to Figs. 13 and 14, the receiving disk 952 is preferably annular and / or has a disk ring 958 and a disk recess 960 arranged in the disk ring 958. The workpiece holder 916 further has a receiving adapter 962 formed separately from the receiving disk 952.The mounting adapter 962 can be arranged on the disc ring 958 and / or in the disc recess 960 and serves to individualize the internal mounting diameter 961 of the workpiece holder 916.

[0085] The receiving adapter 962 is detachably arranged on the receiving disk 952 according to Fig. 7, 9 and 15 to 17. The receiving adapter 962 can be quickly and securely connected to the receiving disk 952 by means of a bayonet lock 963. The receiving adapter 962 has locking recesses 963a with undercuts 963b spaced apart along the circumference. In addition, corresponding lugs 963c are arranged on the receiving disk 952, which engage in the undercuts 963b upon rotation of the receiving adapter 962 relative to the receiving disk 952. The locking recesses 963a and undercuts 963b are preferably designed such that the rotation of the workpiece holder 916 in the main direction of rotation

[0086] 963 into the closed position. This ensures that the bayonet lock 963 does not accidentally come loose during operation.

[0087] The receiving adapter 962 is connected to the receiving disc 952 in such a way that a rotation of the receiving disc 952 causes a rotation of the receiving adapter 962. The receiving adapter 962 is also ring-shaped and / or has an adapter ring

[0088] 964 and an adapter recess 966 provided in the adapter ring 964. The receiving adapter 962 has an axial O-ring 970 on an adapter top side 968 of the adapter ring 964, which enables a soft, scratch-free support of the workpiece 12. The disc ring 958, the adapter ring 964 or the axial O-ring 970 can be designed as a receiving tray onto which the workpiece 12 can be placed. Furthermore, the axial O-ring 970 serves to transmit the rotational torque from the workpiece holder 916 to the workpiece 12. In addition, the receiving adapter 962 has a radial O-ring 973 on an adapter inner side 972 of the adapter ring 964, which serves to radially guide the workpiece 12 when the workpiece 12 is placed down and when the workpiece holder 916 is rotated. The adapter inner side 972 of the receiving adapter 962 forms the absorbable outer diameter of the workpiece 12.

[0089] The workpiece 12 or the workpiece holder preferably has, according to Fig. 3, a shaft 974 and a collar 976, wherein the shaft 974 can have an upper shaft section 974a and a lower shaft section 974b. The workpiece 12 can be received in the workpiece holder 916 in such a way that the collar 976 rests on the holder adapter 962, in particular the axial O-ring 972, and / or the upper shaft section 974a projects upwards relative to the workpiece holder 916 and / or the lower shaft section 974b is passed through the cantilever recess 950 and / or disk recess 960 and / or adapter recess 966 and projects downwards relative to the workpiece holder 916. Workpieces 14 with different geometries can also be accommodated in the workpiece holder 916.

[0090] The workpiece 12 can alternatively be arranged directly on the receiving disk 952, in which case no receiving adapter 962 is used.

[0091] 10 and 12 has a rotary drive 980 for driving the workpiece holder 916. The rotary drive 980 has a servo motor 982 with a motor shaft 984. The servo motor 982 is preferably arranged in the housing frame 928 and / or extends parallel to the rotation axis 924. A motor belt pulley 988 is arranged on the motor shaft 984, preferably by means of a clamping element 986, the motor belt pulley 988 having an external motor toothing 989. A toothed belt 990 with a belt toothing 992 is arranged around the motor belt pulley 988. The belt toothing 992 interacts with the external motor toothing 990 in such a way that the toothed belt 990 can be driven by the servo motor 982. The servo motor 982 is preferably arranged on a motor adapter 994, wherein the motor adapter 994 is preferably screwed to elongated holes 996 of the boom 936.The motor adapter 994 and thus the servo motor 982 can be mounted displaceably along the elongated holes 996 perpendicular to the rotation axis 924, so that the tension of the toothed belt 990 can be adjusted. The toothed belt 990 also interacts with the workpiece holder 916. Two deflection pulleys 998 are provided on the tool housing 926, with the toothed belt 990 being wound around the deflection pulleys 998, so that the angle of enclosure of the toothed belt 990 around the workpiece holder 916 is greater than 235°, in particular greater than 270°, preferably greater than 315°.

[0092] It is advantageous if the servo motor 982 exchanges data with the machining device 38, or if the servo motor 982 and the machining device 38 are coordinated such that the rotation of the workpiece 12 and the machining by the machining device are synchronized. This ensures continuous machining of the workpiece 12 along its entire circumference.

[0093] According to Fig. 13, the receiving disk 952 preferably has a toothed belt pulley 9100 and a rotary core 9102 as the receiving-side drive section of the workpiece holder 916, wherein the toothed belt pulley 9100 and the rotary core 9102 can be formed as one or two parts. The toothed belt pulley 9100 has a wheel toothing 9104 on its outer diameter. The belt toothing 992 and the wheel toothing 9104 interact in such a way that the workpiece holder 916, and thus a received workpiece 12, can be driven in rotation by means of the toothed belt 990 and / or the servo motor 982.

[0094] So that the rotation device 40 can be picked up by a handling device 20, the system adapter 918 is on the frame top 930. The system adapter 918 is preferably designed as a quick-change adapter.

[0095] Furthermore, the sensor device 946 can be configured to detect whether the rotating device 40 is gripped by a handling device 20. Depending on this state, the automation cell 10 can be opened or closed.

[0096] Alternative embodiments of receiving adapters 962 are further shown in Figs. 19 to 28, wherein these are actively designed compared to the passive, first embodiment according to Figs. 3 to 17. The second embodiment according to Figs. 19 to 23 shows a receiving adapter 962, manufactured in particular using an additive manufacturing process, with a clamping and / or gripping device 9200. Accordingly, the receiving adapter 962 can securely receive a collarless, cylindrical workpiece 12.

[0097] For this purpose, the receiving adapter 962 according to Fig. 22 has an adapter ring 964 and an adapter recess 966 provided in the adapter ring 964. In particular, three clamping element receptacles 9202 for receiving clamping elements 9204 are provided in the adapter recess 966. The clamping element receptacles 9202 preferably each have two receiving webs 9206, which preferably extend radially inward from the adapter ring 964 towards the rotation axis 926. The clamping elements 9204 are preferably displaceable between an inner clamping position and an outer release position along clamping axes 9208 running perpendicular to the rotation axis 926. The clamping elements 9204 are preferably arranged on the receiving adapter 962 by means of a respective bellows 9210. A clamping element 9204 and a bellows 9210 are preferably arranged between two receiving webs 9206 and are preferably guided by the receiving webs 9206 along the clamping axis 9208.The bellows 9210 is pneumatically actuated. When pressure is applied, the bellows 9210 inflates, thus moving the clamping element 9204 into the clamped position. Without pressure, the bellows 9210 contracts, moving the clamping element 9204 into the release position.

[0098] For media supply, in particular for compressed air supply, the receiving adapter 962 according to Fig. 23 has a media channel 9212, which extends within a, in particular pot-shaped, adapter housing 9214, in particular radially outside in the adapter housing 9214. The media channel 9212 preferably fluidically connects the bellows 9210 and a media connection 9216, which is preferably arranged on an underside of the adapter housing 9214 concentrically to the rotation axis 926. The media connection 9216 is preferably designed as a, in particular single-channel, rotary feedthrough. The media channel 9212 preferably has a first channel section 9212A running parallel to the rotation axis 926, which opens into the bellows 9210, and a second channel section 9212B running substantially perpendicular to the rotation axis 926, which opens into the media connection 9216.The first channel section 9212A is preferably formed by a bore on the underside of the adapter receptacle 962, which is closed by means of a threaded plug 9218.

[0099] For contacting the workpiece 12, the clamping element 9204 preferably has an O-ring 9220 as shown in Fig. 23. The receiving adapter 962 and / or the adapter ring 964 and / or the clamping element receptacle 9202 and / or the receiving webs 9206 and / or the bellows 9210 and / or the clamping element 9204 and / or the adapter housing 9214 are preferably formed in one piece.

[0100] The third embodiment according to Figs. 24 to 28 also shows a receiving adapter 962, in particular manufactured in an additive manufacturing process, with a clamping and / or gripping device 9200. Accordingly, the receiving adapter 962 can securely receive a collarless, cylindrical workpiece 12.

[0101] For this purpose, the receiving adapter 962 according to Fig. 27 has an adapter ring 964 and an adapter recess 966 provided in the adapter ring 964. The adapter recess 966 is preferably delimited by a, in particular pot-shaped, adapter housing 9221. The adapter housing 9221 preferably serves to receive a clamping and / or gripping module 9222, in particular a jaw gripper. The clamping and / or gripping module 9222 preferably has, in particular three, jaw guides 9224, wherein in each of the jaw guides 9224 a gripping jaw 9226 is guided so as to be displaceable along the clamping axis 9208 between a gripping position and a release position. A gripping finger 9228, which is shown in Fig. 29, is preferably arranged on each of the gripping jaws 9226 in a movement-fixed manner. The clamping and / or gripping module 9222 preferably has a substantially triangular cross-section running along the rotation axis 926.For contacting the workpiece 12, the gripping finger 9228 preferably has an O-ring 9220. The clamping and / or gripping module 9222 further preferably has, as shown in FIGS. 25 and 27, a receiving base 9230 for receiving the workpiece 12, wherein the receiving base 9230 is preferably formed from three conical receiving elements 9232. The receiving base 9230 is preferably arranged on an upper side of the clamping and / or gripping module 9222 and in particular between the jaw guides 9224. The clamping and / or gripping module 9222 is preferably screwed to the adapter housing 9221 as shown in FIG. 28.

[0102] The gripping jaws 9226 are preferably pneumatically driven, as shown in Fig. 28. For media supply, in particular for compressed air supply, a media connection 9216 is provided, which is preferably arranged on an underside of the adapter housing 9221 concentrically to the rotation axis 926. The media connection 9216 is preferably designed as a rotary feedthrough, in particular a single-channel one.

[0103] The gripping finger 9228 shown in Fig. 29 preferably has a head portion 9234 with a contact surface 9236 for contacting the workpiece 12, a middle portion 9238, and a foot portion 9240 with a fastening means 9242 for connecting the gripping finger 9228 to a gripping jaw 9226. The contact surface 9236 is preferably formed by a partially circular recess and / or is concave, so that rotationally symmetrical workpieces 14 can be gripped. A portion of an O-ring 9220 is preferably provided on each contact surface 9236 of a gripping finger 9228.

Claims

Patent claims 1. Automation cell (10) for processing, in particular for labeling, workpieces (12), comprising: at least one work space (14), a feed space (18) adjacent to the work space (14) for feeding workpieces (12) into the work space (14), a removal space (20) adjacent to the work space (14) for removing workpieces (12) from the work space (14), at least one processing device (38) arranged in the work space (14) for processing, in particular for labeling, workpieces (12), at least one handling device (24) arranged in the work space (14) with a first interchangeable holder (26) for receiving and handling a workpiece (12) such that the workpiece (12) is gripped in the feed space (18) and moved into the work space (14), such that the workpiece (12) in the work space (14) is moved by the handling device (24) is kept and processed,and that the workpiece (12) is moved from the work space (14) into the discharge space (20) after processing and is deposited there, at least one receiving station (48) arranged in the work space (14) with different receptacles (26A) for changing the first interchangeable receptacle (26) on the handling device (24) depending on the workpiece (12) to be handled, at least one sensor device (28) for detecting a presence and / or position of a workpiece pallet (22) and / or a presence and / or position of workpieces (12) in the feed space (18), and at least one camera device (30) for monitoring and / or identifying workpieces (12) in the feed space, (18) and / or in the working area (14) and / or in the discharge room (20) .

2. Automation cell (10) according to claim 1, wherein the processing device (38) is designed as a laser processing device.

3. Automation cell (10) according to claim 1 or 2, wherein the handling device (24) is designed as a robot arm and / or the first interchangeable holder (26) is designed as a gripping tool.

4. Automation cell (10) according to one of the preceding claims, wherein the first interchangeable holder (26) can be arranged on the handling device (24) by means of a quick-change system.

5. Automation cell (10) according to one of the preceding claims, wherein the at least one camera device (30) is arranged on the handling device (24) and / or on the first interchangeable holder (26).

6. Automation cell (10) according to one of the preceding claims, wherein the automation cell (10) further comprises: at least one workpiece recognition device (32) for recognizing and / or identifying workpieces (12) in the exchange holder (26).

7. Automation cell (10) according to one of the preceding claims, wherein the processing device (38) is configured to label the workpieces (12).

8. Automation cell (10) according to one of the preceding claims, wherein the automation cell (10) is configured such that during processing the workpiece (12) is moved by means of the handling device (24).

9. Automation cell (10) according to one of the previous Claims, wherein the automation cell (10) further comprises: a second interchangeable holder, in particular a rotation device (40), for rotating the workpiece (12), wherein the automation cell (10) is set up such that the workpiece (12) can be rotated by means of the second interchangeable holder (40) during machining.

10. Automation cell (10) according to claim 9, wherein the second interchangeable holder (40) is fastened in the working space (14) by means of a zero-point clamping module.

11. Automation cell (10) according to one of the preceding claims, wherein the automation cell (10) further comprises: at least one cleaning device (44) for cleaning machined workpieces (12).

12. Automation cell (10) according to one of the preceding claims, wherein the automation cell (10) further comprises: at least one suction device (42) for suctioning off particles arising during processing.

13. Automation cell (10) according to one of the preceding claims, wherein the work space (14) has a ceiling (50) and the receiving station (48) is arranged on the ceiling (50).

14. Automation cell (10) according to one of the preceding claims, wherein the working space (14) is delimited by a cell housing with at least one side wall (16) and / or cell fencing.

15. A method for processing, in particular marking, preferably laser marking, workpieces (12) by means of an automation cell (10) according to one of the preceding claims, comprising the following steps: feeding workpieces (12) provided in a workpiece pallet (22) into the feed space (18), wherein the workpiece pallet (22) has workpiece nests for receiving a workpiece (12) each, detecting the presence and / or position of a workpiece pallet (22) and / or a workpiece (12) in the feed space (18) by means of a sensor device (28), picking up a detected workpiece (12) by means of the handling device (24) from the feed space (18) and moving it into the work space (14), detecting the position and / or identifying the workpiece (12) in the handling device (24) by means of a first camera device (30), processing, in particular marking, the workpiece (12) by means of the processing device (38) ,while the workpiece (12) is held by the handling device (24) in a first interchangeable holder (26), wherein in particular the movement of the laser beam of the processing device (38) and the movement of the workpiece (12) overlap, moving the workpiece (12) by means of the handling device (24) to a cleaning device (44) arranged in the work space (14) for cleaning the workpiece (12), and moving the cleaned workpiece (12) from the work space (14) into the discharge space (20) and depositing the workpiece (12) in the discharge space (20) by means of the handling device (24).

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