Handling device, gripping device, and method for handling a wooden workpiece

Abstract

The invention relates to a handling device (100) for handling at least one wooden workpiece (102), preferably at least one wooden beam. The handling device (100) has at least one gripping device (104) for gripping the wooden workpiece (102), and at least one securing device (106) designed to secure at least portions of the wooden workpiece (102) to a structure. The handling device (100) is designed to simultaneously grip at least portions of the wooden workpiece (102) by means of the gripping device (104) and secure same to the structure by means of the securing device (106). The invention also relates to a gripping device (104) and to a method for handling at least one wooden workpiece (102).

Description

[0001] Handling device, gripping device and method for handling a wooden workpiece

[0002] In many fields, several workpieces, such as wood workpieces, are assembled and fastened together to produce a desired end product and / or intermediate product. For example, in house construction, but also in many other fields, a relatively large number of workpieces, such as wood workpieces, are assembled and fastened together.

[0003] Typically, the individual workpieces are gripped, for example, by a gripping device, and moved to the desired position and / or orientation. The respective workpieces are then attached to a corresponding structure, for example, to an adjacent workpiece, using a suitable fastening device.

[0004] Although such gripping and fastening devices are known from the prior art, these devices have disadvantages. For example, the processes of gripping, positioning, and fastening the respective workpiece using the known devices are relatively time-consuming and require a relatively large amount of time and / or space.

[0005] Furthermore, the devices known from the prior art require relatively high accuracy and / or relatively tight tolerances of the workpieces, particularly with regard to their shape and / or dimensions, especially in the case of wooden workpieces, in particular in order to produce an end product or intermediate product with a relatively high product quality. Accordingly, the devices known from the prior art are unsuitable, or at least less suitable, for workpieces with fluctuating quality and / or with varying properties, for example in the case of unwanted deformations, such as bending and / or twisting, of the workpieces. This can result in a relatively high material waste and / or relatively low process reliability and / or a relatively poor quality of the end product or intermediate product.It is therefore desirable to at least partially improve at least one disadvantage of the devices known from the prior art, preferably at least one of the disadvantages mentioned above.

[0006] It is therefore an object of the present invention to improve the handling or assembly of a workpiece, in particular a wooden workpiece.

[0007] This object is achieved by a handling device according to the features of claim 1. Advantageous embodiments with expedient further developments of the invention are specified in the respective subclaims and in the following description.

[0008] The handling device can be configured to handle at least one wooden workpiece. Alternatively or additionally, however, the handling device can be configured to handle at least one workpiece in general, i.e., at least one workpiece made of any material, for example, metal and / or plastic.

[0009] The handling device can have at least one gripping device for gripping the wooden workpiece. The handling device can have at least one fastening device. The fastening device can be configured to at least partially fasten the wooden workpiece to a structure. The handling device can be configured to simultaneously grip the wooden workpiece at least partially by means of the gripping device and fasten it to the structure by means of the fastening device.

[0010] The handling device described herein can thus combine at least the steps of gripping and securing, and optionally moving, the wooden workpiece with a single handling device. The handling device described herein thus represents a previously unknown multifunctional tool that can perform several work steps, comprising at least gripping and securing the wooden workpiece, simultaneously. As a result, several process steps can be performed with a single handling device, whereas the prior art uses a device for gripping the wooden workpiece and a separate device for securing the wooden workpiece. As a result, the processing or

[0011] The assembly time of the wooden workpieces can be reduced and thus the efficiency of the processing and assembly of the wooden workpieces can be increased.

[0012] In addition, this allows the gripping device and the fastening device to be designed and / or arranged more compactly, thereby reducing the space required for the gripping device and the fastening device.

[0013] In addition, by partially simultaneous gripping by means of the gripping device and fastening by means of the fastening device, the wooden workpiece can be fixed by the gripping device and / or the position and / or orientation of at least a portion of the wooden workpiece can be adjusted, for example by moving the gripping device, before, during and / or after fastening the wooden workpiece by means of the fastening device. This makes it possible, for example, to straighten deformed wooden workpieces, for example wooden workpieces bent in the longitudinal direction, whereas the known devices from the prior art are generally unable to process such deformed wooden workpieces, or can do so only with limitations, for example with reduced quality of the final or intermediate product. Furthermore, this can prevent or at least reduce deformation of the wooden workpiece, for example during fastening of the wooden workpiece.This allows for a reduction in material waste and a relatively high product quality to be achieved with a relatively wide range of quality and / or shape deviations of the wood workpieces, especially with fluctuating quality of the wood workpieces. This can be particularly advantageous for wood workpieces, as wood can be prone to deformation, particularly warping and / or twisting, due to changes in temperature and / or humidity, and can therefore change its original shape.

[0014] Overall, with the handling device described herein, the process reliability and / or the process accuracy when handling the wood workpiece(s) can be increased or made more consistent at a relatively high level compared to the devices known from the prior art.

[0015] The gripping device can be configured to grip or clamp the wooden workpiece at at least two gripping sections of the wooden workpiece, which are spaced apart from one another along the wooden workpiece, preferably along the longitudinal axis of the wooden workpiece. The gripping sections of the wooden workpiece can be spaced apart from one another by at least 20% of the total length of the wooden workpiece, preferably at least 25% of the total length of the wooden workpiece, preferably at least 30% of the total length of the wooden workpiece, preferably at least 35% of the total length of the wooden workpiece, preferably at least 40% of the total length of the wooden workpiece, preferably at least 45% of the total length of the wooden workpiece, preferably at least 50% of the total length of the wooden workpiece.The gripping sections of the wooden workpiece are preferably spaced apart by at least 10 cm, preferably at least 20 cm, preferably at least 30 cm, preferably at least 40 cm, preferably at least 50 cm, preferably at least 60 cm, preferably at least 70 cm, preferably at least 80 cm. This can improve or facilitate the straightening of deformations of the wooden workpieces, for example, of wooden workpieces bent in the longitudinal direction, or the prevention or reduction of deformations of the wooden workpieces. As a result, the wooden workpiece can be fixed or aligned, for example, against warping and / or twisting, for example, due to changes in temperature and / or humidity.

[0016] The handling device can be designed as an end effector. Additionally or alternatively, the handling device can be configured as a mobile robot and / or can be attached or attachable to a mobile robot.

[0017] The gripping device can be configured to exert at least one clamping force, preferably between at least two elements of the gripping device, on at least a portion of the wooden workpiece in order to grip the wooden workpiece.

[0018] The gripping device can be movable, for example, to move the gripping device and thus the wooden workpiece, preferably translationally and / or rotationally. This allows a position and / or orientation of at least a portion of the wooden workpiece, preferably of the entire wooden workpiece, to be changed using the gripping device, specifically before, during, and / or after fastening the wooden workpiece using the fastening device.

[0019] The handling device can be configured to fasten a first section of the wooden workpiece to the structure by means of the fastening device, then move the fastening device along the wooden workpiece, preferably in a state in which the wooden workpiece is gripped by the gripping device, preferably by sliding and / or rolling the gripping device on the wooden workpiece, to a second section of the wooden workpiece, preferably in a guided manner, and fasten the second section of the wooden workpiece to the structure by means of the fastening device. This can improve or facilitate the straightening of wooden workpieces with shape deviations, for example, longitudinally bent wooden workpieces, or the prevention or reduction of deformations of the wooden workpieces.This allows the wooden workpiece to be fixed or aligned to prevent warping and / or twisting, for example due to changes in temperature and / or humidity.

[0020] The gripping device can have at least two gripping rollers between which the wooden workpiece can be clamped. This can facilitate simultaneous gripping of the wooden workpiece by the gripping device and movement of the gripping device along the wooden workpiece, in particular by rolling the gripping rollers along a surface of the wooden workpiece. This can improve or facilitate the straightening of wooden workpieces with dimensional deviations, for example, wooden workpieces bent in the longitudinal direction. The rotation axes of the sliding rollers are preferably oriented substantially perpendicular to the longitudinal axis of the wooden workpiece.

[0021] The gripping rollers can be movable or displaceable, so that the gripping rollers can be moved toward and away from each other to move the gripping rollers between a clamping position in which the wooden workpiece is clamped between the gripping rollers, and an open position in which the distance between the gripping rollers is increased compared to the clamping position, preferably so that the wooden workpiece can be arranged between the gripping rollers without contact. For example, the gripping rollers can be driven by an electric and / or hydraulic and / or pneumatic drive to move or displace the gripping rollers.

[0022] The gripping rollers can be configured to allow and / or effect movement of the wooden workpiece relative to the fastening device, preferably along a longitudinal axis of the wooden workpiece, by rotating the gripping rollers in a state in which the wooden workpiece is clamped between the gripping rollers. This allows the wooden workpiece to be fastened to the structure at multiple positions by means of the fastening device by moving the wooden workpiece relative to the fastening device after a first fastening to a first region of the wooden workpiece and fastening the wooden workpiece to the structure at at least a second region of the wooden workpiece while the wooden workpiece is clamped between the gripping rollers, preferably continuously.By simultaneously clamping the wooden workpiece between the gripping rollers, particularly when moving the wooden workpiece relative to the fastening device, a position and / or orientation of the wooden workpiece relative to the fastening device can be changed, adjusted, and / or fixed in order to correct and / or prevent, or at least reduce, deformation of the wooden workpiece. The movement of the wooden workpiece relative to the fastening device can be effected by moving the wooden workpiece and / or by moving the handling device.

[0023] The gripping rollers can have a drive, such as a motor, to rotate the gripping rollers. Alternatively, the rollers can also be passively rotatable, for example, through interaction, such as friction, between the gripping rollers and the wooden workpiece.

[0024] The gripping device may comprise a first pair of gripping rollers and at least one second pair of gripping rollers, each configured to clamp the wood workpiece between the gripping rollers of the respective pair. The first pair of gripping rollers and the second pair of gripping rollers may be spaced apart from each other along a longitudinal axis of the wood workpiece when the wood workpiece is clamped between the gripping rollers. This may improve or facilitate the straightening and / or fixing of the wood workpiece.

[0025] The first pair of gripping rollers and the second pair of gripping rollers can be spaced apart from each other by at least 20% of the total length of the wooden workpiece, preferably at least 25% of the total length of the wooden workpiece, preferably at least 30% of the total length of the wooden workpiece, preferably at least 35% of the total length of the wooden workpiece, preferably at least 40% of the total length of the wooden workpiece, preferably at least 45% of the total length of the wooden workpiece, preferably at least 50% of the total length of the wooden workpiece. The first pair of gripping rollers and the second pair of gripping rollers can be spaced apart from each other by at least 10 cm, preferably at least 20 cm, preferably at least 30 cm, preferably at least 40 cm, preferably at least 50 cm, preferably at least 60 cm, preferably at least 70 cm, preferably at least 80 cm.

[0026] The gripping device can have at least one locking element that is designed to come into contact with the wooden workpiece in order to fix the wooden workpiece relative to the fastening device. This can facilitate fixing of the wooden workpiece, for example in a position and / or an orientation. The gripping device can have at least two clamping jaws, between which the wooden workpiece can be clamped in order to fix the wooden workpiece relative to the fastening device. The clamping jaws can enable or facilitate fixing of the wooden workpiece, in particular when fastening the wooden workpiece to the structure. The clamping jaws can be movable orbe movable, so that the clamping jaws can be moved toward and away from each other, in order to move the clamping jaws between a clamping position in which the wooden workpiece is clamped between the clamping jaws and thus essentially immobile, and an open position in which the wooden workpiece is movable between the clamping jaws, preferably without contact. For example, the clamping jaws can be driven by an electric and / or hydraulic and / or pneumatic drive to move or displace the clamping jaws.

[0027] The clamping jaws can be moved into the clamping position, wherein the fastening device can then fasten at least a portion of the wooden workpiece to the structure, for example by means of at least one staple and / or at least one nail. The clamping jaws can then be moved into the open position. The wooden workpiece can then be moved relative to the clamping jaws and the fastening device, for example by means of a drive and / or robot, for example until a second portion of the wooden workpiece is arranged on the fastening device, so that the fastening device can fasten the second portion of the wooden workpiece to the structure. The clamping jaws can then be moved back into the clamping position to clamp the wooden workpiece between the clamping jaws.The fastening device can then fasten the second section of the wooden workpiece to the structure, for example, using at least one additional clamp and / or at least one additional nail. The clamping jaws can be configured to exert at least one clamping force on the wooden workpiece that acts in the same direction as the clamping force of the gripping rollers.

[0028] The clamping jaws are preferably arranged between the first pair of gripping rollers and the second pair of gripping rollers, with respect to a direction along the longitudinal axis of the wood workpiece when the wood workpiece is gripped by the gripping rollers and / or the clamping jaws.

[0029] Preferably, the clamping jaws are configured to substantially prevent movement of the wooden workpiece, in particular along the longitudinal axis of the wooden workpiece, when the wooden workpiece is clamped between the clamping jaws, whereas the gripping rollers are configured to permit movement of the wooden workpiece, in particular along the longitudinal axis of the wooden workpiece, when the wooden workpiece is clamped between the gripping rollers.

[0030] Preferably, the gripping device is configured to grip the wooden workpiece at at least two gripping positions, preferably at least three gripping positions, preferably at least four gripping positions, along the longitudinal axis of the wooden workpiece. The gripping positions are spaced apart from one another in a direction along the longitudinal axis of the wooden workpiece.

[0031] The handling device can additionally have at least one pressing element that is designed to come into contact with the wooden workpiece and preferably to exert a force, preferably a compressive force, on the wooden workpiece. This allows a distance of the wooden workpiece from the fastening device to be specified or defined. Furthermore, this can increase the accuracy and / or quality of the fastening of the wooden workpiece to the structure. Preferably, the force that the pressing element can exert on the wooden workpiece acts in a direction that is substantially perpendicular to the gripping force or clamping force that the gripping device or the gripping roller(s) and / or the clamping jaws exert on the wooden workpiece. Preferably, the pressing element is designed to press the wooden workpiece against the structure.

[0032] The pressure element can be designed as a pressure roller configured to permit and / or effect a movement of the wooden workpiece relative to the fastening device, preferably along a longitudinal axis of the wooden workpiece, by rotating the pressure roller in a state in which the pressure roller bears against the wooden workpiece. This allows a position and / or orientation of the wooden workpiece relative to the fastening device to be changed, for example, in order to fasten the wooden workpiece to the structure at a plurality of fastening sections of the wooden workpiece. The movement of the wooden workpiece relative to the fastening device can be effected by moving the wooden workpiece and / or by moving the handling device.

[0033] The rotational axis of the pressure roller can extend substantially perpendicular to the longitudinal axis of the wooden workpiece and / or substantially perpendicular to the rotational axis of the sliding roller(s). The handling device can additionally comprise at least one sensor configured to detect at least one position and / or at least one orientation of the wooden workpiece, preferably relative to the fastening device. This allows an actual position and / or an actual orientation of the wooden workpiece to be determined, for example, in order to move the wooden workpiece into a target position and / or a target orientation based thereon, for example by moving the gripping device, in a state in which the wooden workpiece is gripped by the gripping device.

[0034] The handling device can additionally have at least one sensor configured to detect gripping of the wooden workpiece by the gripping device. This can increase process reliability and accuracy.

[0035] The handling device can be movable, preferably as a coherent unit.

[0036] The fastening device can be configured to deliver at least one fastening element, preferably at least one staple and / or one nail, and to fasten the wooden workpiece to the structure by means of the fastening element.

[0037] The wooden workpiece can have a cross-sectional area of ​​100 mm 2 up to 40,000 mm 2 , preferably 500 mm 2 up to 40,000 mm 2 , preferably 500 mm 2 up to 35,000 mm 2 , preferably 500 mm 2 up to 30,000 mm 2 , preferably 500 mm 2up to 25,000 mm 2 , preferably 500 mm 2 up to 20,000 mm 2 , preferably 500 mm 2 up to 15,000 mm 2 , preferably 1,000 mm 2 up to 15,000 mm 2 , preferably 1,000 mm 2 up to 12,500 mm 2 , preferably 1,250 mm 2 up to 12,500 mm 2 , preferably 1,250 mm 2 up to 10,000 mm 2 , preferably 1,500 mm 2 up to 10,000 mm 2 , preferably 1,750 mm 2 up to 10,000 mm 2 , preferably 2,000 mm 2 up to 10,000 mm 2 , preferably 2,250 mm 2 up to 10,000 mm 2 , preferably 2,500 mm 2 up to 10,000 mm 2 , preferably 2,500 mm 2 up to 7,500 mm 2 , preferably 2,500 mm 2 up to 5,000 mm 2 , preferably 2,750 mm 2 up to 5,000 mm 2 , preferably 2,750 mm 2 up to 4,000 mm2 , preferably 3,000 mm 2 up to 4,000 mm 2 , In other words, the handling device described herein can be configured to handle at least one wooden workpiece having a cross-sectional area with the value ranges specified above.

[0038] The wooden workpiece can have a length of at least 250 mm, preferably at least 500 mm, preferably at least 750 mm, preferably at least 1,000 mm, preferably at least 1,250 mm, preferably at least 1,500 mm, preferably at least 1,750 mm, preferably at least 2,000 mm, preferably at least 2,500 mm, preferably at least 3,000 mm, preferably at least 3,500 mm, preferably at least 4,000 mm, preferably at least 4,500 mm, preferably at least 5,000 mm, preferably at least 5,500 mm, preferably at least 6,000 mm, preferably at least 6,500 mm. In other words, the handling device described herein can be configured to handle at least one wooden workpiece having a length within the value ranges specified above.

[0039] The wooden workpiece can have a weight of at least 0.1 kg, preferably at least 1 kg, preferably at least 2.5 kg, preferably at least 5 kg, preferably at least 10 kg, preferably at least 15 kg, preferably at least 20 kg, preferably at least 25 kg, preferably at least 35 kg, preferably at least 45 kg, preferably at least 60 kg, preferably at least 75 kg, preferably at least 90 kg, preferably at least 100 kg. In other words, the handling device described herein can be configured to handle at least one wooden workpiece having a weight within the value ranges specified above.

[0040] The structure can be a wall element, preferably a wall element of a building. Alternatively or additionally, the structure can be another, preferably adjacent, workpiece, in particular a wooden workpiece.

[0041] The present invention also relates to a gripping device. The features, embodiments, and advantages described herein for the handling device apply accordingly to the gripping device. In particular, the gripping device can have the features, embodiments, and advantages of the gripping device of the handling device described herein.

[0042] The gripping device can have at least two gripping rollers between which the wooden workpiece can be clamped. The gripping device can have at least two clamping jaws between which the wooden workpiece can be clamped. The gripping device can have at least one pressure roller configured to come into contact with the wooden workpiece and preferably to press the wooden workpiece against the structure. The pressure roller can be configured to allow and / or effect a movement of the wooden workpiece relative to the fastening device, preferably along a longitudinal axis of the wooden workpiece, by rotating the pressure roller, in a state in which the pressure roller bears against the wooden workpiece.

[0043] The present invention also relates to a method for handling at least one wooden workpiece, preferably at least one wooden beam, preferably using a handling device according to one of the embodiments described herein. The features, embodiments, and advantages described herein for the handling device apply accordingly to the method.

[0044] The procedure may include:

[0045] (a) Gripping the wooden workpiece by means of at least one gripping device.

[0046] The procedure may include:

[0047] (b) Adjusting, by means of the gripping device, a position and / or an orientation of the wood workpiece relative to a fastening device.

[0048] The procedure may include:

[0049] (c) securing the wood workpiece to a structure by means of the securing device while the gripping device simultaneously grips the wood workpiece.

[0050] The method is not limited to the order in which the steps are described herein. Instead, the steps may be performed in any order.

[0051] The fastening device can fasten a first section of the wooden workpiece to the structure, preferably by means of at least one fastening element, preferably by means of at least one staple and / or at least one nail. The fastening device can then be moved along the wooden workpiece to a second section, preferably by sliding and / or rolling the gripping device on the wooden workpiece. The fastening device can fasten the second section of the wooden workpiece to the structure, preferably by means of at least one fastening element, preferably by means of at least one staple.

[0052] The following list of aspects represents alternative and / or additional features of the invention: A handling device for handling at least one workpiece, preferably a wooden workpiece, preferably at least one wooden beam, wherein the handling device comprises: at least one gripping device for gripping the workpiece; and at least one fastening device configured to at least partially fasten the workpiece to a structure; wherein the handling device is configured to grip the workpiece, preferably at least partially simultaneously, by means of the gripping device and to fasten it to the structure by means of the fastening device.The handling device according to aspect 1, wherein the handling device is configured to fasten a first portion of the workpiece to the structure by means of the fastening device, then move the fastening device along the workpiece, preferably by sliding and / or rolling the gripping device on the workpiece, to a second portion of the workpiece, and fasten the second portion of the workpiece to the structure by means of the fastening device. The handling device according to one of the preceding aspects, wherein the gripping device has at least two gripping rollers between which the workpiece can be clamped.The handling device according to aspect 3, wherein the gripping rollers are configured to allow and / or effect a movement of the workpiece relative to the fastening device, preferably along a longitudinal axis of the workpiece, preferably by rotating the gripping rollers, in a state in which the workpiece is clamped between the gripping rollers. The handling device according to aspect 3 or 4, wherein the gripping device comprises a first pair of gripping rollers and at least one second pair of gripping rollers, each configured to clamp the workpiece between the gripping rollers, preferably wherein the first pair of gripping rollers and the second pair of gripping rollers are arranged spaced apart from one another along a longitudinal axis of the workpiece when the workpiece is clamped between the gripping rollers.The handling device according to one of the preceding aspects, wherein the gripping device comprises at least one locking element configured to come into contact with the workpiece in order to fix the workpiece relative to the fastening device. The handling device according to aspect 6, wherein the gripping device comprises at least two clamping jaws between which the workpiece can be clamped in order to fix the workpiece relative to the fastening device. The handling device according to one of the preceding aspects, additionally comprising at least one pressing element configured to come into contact with the workpiece and preferably to press the workpiece against the structure.The handling device according to aspect 8, wherein the pressing element is designed as a pressing roller that is configured to allow and / or effect a movement of the workpiece relative to the fastening device, preferably along a longitudinal axis of the workpiece, preferably by rotating the pressing roller, in a state in which the pressing roller presses the workpiece against the structure. The handling device according to one of the preceding aspects, additionally comprising at least one sensor that is configured to detect at least one position and / or at least one orientation of the workpiece, preferably relative to the fastening device. The handling device according to one of the preceding aspects, additionally comprising at least one sensor that is configured to detect gripping of the workpiece by means of the gripping device.The handling device according to one of the preceding aspects, wherein the handling device is movable, preferably as a coherent unit. The handling device according to one of the preceding aspects, wherein the fastening device is configured to dispense at least one fastening element, preferably at least one staple and / or one nail, and to fasten the workpiece to the structure by means of the fastening element. The handling device according to one of the preceding aspects, wherein the workpiece has a cross-sectional area of ​​100 mm. 2 up to 40,000 mm 2 , preferably 500 mm 2 up to 40,000 mm 2 , preferably 500 mm 2 up to 35,000 mm 2 , preferably 500 mm 2 up to 30,000 mm 2 , preferably 500 mm 2 up to 25,000 mm 2 , preferably 500 mm 2 up to 20,000 mm 2 , preferably 500 mm 2up to 15,000 mm 2 , preferably 1,000 mm 2 up to 15,000 mm 2 , preferably 1,000 mm 2 up to 12,500 mm 2 , preferably 1,250 mm 2 up to 12,500 mm 2 , preferably 1,250 mm 2 up to 10,000 mm 2 , preferably 1,500 mm 2 up to 10,000 mm 2 , preferably 1,750 mm 2 up to 10,000 mm 2 , preferably 2,000 mm 2 up to 10,000 mm 2 , preferably 2,250 mm 2 up to 10,000 mm 2 , preferably 2,500 mm 2 up to 10,000 mm 2 , preferably 2,500 mm 2 up to 7,500 mm 2 , preferably 2,500 mm 2 up to 5,000 mm 2 , preferably 2,750 mm 2 up to 5,000 mm 2 , preferably 2,750 mm 2 up to 4,000 mm 2 , preferably 3,000 mm 2 up to 4,000 mm 2, The handling device according to one of the preceding aspects, wherein the

[0053] Workpiece has a length of at least 250 mm, preferably at least 500 mm, preferably at least 750 mm, preferably at least 1,000 mm, preferably at least 1,250 mm, preferably at least 1,500 mm, preferably at least

[0054] 1,750 mm, preferably at least 2,000 mm, preferably at least 2,500 mm, preferably at least 3,000 mm, preferably at least 3,500 mm, preferably at least 4,000 mm, preferably at least 4,500 mm, preferably at least 5,000 mm, preferably at least 5,500 mm, preferably at least 6,000 mm, preferably at least 6,500 mm. The handling device according to one of the preceding aspects, wherein the workpiece has a weight of at least 0.1 kg, preferably at least 1 kg, preferably at least 2.5 kg, preferably at least 5 kg, preferably at least 10 kg, preferably at least 15 kg, preferably at least 20 kg, preferably at least 25 kg, preferably at least 35 kg, preferably at least 45 kg, preferably at least 60 kg, preferably at least 75 kg, preferably at least 90 kg, preferably at least 100 kg.The handling device according to one of the preceding aspects, wherein the structure is a wall element, preferably a wall element of a building. The handling device according to one of the preceding aspects, wherein the gripping device is configured to grip the wooden workpiece at at least two gripping positions, preferably at least three gripping positions, preferably at least four gripping positions, along the longitudinal axis of the wooden workpiece, preferably simultaneously.A gripping device comprising: at least two gripping rollers between which the wooden workpiece can be clamped; at least two clamping jaws between which the wooden workpiece can be clamped, and optionally at least one pressure roller which is configured to come into contact with the wooden workpiece and preferably to press the wooden workpiece against the structure, wherein the pressure roller is preferably configured to allow and / or effect a movement of the wooden workpiece relative to the fastening device, preferably along a longitudinal axis of the wooden workpiece, by rotating the pressure roller, in a state in which the pressure roller bears against a surface of the wooden workpiece and preferably presses the wooden workpiece against the structure.A method for handling at least one workpiece, preferably at least one wooden workpiece, preferably at least one wooden beam, preferably by means of a handling device according to one of aspects 1 to 18, the method comprising:.

[0055] (a) gripping the workpiece by means of at least one gripping device;

[0056] (b) adjusting, by means of the gripping device, a position and / or an orientation of the workpiece relative to a fastening device; and

[0057] (c) fastening the workpiece to a structure by means of the fastening device, preferably while the gripping device simultaneously grips the workpiece. The method according to aspect 20, wherein the fastening device fastens a first portion of the workpiece to the structure, preferably by means of at least one fastening element, preferably by means of at least one clamp and / or at least one nail, wherein the fastening device is subsequently moved along the workpiece to a second portion, preferably by sliding and / or rolling the gripping device on the workpiece, and wherein the fastening device fastens the second portion of the workpiece to the structure, preferably by means of at least one fastening element, preferably by means of at least one clamp.

[0058] Further advantages, features, and details of the invention will become apparent from the following description of a preferred embodiment and from the drawings. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective specified combinations, but also in other combinations or on their own, without departing from the scope of the invention.

[0059] Fig. 1 shows, in a perspective and schematic view, a handling device according to an embodiment of the present invention;

[0060] Fig. 2 shows, in a schematic side view, the handling device from Fig. 1;

[0061] Fig. 3 shows, in a schematic front view, the handling device from Figs. 1 and 2;

[0062] Fig. 4 shows, in an enlarged and schematic front view, the clamping jaws of the handling device from Figs. 1 to 3;

[0063] Fig. 5 shows, in an enlarged and schematic cross-sectional view, the gripping rollers of the handling device from Figs. 1 to 3.

[0064] Figs. 1 to 3 show, in perspective and schematic views, a handling device 100 for handling at least one workpiece 102, in particular a wooden workpiece 102. In the figures, the workpiece 102 is embodied, for example, as a wooden beam. However, the handling device 100 can be used for handling a variety of different workpieces, for example workpieces made of any material and / or with any shape and / or with any dimensions.

[0065] The handling device 100 may include at least one gripping device 104 for gripping the wooden workpiece 102. The handling device 100 may also include at least one fastening device 106 configured to at least partially fasten the wooden workpiece 102 to a structure (not shown), for example, by means of at least one clamp and / or at least one nail.

[0066] The handling device 100 can be configured to grip the wooden workpiece 102 at least partially simultaneously by means of the gripping device 104 and to fasten it to the structure by means of the fastening device 106.

[0067] The handling device 100 can be configured to fasten the wooden workpiece 102 to the structure at multiple portions thereof by means of the fastening device 106, in a state in which the wooden workpiece 102 is gripped by the gripping device 104. For example, the handling device 100 can be configured to fasten a first portion of the wooden workpiece 102 to the structure by means of the fastening device 106, then move the fastening device 106 along the wooden workpiece 102, preferably by sliding and / or rolling the gripping device 104 on the wooden workpiece 102, to a second portion of the wooden workpiece 102, and fasten the second portion of the wooden workpiece 102 to the structure by means of the fastening device 106.

[0068] For this purpose, the gripping device 104 can have at least two gripping rollers 110, between which the wooden workpiece 102 can be clamped. The gripping rollers 110 can be configured to allow and / or effect a movement of the wooden workpiece 102 relative to the fastening device 106, preferably along a longitudinal axis of the wooden workpiece 102, by rotating the gripping rollers 110, in a state in which the wooden workpiece 102 is clamped between the gripping rollers 110.

[0069] As shown in the figures, the gripping device 104 may include a first pair of gripping rollers 110A and at least one second pair of gripping rollers HOB, each configured to clamp the wood workpiece 102 between the gripping rollers 110A, 110B of the respective pair. The first pair of gripping rollers 110A and the second pair of gripping rollers HOB may be spaced apart from one another along a longitudinal axis of the wood workpiece 102 when the wood workpiece 102 is clamped between the gripping rollers 110A, HOB. Each pair of gripping rollers 110A, 110B may include two rollers arranged on opposite sides of the wood workpiece 102 when the wood workpiece 102 is clamped between the gripping rollers 110A, HOB. Fig. 3 and 5 show, by way of example, the rollers 111A, 113A of the pair of gripping rollers 110A.

[0070] The gripping device 104 may also include at least two clamping jaws 114 between which the wood workpiece 102 can be clamped to fix the wood workpiece 102 relative to the fastening device 106. As shown in the figures, the gripping device 104 may include a first pair of clamping jaws 114A and at least one second pair of clamping jaws 114B, each configured to clamp and fix the wood workpiece 102 between the clamping jaws 114A, 114B. The first pair of clamping jaws 114A and the second pair of clamping jaws 114B may be spaced apart from one another along a longitudinal axis of the wood workpiece 102 when the wood workpiece 102 is clamped between the clamping jaws 114A, 114B. Each pair of jaws 114A, 114B may include two jaws disposed on opposite sides of the wood workpiece 102 when the wood workpiece 102 is clamped between the jaws 114A, 114B. Fig.4 shows, by way of example, the clamping jaws 115A, 117A of the pair of clamping jaws 114A.

[0071] The gripping rollers 110 and / or the clamping jaws 114 can be movable or displaceable, preferably relative to and from each other. Preferably, the clamping jaws 114 are configured to substantially prevent movement of the wooden workpiece 102, in particular along the longitudinal axis of the wooden workpiece 102, when the wooden workpiece 102 is clamped between the clamping jaws 114, whereas the gripping rollers 110 can be configured to permit movement of the wooden workpiece 102, in particular along the longitudinal axis of the wooden workpiece, when the wooden workpiece 102 is clamped between the gripping rollers 110.

[0072] The clamping jaws 114 can be moved into a clamping position in which the fastening device 106 can fasten at least a portion of the wooden workpiece 102 to the structure, for example by means of at least one clamp and / or at least one nail. The clamping jaws 114 can then be moved into an open position. The wooden workpiece 102 can then be moved relative to the clamping jaws 114 and the fastening device 106, for example by means of a drive and / or robot, for example until a second portion of the wooden workpiece 102 is arranged on the fastening device 106, so that the fastening device 106 can fasten the second portion of the wooden workpiece 102 to the structure. The clamping jaws 114 can then be moved back into the clamping position to clamp the wooden workpiece 102 between the clamping jaws 114.The fastening device 106 can then fasten the second section of the wooden workpiece 102 to the structure, for example, using at least one additional clamp and / or at least one additional nail. The wooden workpiece 102 can be continuously clamped between the gripping rollers 110. Accordingly, due to the possibility of the wooden workpiece 102 rolling along the gripping rollers 110, the gripping rollers 110 do not need to be opened to allow the wooden workpiece 102 to move, particularly relative to the fastening device 106.

[0073] The handling device 100 can additionally have at least one pressing element 118, which is configured to come into contact with the wooden workpiece 102 and preferably to exert a force, preferably a compressive force, on the wooden workpiece 102. This allows a distance of the wooden workpiece 102 from the fastening device 106 to be predetermined or defined. Furthermore, this can increase the accuracy and / or quality of the fastening of the wooden workpiece 102 to the structure. Preferably, the force that the pressing element 118 can exert on the wooden workpiece 102 acts in a direction that is substantially perpendicular to the gripping force or clamping force that the gripping device 104 or the gripping rollers 110 and / or the clamping jaws 114 exert on the wooden workpiece 114. Preferably, the pressing element 118 is configured to press the wooden workpiece 102 against the structure.

[0074] The handling device 100 may include a plurality of pressing elements 118, as shown in the figures. The pressing elements 118 are preferably spaced apart from one another in a direction along the longitudinal axis of the wood workpiece 102 when the wood workpiece 102 is gripped by the gripping device 104.

[0075] The pressure element 118 can be designed as a pressure roller, which can be configured to allow and / or effect a movement of the wooden workpiece 102 relative to the fastening device 106, preferably along a longitudinal axis of the wooden workpiece 102, by rotating the pressure roller 118, in a state in which the pressure roller 118 presses the wooden workpiece 102 against a surface of the wooden workpiece 102. Accordingly, the wooden workpiece 102 can be moved in a state in which the pressure roller 118 is in contact with the wooden workpiece 102 and preferably exerts a (compressive) force against the wooden workpiece 102, preferably continuously. The components of the handling device 100, in particular the components described herein or above, can be mounted on a common support unit 109. As a result, the handling device 100 can be moved as a coherent unit.

[0076] Fig. 4 shows, in an enlarged view, the pair of clamping jaws 114A of the handling device 100 from Figs. 1 to 3. The pair of clamping jaws 114A has the clamping jaws 115A and 117A. Preferably, the clamping jaws 115A and 117A are movable or displaceable, preferably relative to and from each other, as already explained above. In Fig. 4, the open position of the clamping jaws 115A and 117A is shown with dashed lines, in which the wooden workpiece 102 is movable between the clamping jaws 115A and 117A. The clamping position of the clamping jaws 115A and 117A, in which the wooden workpiece 102 is clamped between the clamping jaws 115A and 117A and is therefore essentially immobile, is shown with solid lines in Fig. 4. The clamping jaws 115A and 117A can be moved or closed between the open position and the clamping position, for example by means of a drive, for example an electric drive and / or hydraulic drive and / or pneumatic drive.be processed.

[0077] The clamping jaws 115A and 117A can be attached to a base unit 125 in a movable manner, preferably in a translationally movable and / or rotatable manner.

[0078] Fig. 5 shows, in an enlarged cross-sectional view, the pair of gripping rollers 110A. The pair of gripping rollers 110A includes gripping rollers 111A and 113A, each of which may be rotatably connected to a base unit 126 via an axle 122, 124 to enable rotation of the gripping rollers 111A and 113A. The gripping rollers 111A and 113A may be connected to the respective axle 122, 124 via a mounting element 130, for example, a nut.

[0079] The pair of gripping rollers HOB may be constructed similarly or identically to the pair of gripping rollers 110A shown in Fig. 5.

[0080] The handling device 100 may also have more than two pairs of gripping rollers and / or more than two pairs of clamping jaws and / or more than two pressure elements or pressure rollers.

Claims

CLAIMS 1. A handling device (100) for handling at least one wooden workpiece (102), preferably at least one wooden beam, wherein the handling device (100) comprises: at least one gripping device (104) for gripping the wooden workpiece (102); and at least one fastening device (106) configured to at least partially fasten the wooden workpiece (102) to a structure; wherein the handling device (100) is configured to at least partially simultaneously grip the wooden workpiece (102) by means of the gripping device (104) and to fasten it to the structure by means of the fastening device (106);wherein the handling device (100) is configured to fasten a first portion of the wooden workpiece (102) to the structure by means of the fastening device (106), to then move the fastening device (106) along the wooden workpiece (102) by sliding and / or rolling the gripping device (104) on the wooden workpiece (102) to a second portion of the wooden workpiece (102), and to fasten the second portion of the wooden workpiece (102) to the structure by means of the fastening device (106); 2. The handling device (100) according to claim 1, wherein the gripping device (104) has at least two gripping rollers (110) between which the wooden workpiece (102) can be clamped.

3. The handling device (100) according to claim 2, wherein the gripping rollers (110) are configured to allow and / or effect a movement of the wooden workpiece (102) relative to the fastening device (106), preferably along a longitudinal axis of the wooden workpiece (102), by rotating the gripping rollers (110), in a state in which the wooden workpiece (102) is clamped between the gripping rollers.

4. The handling device (100) according to claim 2 or 3, wherein the gripping device (104) comprises a first pair of gripping rollers (110A) and at least one second pair of gripping rollers (HOB), each of which is configured to clamp the wooden workpiece (102) between the gripping rollers (110A, 110B), wherein the first pair of gripping rollers (110A) and the second pair of gripping rollers (HOB) are arranged spaced apart from one another along a longitudinal axis of the wooden workpiece (102). when the wooden workpiece (102) is clamped between the gripping rollers (110A, HOB).

5. The handling device according to one of the preceding claims, wherein the gripping device has at least one locking element which is adapted to come into contact with the workpiece in order to fix the workpiece relative to the fastening device.

6. The handling device (100) according to one of the preceding claims, wherein the gripping device (104) has at least two clamping jaws (114) between which the wooden workpiece (102) can be clamped in order to fix the wooden workpiece (102) relative to the fastening device (106).

7. The handling device (100) according to one of the preceding claims, additionally comprising at least one pressing element (118) which is designed to come into contact with the wooden workpiece (102) and to press the wooden workpiece (102) against the structure, wherein the pressing element (118) is designed as a pressing roller which is designed to allow and / or effect a movement of the wooden workpiece (102) relative to the fastening device (106), preferably along a longitudinal axis of the wooden workpiece (102), by rotating the pressing roller (118), in a state in which the pressing roller (118) rests against a surface of the wooden workpiece (102) and preferably presses the wooden workpiece (102) against the structure.

8. The handling device according to one of the preceding claims, additionally comprising at least one sensor which is configured to detect at least one position and / or at least one orientation of the workpiece, preferably relative to the fastening device.

9. The handling device according to one of the preceding claims, additionally comprising at least one sensor which is configured to detect gripping of the workpiece by means of the gripping device.

10. The handling device (100) according to one of the preceding claims, wherein the handling device (100) is movable, preferably as a coherent unit.

11. The handling device according to one of the preceding claims, wherein the workpiece has a cross-sectional area of 100 mm 2 up to 40,000 mm 2 , preferably 500 mm 2 up to 40,000 mm 2 , preferably 500 mm 2 up to 35,000 mm2 , preferably 500 mm 2 up to 30,000 mm 2 , preferably 500 mm 2 up to 25,000 mm 2 , preferably 500 mm 2 up to 20,000 mm 2 , preferably 500 mm 2 up to 15,000 mm 2 , preferably 1,000 mm 2 up to 15,000 mm 2 , preferably 1,000 mm 2 until 12,500 mm 2 , preferably 1,250 mm 2 up to 12,500 mm 2 , preferably 1,250 mm 2 up to 10,000 mm 2 , preferably 1,500 mm 2 up to 10,000 mm 2 , preferably 1,750 mm 2 up to 10,000 mm 2 , preferably 2,000 mm 2 up to 10,000 mm 2 , preferably 2,250 mm 2 up to 10,000 mm 2 , preferably 2,500 mm 2 up to 10,000 mm 2 , preferably 2,500 mm 2 up to 7,500 mm 2 , preferably 2,500 mm 2 up to 5,000 mm 2, preferably 2,750 mm 2 up to 5,000 mm 2 , preferably 2,750 mm 2 up to 4,000 mm 2 , preferably 3,000 mm 2 up to 4,000 mm 2 , has.

12. The handling device according to one of the preceding claims, wherein the workpiece has a length of at least 250 mm, preferably at least 500 mm, preferably at least 750 mm, preferably at least 1,000 mm, preferably at least 1,250 mm, preferably at least 1,500 mm, preferably at least 1,750 mm, preferably at least 2,000 mm, preferably at least 2,500 mm, preferably at least 3,000 mm, preferably at least 3,500 mm, preferably at least 4,000 mm, preferably at least 4,500 mm, preferably at least 5,000 mm, preferably at least 5,500 mm, preferably at least 6,000 mm, preferably at least 6,500 mm.

13. The handling device according to one of the preceding claims, wherein the workpiece has a weight of at least 0.1 kg, preferably at least 1 kg, preferably at least 2.5 kg, preferably at least 5 kg, preferably at least 10 kg, preferably at least 15 kg, preferably at least 20 kg, preferably at least 25 kg, preferably at least 35 kg, preferably at least 45 kg, preferably at least 60 kg, preferably at least 75 kg, preferably at least 90 kg, preferably at least 100 kg.

14. The handling device according to one of the preceding claims, wherein the structure is a wall element, preferably a wall element of a building.

15. The handling device according to one of the preceding claims, wherein the gripping device is designed to grip the wooden workpiece at least two Gripping positions, preferably at least three gripping positions, preferably at least four gripping positions, along the longitudinal axis of the wooden workpiece, preferably simultaneously.

16. A method for handling at least one wooden workpiece (102), preferably at least one wooden beam, preferably by means of a handling device (100) according to one of claims 1 to 15, the method comprising: (a) gripping the wooden workpiece (102) by means of at least one gripping device (104); (b) Setting, by means of the gripping device (104), a position and / or a Orientation of the wood workpiece (102), relative to a fastening device (106); and (c) fastening the wood workpiece (102) to a structure by means of the fastening device (106) while the gripping device (104) simultaneously grips the wood workpiece (102), wherein the fastening device (106) fastens a first portion of the wood workpiece (102) to the structure, wherein the fastening device (106) is then moved along the wood workpiece (102) to a second portion of the wood workpiece (102) by sliding and / or rolling the gripping device (104) on the wood workpiece (102), wherein the fastening device (106) fastens the second portion of the wood workpiece (102) to the structure.

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