Method for handling workpiece pallets, handling system and handling device

Abstract

The invention provides methods for handling workpiece pallets (300), (300*) in a handling system. The handling system comprises at least a plurality of receiving devices (210), each of which is configured to receive a workpiece pallet (300), (300*); and a handling device (100) which comprises at least one pallet holder (132), which can be moved relative to the plurality of receiving devices (210) in order to receive a workpiece pallet (300), (300*) and is configured to transfer a workpiece pallet (300), (300*) received in the pallet holder (132) to a free receiving device (210a) of the plurality of receiving devices (210) and / or to receive a workpiece pallet (300), (300*) deposited in one of the plurality of receiving devices (210b) in the at least one pallet holder (132). The method comprises providing a workpiece pallet (300*) to be handled, which comprises a workpiece W* attached thereto (i.e. a workpiece-carrying workpiece pallet), receiving the provided workpiece pallet (300*) in the pallet holder (132) of the handling device (100), selecting a free receiving device (210a) from a set of free receiving devices (210a) of the plurality of receiving devices (210) and transferring the workpiece pallet (300*) received in the pallet holder (132) to the selected free receiving device (210a) by means of the handling device (100). The method further comprises determining an energy consumption parameter of the provided workpiece pallet (300*), by means of which an energy consumption of the handling device (100) can be described during the handling of the provided workpiece pallet (300*), wherein the free receiving device (210a) is selected as a function of the determined energy consumption parameter.

Description

Method for handling workpiece pallets, handling system and handling device DESCRIPTION Technical area

[0001] The present invention relates to a method for handling workpiece pallets, a handling system for handling workpiece pallets and a handling device for use in a handling system. Background of the invention

[0002] Handling systems for handling workpiece-carrying pallets for use in partially or fully automated production processes in mass production are known from the state of the art

[0003] The possible areas of application of such handling systems include, among other things, the handling of workpiece pallets on a machine tool, in particular during a pallet change taking place in a work area of ​​the machine tool, or handling in connection with a pallet storage system or a setup station or setup area.

[0004] Such handling systems are therefore characterized by a large number of holding devices, of which a movable handling device of the handling system can pick up or place workpiece pallets in order to fulfill, among other things, transport and / or intermediate storage tasks in the course of automated production processes.

[0005] For example, WO 2022 128 451 A1 discloses a handling system comprising a pallet storage device with several levels and a handling device, wherein the centrally arranged handling device is movable relative to the pallet storage device in order to remove workpiece pallets from the receiving devices (storage locations) of the various levels or to deposit them there.

[0006] A problem with such handling systems in the field of automated mass production is that they sometimes have to move loads weighing several tons and therefore operate comparatively slowly and also have a particularly high energy consumption, which in turn has a negative impact on the economic operation of the handling systems. Summary

[0007] An object of the present invention is therefore to provide more efficient handling of workpiece-carrying workpiece pallets in the field of automated mass production.

[0008] To achieve this object, the method according to claim 1, the handling system according to claim 14 and the handling device according to claim 16 are provided.

[0009] The respective dependent claims relate to preferred embodiments, which can be provided individually or in combination.

[0010] According to a first aspect of the invention, a method for handling workpiece pallets in a handling system is provided. The handling system comprises at least a plurality of receiving devices, each of which is configured to receive a workpiece pallet; and a handling device which comprises at least one pallet holder which is movable relative to the plurality of receiving devices and is configured to transfer a workpiece pallet received in the pallet holder to a free receiving device of the plurality of receiving devices and / or to receive a workpiece pallet deposited in one of the plurality of receiving devices into the at least one pallet holder.The method comprises providing a workpiece pallet to be handled, which comprises a workpiece fastened thereon (i.e., a workpiece-carrying workpiece pallet), receiving the provided workpiece pallet in the pallet holder of the handling device, selecting a free receiving device from a set of free receiving devices of the plurality of receiving devices, and transferring the workpiece pallet received in the pallet holder to the selected free receiving device by means of the handling device. The method further comprises determining an energy consumption parameter of the provided workpiece pallet, via which an energy consumption of the handling device during handling of the provided workpiece pallet can be described, wherein the selection of the free receiving device takes place depending on the determined energy consumption parameter.

[0011] By means of the method according to the invention, in contrast to the previously known prior art, the selection of a free receiving device is no longer arbitrary, but rather dependent on the specific energy consumption parameter by means of which the energy consumption of the handling device can be described.

[0012] This allows the most energy-efficient free pick-up location for the handling system to be selected when handling the workpiece pallet, thus minimizing the energy consumption of the handling device as much as possible. This enables particularly efficient and energy-efficient operation of the handling system.

[0013] For example, if two free holding devices are available, the one for which the associated travel path of the provided workpiece pallet to be handled is classified as more energy-saving can be selected.

[0014] This does not necessarily have to be the pick-up device with the shorter travel distance from the pick-up location. The pick-up location is the location from which the handling device picks up the workpiece pallet into its pallet holder, and this can be one of the several pick-up devices itself or another, secondary pick-up device.

[0015] The workpiece pallets are to be understood as workpiece pallets used in the field of mass production, which usually function as universal interfaces on which a large number of differently shaped workpieces can be fastened or clamped and which comprise a standardised fastening interface that is compatible with a large number of holding devices, each of which comprises a holding interface adapted to the fastening interface, for example holding devices of a machine table of a machine tool, a storage space of a pallet storage unit, etc.

[0016] The mass of such an empty workpiece pallet, i.e., without a secured workpiece, can be at least 50 kg. The mass is preferably between 50 and 2500 kg, and particularly preferably between 100 and 1500 kg. Such masses arise because machining operations using a machine tool typically involve high forces (weight forces with heavy workpieces, machining forces, etc.), which the workpiece pallet must also be able to withstand.

[0017] Unless otherwise specified (for example, by "empty workpiece pallet"), the workpiece pallet to be handled and provided is always understood to be a workpiece-carrying workpiece pallet, i.e. a workpiece pallet that includes a workpiece attached to it

[0018] Said energy consumption parameter may be a physical quantity of the workpiece pallet provided containing the workpiece or a parameter derived or composed of physical quantities of said workpiece pallet, as long as this or this parameter is suitable for describing the energy consumption of the handling device during handling, at least in a comparative analysis of at least two workpiece pallets with essentially the same handling movements. A formulation of such a comparative analysis could for example: Workpiece pallet 1 will cause a higher energy consumption of the handling device when moved vertically by one meter than workpiece pallet 2. In this application, vertical or the vertical always means the spatial direction running parallel to the earth's gravitational field, along or parallel to which the weight forces act.

[0019] In this respect, it is not necessarily necessary to make an absolute statement about energy consumption using the energy consumption parameters mentioned; a relative statement comparing two workpiece pallets is sufficient.

[0020] Examples of the above-mentioned derived or composite parameters may be weighted or unweighted sums or mean values, for example a sum of the mass and moment of inertia of the workpiece pallet including the workpiece or a sum of the mass and moment of inertia of the attached workpiece without taking into account an empty mass or an empty moment of inertia of the workpiece pallet.

[0021] Examples of the above-mentioned physical quantities are a mass (SI unit: kg) of the provided workpiece pallet (i.e. mass of the empty workpiece pallet plus the workpiece attached to it) or a mass of the workpiece itself or a moment of inertia of the provided workpiece pallet, in particular a principal moment of inertia (SI unit: kg ■ m 2 ), or a moment of inertia of the workpiece itself

[0022] The mass of the workpiece pallet correlates with the energy required for translational movements and the moment of inertia correlates with the energy required for rotational movement according to Newtonian principles of mechanics, so that these are suitable to describe energy consumption for handling movements.

[0023] An energy consumption parameter based solely on physical dimensions of the workpiece is appropriate when the handling system involves uniformly designed empty workpiece pallets, i.e. those that essentially have the same properties (such as mass and moment of inertia) and can therefore essentially be disregarded, especially in a comparative analysis.

[0024] Furthermore, parameters of the handling device related to the power consumption during handling of the provided workpiece pallet can also be selected as energy consumption parameters, such as electrical / hydraulic / pneumatic power or energy quantity. For example, the input power or energy quantity required by the handling device for vertically moving the workpiece pallet by a predefined distance can be selected as the energy consumption parameter (for example, in the form of 0.001 kWh for a 10 cm vertical stroke).

[0025] Preferably, the selection of the free recording device takes place in additional Dependence on an occupancy data record that describes the number of free and / or occupied recording devices of the multiple recording devices

[0026] Preferably, the plurality of receiving devices of the handling system comprises at least two, at least three, at least four, at least five, at least six, at least ten, at least twelve, at least 16, or at least 20 receiving devices. In particular, the number of the plurality of receiving devices is between 2 and 50, but should not be understood as being limited to 50 as an upper limit.

[0027] As the number of holding devices increases, the storage capacity of the handling system increases.

[0028] Preferably, the plurality of receiving devices each comprise a receiving interface adapted to a fastening interface of the workpiece pallet, which is configured to fix a received workpiece pallet at least partially or completely relative to the receiving device via the interacting fastening interface.

[0029] Examples of this are fits such as conical fits, quick-clamping systems such as jaw chucks, indexing bolt systems or the like.

[0030] The at least partial fixation can be implemented as a fixation with respect to spatial directions in a horizontal plane of the receiving device and the complete fixation can additionally comprise a fixation in a spatial direction vertical thereto.

[0031] Preferably, the fastening interface and / or the receiving interface comprises a switchable locking device, via which the fixation can be released at least partially (for example only in one spatial direction) or completely.

[0032] In a preferred embodiment, the energy consumption parameter is one of the following quantities or a term based thereon that includes several of these quantities, preferably in the form of a weighted or unweighted sum: a mass of the provided workpiece pallet including the workpiece fastened thereon; a moment of inertia of the provided workpiece pallet including the workpiece fastened thereon; a mass of the workpiece of the provided workpiece pallet; a moment of inertia of the workpiece of the provided workpiece pallet.

[0033] The mass has a particularly strong impact on the energy consumption of the handling device, especially during vertical movements.

[0034] In this respect, for example, the free pick-up location can be selected in such a way that, for light workpiece pallets / workpieces, free pick-up locations are selected that are only or predominantly accessible via vertical travel movements from the pick-up location. In this way, the free pick-up locations that require no or only minimal vertical travel movements from the pick-up location are kept free for heavy workpiece pallets / workpieces.

[0035] The distinction between light and heavy can be made on the basis of a predefined limit value or mass limit value, below which a workpiece pallet (including the attached workpiece) or a workpiece is classified as light and above which a workpiece pallet or a workpiece is classified as heavy.

[0036] The moment of inertia can preferably be used as an energy consumption parameter if the handling device comprises, for example, a rotation axis around which the provided workpiece pallet is rotated during a travel movement to a receiving device.

[0037] In a preferred embodiment, determining the energy consumption parameter of the provided workpiece pallet comprises weighing the provided workpiece pallet by means of a weighing device, wherein the weighing device is preferably designed as part of the handling device, and determining the energy consumption parameter at least as a function of a weighing result of the weighing of the provided workpiece pallet.

[0038] Alternatively, the weighing device can also be designed as part of a secondary receiving device of a setup station or a pallet changer, which serves, for example, as a receiving location for picking up the workpiece pallet

[0039] In a preferred embodiment, determining the energy consumption parameter of the provided workpiece pallet comprises providing workpiece data of the workpiece of the provided workpiece pallet, in particular in the form of CAD data and / or material data and / or processing data, and determining the energy consumption parameter at least as a function of the provided workpiece data.

[0040] The determined energy consumption parameter is output as a specific energy consumption parameter.

[0041] Using the provided workpiece data, the energy consumption parameter can be determined or at least estimated without additional measuring devices. For example, a workpiece mass can be theoretically calculated from the CAD data, which preferably includes a workpiece geometry, and the material data.

[0042] Preferably, the method also comprises providing a mass and / or a moment of inertia of the empty workpiece pallet, wherein the determination of the energy consumption parameter takes place at least as a function of the provided workpiece data and the provided mass and / or the provided moment of inertia of the empty workpiece pallet.

[0043] In a preferred embodiment, determining the energy consumption parameter of the provided workpiece pallet comprises detecting at least one operating variable of the handling device during handling of the provided workpiece pallet received in the pallet holder, which operating variable describes an energy or power consumption during handling of the provided workpiece pallet received in the pallet holder, wherein the at least one operating variable is preferably an electrical power, an electrical energy quantity or an electrical current of the handling device, in particular of an electrical drive of the handling device, and determining the energy consumption parameter at least as a function of the detected at least one performance parameter of the handling device.

[0044] The determined energy consumption parameter is output as a specific energy consumption parameter.

[0045] Preferably, the operating variable is recorded with reference to a predefined travel movement, e.g. a vertical travel movement of a predefined height, a horizontal travel movement of a predefined length or a rotation of a predefined angle.

[0046] In a preferred embodiment, the detection of the at least one operating variable takes place during a vertical movement of the pallet holder with the workpiece pallet received therein, preferably a height is predefined for the vertical movement

[0047] Preferably, the vertical movement can be a movement for lifting the provided workpiece pallet from the pick-up location during the picking-up of the provided workpiece pallet. In this way, the energy consumption parameters can be determined directly during the lifting process.

[0048] In a preferred embodiment, determining the energy consumption parameter of the provided workpiece pallet comprises providing an energy reference value of the handling device, which describes an energy or power consumption during handling of the reference pallet accommodated in the pallet holder, in particular an empty workpiece pallet without a fastened workpiece, wherein the determination of the energy consumption parameter takes place at least as a function of the detected at least one operating variable of the handling device and the provided energy reference value

[0049] Preferably, the provision of the energy reference value comprises receiving the reference pallet in the pallet holder of the handling device and detecting at least one operating variable of the handling device during handling of the reference pallet received in the pallet holder, which describes an energy or power consumption during handling of the reference pallet received in the pallet holder.

[0050] In a preferred embodiment, the method comprises dividing the plurality of receiving devices at least into receiving devices of a first energy consumption group and receiving devices of a second energy consumption group, and providing a first limit value of the energy consumption parameter. Selecting the free receiving device comprises selecting a free receiving device from the first energy consumption group if the determined energy consumption parameter is less than or equal to the provided first limit value, and / or selecting a free receiving device from the second energy consumption group if the determined energy consumption parameter is greater than or equal to the provided first limit value.

[0051] This means that the holding devices can basically be divided into holding devices for high-energy-consuming and low-energy-consuming workpiece pallets or workpieces, with the classification into high- and low-energy-consuming being carried out via the first limit value.

[0052] For example, if the energy consumption parameter is a mass, the first limit can be a mass limit.

[0053] The choice of the first limit value can be based on empirical values ​​in the respective production hall and can, for example, be an average value from a large number of workpiece pallets.

[0054] Preferably, the energy consumption groups each comprise one, two, three or more receiving devices of the plurality of receiving devices.

[0055] Preferably, N further energy consumption groups (with N>1) can be defined, wherein preferably for each further energy consumption group a further limit value is also defined, via which a decision on the selection of the energy consumption group is made.

[0056] In a preferred embodiment, the subdivision of the plurality of receiving devices is carried out on the basis of vertical heights of the respective receiving devices with respect to a predefined reference height, in particular in the case that the plurality of receiving devices is part of a pallet storage system with several vertically spaced storage levels

[0057] In a preferred embodiment, selecting the free receiving device comprises determining energy consumption values ​​for at least two free receiving devices of the plurality of receiving devices as a function of the determined energy consumption parameter, in particular for all free receiving devices of the plurality of receiving devices, wherein the energy consumption values ​​each describe an energy consumption for transporting the provided workpiece pallet by the handling device from a receiving location to the respective free receiving device, and selecting the free receiving device as a function of the determined energy consumption values, in particular such that the free receiving device with the lowest energy consumption value of the determined energy consumption values ​​is selected.

[0058] In a preferred embodiment, the method comprises reordering an occupancy of the plurality of receiving devices at least as a function of the determined energy consumption parameter of the provided workpiece pallet and a provided energy consumption parameter of a workpiece pallet received in one of the plurality of receiving devices, which comprises a further workpiece fastened thereon, in particular by reading out an energy consumption parameter of the further workpiece pallet provided or stored in a storage device.

[0059] In this way, the configuration of the multiple holding fixtures can be changed to create space for the provided workpiece pallet to be handled. This can lead to lower overall energy consumption when sorting the provided workpiece pallet into the multiple holding fixtures compared to a variant without re-sorting. Thus, it may be more energy-efficient to relocate the additional workpiece pallet and insert the provided workpiece pallet into the holding fixture freed up by the relocation than to select a holding fixture that was free before the re-sorting.

[0060] In a preferred embodiment, the reordering of the occupancy of the plurality of receiving devices comprises determining a first energy consumption value for transferring the further workpiece pallet received in a first of the plurality of receiving devices into a second, free receiving device of the plurality of receiving devices depending on the provided energy consumption parameter of the further workpiece pallet, determining a second energy consumption value for transporting the provided workpiece pallet from its receiving location to the first receiving device depending on the determined energy consumption parameter of the provided workpiece pallet,determining a third energy consumption value for transporting the provided workpiece pallet from its receiving location to the second receiving device depending on the determined energy consumption parameter of the provided workpiece pallet and transferring the further workpiece pallet from the first to the second receiving device by means of the, Handling device, if a sum of the first and the second energy consumption value is lower than the third energy consumption value. The selection of the free receiving device preferably comprises a selection of the first receiving device that has become free due to the transfer as a free receiving device for the provided workpiece pallet.

[0061] The energy consumption values ​​describe the energy consumption for transporting the respective workpiece pallet through the handling device.

[0062] In a preferred embodiment, the handling system comprises a pallet storage and the plurality of receiving devices are each receiving devices of the pallet storage.

[0063] The pallet storage preferably comprises at least two, at least three, at least four, at least five, at least six, at least ten, at least twelve, at least 16 or at least 20 receiving devices, which are in particular each arranged in one of at least two, at least three or at least four vertically spaced storage levels.

[0064] Preferably, the handling device is configured to move or displace its pallet holder translationally and / or rotationally relative to the pallet storage device.

[0065] The handling device preferably comprises a carrier device and a handling device carried by the carrier device and movable relative to the carrier device, which comprises the pallet holder.

[0066] The handling device is preferably movable translationally relative to the carrier device via a linear axis, in particular along a vertical, and / or is rotatory relative to the carrier device via a circular axis, the rotational axis of which preferably runs parallel to the vertical.

[0067] Alternatively or in addition to the rotational movement of the handling device relative to the carrier device, the handling device can further comprise a base device which carries the carrier device, wherein the carrier device can be moved in a rotational manner relative to the base device via a further rotary axis, the axis of rotation of which preferably runs parallel to the vertical.

[0068] The handling device preferably comprises a further linear axis, via which the pallet holder can be moved translationally relative to the carrier device; in particular, this further linear axis is designed as a telescopic axis and / or runs orthogonal to the vertical, i.e. in a horizontal plane.

[0069] Due to the kinematics of the handling device described above, it can carry out a wide variety of travel movements, which in turn enables a more flexible spatial arrangement of the multiple holding devices.

[0070] In a preferred embodiment, the handling system comprises one or more secondary receiving devices selected from the following group: a receiving device of a setup station of a machine tool; a receiving device of a pallet changer of a machine tool; a receiving device of a machine table of a machine tool; a receiving device of a transport device for transporting workpiece pallets in a production hall, in particular an autonomously driving, driverless transport vehicle, wherein the handling device is additionally configured to transfer a workpiece pallet received in the pallet holder to a free secondary receiving device of the one or more secondary receiving devices and / or to receive a workpiece pallet deposited in one of the one or more secondary receiving devices into the at least one pallet holder.

[0071] In this way, additional interaction possibilities of the handling device with a plurality of receiving devices, namely the multiple receiving devices and the secondary receiving devices, are enabled, whereby the handling devices can carry out switching operations between transport vehicles, setup stations, etc.

[0072] According to a second aspect of the invention, a handling system for handling workpiece pallets is provided, which comprises a plurality of receiving devices, each configured to receive a workpiece pallet, and a handling device which comprises at least one pallet holder which is movable relative to the plurality of receiving devices and for receiving a workpiece pallet and is configured to transfer a workpiece pallet received in the pallet holder to a free receiving device of the plurality of receiving devices and / or to receive a workpiece pallet deposited in one of the plurality of receiving devices into the at least one pallet holder; and a control device for controlling the handling device.During the handling of a workpiece pallet provided to the handling device, which comprises a workpiece fastened thereon, the control device is configured to determine an energy consumption parameter of the provided workpiece pallet, via which energy consumption of the handling device during the handling of the provided workpiece pallet can be described, depending on the determined energy consumption parameter, a free receiving device from a set of free receiving devices of the plurality. To select receiving devices and to control the handling device in such a way that it transfers the provided workpiece pallet received in the pallet holder to the selected free receiving device.

[0073] The handling system according to the invention is thus designed to carry out the method according to the invention and offers all the advantages already explained in this context, which will not be repeated here.

[0074] All features of the preferred embodiments of the method described above relating to the handling system also apply to the handling system itself described here.

[0075] In particular, the handling system preferably comprises a The pallet storage and the multiple receiving devices are each receiving devices of the pallet storage.

[0076] The pallet storage preferably comprises at least two, at least three, at least four, at least five, at least six, at least ten, at least twelve, at least 16 or at least 20 receiving devices, which are in particular each arranged in one of at least two, at least three or at least four vertically spaced storage levels.

[0077] Preferably, the handling device is configured to move or displace its pallet holder translationally and / or rotationally relative to the pallet storage device.

[0078] The handling device preferably comprises a carrier device and a handling device carried by the carrier device and movable relative to the carrier device, which comprises the pallet holder.

[0079] The handling device is preferably movable translationally relative to the carrier device via a linear axis, in particular along a vertical, and / or is rotatory relative to the carrier device via a circular axis, the rotational axis of which preferably runs parallel to the vertical.

[0080] Alternatively or in addition to the rotational movement of the handling device relative to the carrier device, the handling device can further comprise a base device which carries the carrier device, wherein the carrier device can be moved in a rotational manner relative to the base device via a further rotary axis, the axis of rotation of which preferably runs parallel to the vertical.

[0081] The handling device preferably comprises a further linear axis, via which the pallet holder can be moved translationally relative to the carrier device; in particular, this further linear axis is designed as a telescopic axis and / or runs orthogonal to the vertical, i.e. in a horizontal plane.

[0082] Preferably, the handling system comprises a storage device, which can in particular be designed as part of the control device, wherein the control device is configured, in the course of determining the energy consumption parameter of the provided workpiece pallet, to read out an energy consumption parameter of the provided workpiece pallet provided in a storage device.

[0083] Preferably, the handling system, in particular the handling device, comprises a weighing device for weighing workpiece pallets, wherein the control device is configured, in the course of determining the energy consumption parameter of the provided workpiece pallet, to determine the energy consumption parameter at least as a function of a weighing result of the weighing device.

[0084] Preferably, in the course of determining the energy consumption parameter of the provided workpiece pallet, the control device is configured to receive provided workpiece data of the workpiece of the provided workpiece pallet, in particular in the form of CAD data and / or processing data and / or material data, and to determine the energy consumption parameter at least as a function of the provided workpiece data.

[0085] In a preferred embodiment, the handling system, in particular the handling device, comprises a power recording unit which is configured to record an operating variable of the handling device during handling of the provided workpiece pallet received in the pallet holder, which operating variable describes an energy or power consumption during handling of the provided workpiece pallet received in the pallet holder, wherein the control device, in the course of determining the energy consumption parameter of the provided workpiece pallet, is configured to determine the energy consumption parameter at least as a function of the at least one operating variable of the handling device recorded by the power recording unit.

[0086] Preferably, the power detection unit is configured to detect an electrical power, an electrical energy quantity or an electrical current of the handling device (as the at least one operating variable), in particular of an electrical drive of the handling device.

[0087] In a preferred embodiment, the plurality of receiving devices are divided at least into receiving devices of a first energy consumption group and receiving devices of a second energy consumption group, wherein the control device is configured, in the course of selecting the free receiving device, to select it depending on a first limit value of the energy consumption parameter provided to the control device, such that a free receiving device from the first energy consumption group is selected if the specific energy consumption parameter is less than or equal to the provided first limit value, and / or that a free receiving device is selected from the second energy consumption group if the specific energy consumption parameter is greater than or equal to the provided first limit value.

[0088] Preferably, the control device is configured to control the handling device in such a way that it rearranges an occupancy of the plurality of receiving devices, specifically at least depending on the determined energy consumption parameter of the provided workpiece pallet and an energy consumption parameter provided to the control device (for example, obtainable by reading the memory device) of a further workpiece pallet received in one of the plurality of receiving devices, which comprises a further workpiece fastened thereon

[0089] For this purpose, the control device is preferably configured to determine a first energy consumption value for transferring the further workpiece pallet received in a first of the plurality of receiving devices into a second, free receiving device of the plurality of receiving devices as a function of the provided energy consumption parameter of the further workpiece pallet, to determine a second energy consumption value for transporting the provided workpiece pallet from its receiving location to the first receiving device as a function of the determined energy consumption parameter of the provided workpiece pallet, and to determine a third energy consumption value for transporting the provided workpiece pallet from its receiving location to the second receiving device as a function of the determined energy consumption parameter of the provided workpiece pallet.Based on this, the control device is configured to control the handling device in such a way that it transfers the further workpiece pallet from the first to the second receiving device if a sum of the first and the second energy consumption value is lower than the third energy consumption value. Subsequently, the control device is preferably configured to select the first receiving device that has become free as a result of the transfer as the free receiving device for the provided workpiece pallet.

[0090] According to a third aspect of the invention, a handling device for use in a handling system according to the second aspect is provided, wherein the control device of the handling system is designed as part of the handling device. Thus, a handling device for use in a handling system is provided, which comprises a control device for controlling the handling device and at least one pallet holder, which is movable relative to a plurality of holder devices of the handling system, for receiving a workpiece pallet and is designed to to transfer a picked-up workpiece pallet to a free receiving device of the plurality of receiving devices and / or to pick up a workpiece pallet deposited in one of the plurality of receiving devices into the at least one pallet holder.During the handling of a workpiece pallet provided to the handling device, which comprises a workpiece fastened thereon, the control device is configured to determine an energy consumption parameter of the provided workpiece pallet, via which energy consumption of the handling device during handling of the provided workpiece pallet can be described, to select a free receiving device from a set of free receiving devices of the plurality of receiving devices of the handling system depending on the determined energy consumption parameter, and to control the handling device in such a way that it transfers the provided workpiece pallet received in the pallet holder to the selected free receiving device.

[0091] The handling device can be designed according to any preferred embodiment of the handling system described above, relating to the handling device or the control device. To avoid duplication, a repeated description is therefore omitted here.

[0092] Further aspects and their advantages as well as more specific embodiments of the aforementioned aspects and embodiments are described below with the aid of the drawings shown in the attached figures.

[0093] Fig. 1 shows a flowchart of a first embodiment of the method according to the invention.

[0094] Fig. 2 shows a flow chart of a second embodiment of the method according to the invention.

[0095] Fig. 3 shows a perspective view of an embodiment of the handling system according to the invention.

[0096] Fig. 4A, 4B show a schematic representation of an exemplary Handling system before and after the partial execution of a third embodiment of the method according to the invention.

[0097] It is emphasized that the present invention is in no way limited to the exemplary embodiments described below and their embodiment features. The invention further comprises modifications of the aforementioned exemplary embodiments, in particular those which result from modifications and / or combinations of individual or multiple features of the described exemplary embodiments within the scope of protection of the independent claims. Detailed character description

[0098] Fig. 1 shows a flowchart of a first embodiment of the method according to the invention.

[0099] The method for handling workpiece pallets is carried out using a handling system which comprises at least a plurality of receiving devices, each of which is configured to receive a workpiece pallet; and a handling device which comprises at least one pallet holder which is movable relative to the plurality of receiving devices for receiving a workpiece pallet and is configured to transfer a workpiece pallet received in the pallet holder to a free receiving device of the plurality of receiving devices and / or to receive a workpiece pallet deposited in one of the plurality of receiving devices into the at least one pallet holder.

[0100] In step S1, a workpiece pallet to be handled is provided, which comprises a workpiece fastened thereon.

[0101] In step S2, the workpiece pallet provided in step S1 is picked up into the pallet holder of the handling device of the handling system.

[0102] In step S3, an energy consumption parameter of the workpiece pallet provided in step S1 is determined, via which an energy consumption of the handling device of the handling system can be described when handling the provided workpiece pallet

[0103] It should be noted that the order of steps S2 and S3 may also be reversed in some embodiments.

[0104] In step S4, a free receiving device is selected from a set of free receiving devices of the plurality of receiving devices of the handling system depending on the energy consumption parameter determined in step S3.

[0105] In step S5, the workpiece pallet picked up in the pallet holder in step S2 is transferred to the free receiving device selected in step S4 by means of the handling device.

[0106] With the method described above, in contrast to the previously known prior art, the selection of a free holding device of the handling system is no longer arbitrary, but rather dependent on the specific energy consumption parameter that can be used to describe the energy consumption of the handling device. This enables particularly energy-efficient handling of workpiece pallets.

[0107] Fig. 2 shows a flow chart of a second embodiment of the method according to the invention.

[0108] The second embodiment essentially corresponds to the first Embodiment in which step S3 was replaced by step S3* shown in Fig. 2 with the sub-steps S3*-1 and S3*-2.

[0109] A further description of the remaining steps S1, S2, S4 and S5 is therefore omitted.

[0110] In step S3*-l, at least one operating variable of the handling device of the handling system is detected during handling of the workpiece pallet received in the pallet holder in step S2 and provided in step S1.

[0111] Said operating variable preferably describes an energy or power consumption during the handling of the workpiece pallet received in the pallet holder, wherein the at least one operating variable is preferably an electrical power, an electrical energy quantity or an electrical current of the handling device, in particular of an electrical drive of the handling device.

[0112] As an alternative to the process shown in Fig. 2, sub-step S3*-l can also be carried out as a sub-step of the picking up in step S2, so that the operating variable can already be recorded during the picking up, for example during a lifting movement to lift the provided workpiece pallet from the picking location

[0113] In step S3*-2, the energy consumption parameter is now determined at least as a function of the at least one operating variable of the handling device recorded in step S3*-1.

[0114] The determined energy consumption parameter from step S3*-2 is further used as a specific energy consumption parameter in step S4.

[0115] In this way, the energy consumption parameter can be directly The operating size of the handling device itself can be determined.

[0116] Fig. 3 shows a perspective view of an embodiment of the handling system according to the invention.

[0117] The handling system is configured to handle workpiece pallets 300, 300* and comprises a plurality of receiving devices 210, each configured to receive a workpiece pallet 300, 300*, and a handling device 100 for handling workpiece pallets 300*.

[0118] For a clearer illustration, the workpiece pallets 300, 300* in Fig. 3 are shown without any workpieces attached to them

[0119] The plurality of receiving devices 210 are preferably receiving devices 210 of a pallet storage 200 of the handling system.

[0120] In the illustrated embodiment, said pallet storage 200 comprises 21 receiving devices 210, with receiving devices occupied by a workpiece pallet 300 being indicated by 210b and free receiving devices being indicated by 210a. For the sake of clarity, not all receiving devices 210 are provided with reference numerals.

[0121] The 21 receiving devices 210 are preferably distributed over three levels 201, 202, 203 of the pallet storage 200, which are each spaced apart from one another in the vertical direction.

[0122] The handling device 100 comprises at least one (in the exemplary embodiment shown even two) pallet holder 132 which is movable relative to the plurality of holders 210 for receiving a workpiece pallet 300, 300* and is configured to transfer a workpiece pallet 300, 300* received in the pallet holder to a free holder 210a of the plurality of holders 210 and / or to receive a workpiece pallet 300 deposited in one of the plurality of holders 210b into the at least one pallet holder 132.

[0123] Reference numeral 300* denotes a workpiece pallet that is provided and currently to be handled and that has been picked up for handling into the pallet holder 132 of the handling device 132 from a pick-up location not shown here.

[0124] The handling device 100 preferably comprises a base device 110 which is stationary on the floor and which carries a carrier device 120 of the handling device 100. The carrier device can preferably be moved in a rotational manner relative to the base device 110 via a circular axis whose rotation axis R preferably runs parallel to the vertical.

[0125] The handling device 100 further preferably comprises a handling device 130 which is carried by the carrier device 120 and is translationally movable relative to the carrier device 120 via a linear axis, in particular along a vertical in the Y direction.

[0126] Preferably, the linear axis is driven by an electric drive 121 of the handling device 100.

[0127] The handling device 100 preferably comprises a further linear axis, via which the pallet holder 132 can be moved translationally relative to the carrier device 120. In particular, this further linear axis is designed as a telescopic axis 131, the direction of travel of which preferably runs orthogonally to the vertical in the X-direction shown.

[0128] Furthermore, the handling system preferably comprises a setup station 400, which in turn comprises a further secondary receiving device in which, in the embodiment shown, a workpiece pallet 300 is stored.

[0129] The handling device 100 is also preferably configured to interact with the setup station 400, i.e. to remove workpiece pallets 300 from its receiving device 410 or to transfer them to it.

[0130] Furthermore, the handling system comprises a control device (not shown here) for controlling the handling device 100.

[0131] During the handling of the workpiece pallet 300* provided to the handling device 100, which comprises a workpiece (not shown here) fastened thereon, the control device is configured to determine an energy consumption parameter of the provided workpiece pallet 300*, via which energy consumption of the handling device 100 during the handling of the workpiece pallet 300* to be handled can be described.

[0132] Furthermore, the control device is configured to select a free receiving device 210a from a set of free receiving devices 210a of the plurality of receiving devices 210 depending on the determined energy consumption parameter, and to control the handling device 100 such that it transfers the workpiece pallet 300* to be handled, which is received in the pallet holder 132, to the selected free receiving device 210a.

[0133] In this way, an energy-efficient handling of the picked-up workpiece pallet 210a can be implemented, during which the energy-optimized free pick-up device 210a is selected.

[0134] Fig. 4A and 4B show a schematic representation of an exemplary handling system before (Fig. 4A) and after (Fig. 4B) the partial execution of a third embodiment of the method according to the invention.

[0135] Similar to Fig. 3, the handling system comprises a plurality of receiving devices 210 and a handling device not shown here (see, for example, Fig. 3), which is configured to transfer a workpiece pallet 300, 300* received in the pallet holder to a free receiving device 210a of the plurality of receiving devices 210 and / or to receive a workpiece pallet 300 deposited in one of the plurality of receiving devices 210b into the at least one pallet holder of the handling device.

[0136] The plurality of receiving devices 210 are distributed over three levels 201, 202, 203, wherein a receiving location of a provided and currently handled workpiece pallet 300* is located, for example, below the first level 201

[0137] For example, the recording location and levels 201, 202, 203 are each spaced apart from each other by a height h in the vertical direction, with the gravitational field g (g as acceleration due to gravity) of the Earth acting, for example, along the negative vertical direction.

[0138] In the state according to Fig. 4A, the plurality of receiving devices 210 comprise a free receiving device 210a in the third level 203 and two receiving devices 210b occupied with workpiece pallets 300 in the first and second levels 201, 202.

[0139] In the course of the part of the method according to the third exemplary embodiment considered here, starting from the state in Fig. 4A, the provided workpiece pallet 300* with the workpiece W* fastened thereon is to be inserted into one of the several receiving devices 210, wherein the method is to be carried out on the basis of energy consumption parameters of the workpiece pallets 300, 300*.

[0140] Preferably, the mass of the workpieces Wl, W* mounted on the workpiece pallets 300, 300* serves as the energy consumption parameter. For simplification, it is assumed that the masses of all empty workpiece pallets are the same. Alternatively, however, a weight force of said workpieces Wl, W*, i.e., mass multiplied by the acceleration due to gravity g, can also be chosen.

[0141] In this case, the mass of the workpiece Wl of the workpiece pallet 300 on the first level 201 is selected as "m" and the mass of the workpiece W* of the provided workpiece pallet 300* is selected to be twice as large, i.e. "2m".

[0142] In the course of the exemplary method, an occupancy of the plurality of receiving devices 210 is preferably first re-sorted at least depending on an energy consumption parameter of the provided workpiece pallet 300*, which comprises the workpiece W* fastened thereon, and an energy consumption parameter of a further workpiece pallet 300 received in one of the plurality of receiving devices 210, here for example the workpiece pallet 300 from the first level 201, which comprises a further workpiece Wl fastened thereon.

[0143] The re-sorting preferably includes the following sub-steps: Determining a first energy consumption value El for transferring the further workpiece pallet 300 received in a first receiving device 210 of the plurality of receiving devices 210, here from the first level 201, into a second, free receiving device 210a of the plurality of receiving devices 210, here from the third level 203, depending on the energy consumption parameter of the further workpiece pallet 300; Determination of a second energy consumption value E2 for transporting the provided workpiece pallet 300* from its pick-up location to the first Holding device 210, here from the first level 201, depending on the energy consumption parameter of the provided workpiece pallet 300*; Determining a third energy consumption value E3 for transporting the provided workpiece pallet 300* from its receiving location to the second receiving device 210, here from the third level 203, depending on the energy consumption parameter of the provided workpiece pallet 300*; Transferring the further workpiece pallet 300 from the first to the second receiving device by means of the handling device, in this case from the first level 201 to the third level 203, if a sum of the first and second energy consumption values ​​E1, E2 is lower than the third energy consumption value E3.

[0144] The above sub-steps will be explained below using an example in which the energy consumption values ​​E1 to E3 are specified based on the change in potential energy with a change in height, i.e., by multiplying the weight force by a difference in height. Assuming the same mass of the empty workpiece pallets, their dimensions can be neglected. However, there are also cases in which the masses of the empty workpiece pallets differ, so these should also be taken into account.

[0145] By considering potential energy changes, for example, the first energy consumption value El for transporting the workpiece pallet 300 from the first level 201 to the third level 203 results in El=mg(2h)=2mgh.

[0146] Furthermore, a second energy consumption value E2 results for the transport of the workpiece pallet 300* from the pick-up location to the first level 201 as E2=(2m)gh=2mgh.

[0147] Furthermore, a third energy consumption value E3 results for the transport of the workpiece pallet 300* from the pick-up location to the third level 203 as E3=(2m)g(4h)=8mgh.

[0148] A sum of El and E2 (El+E2=4mgh) is lower than E3, i.e. El + E2 < E3, so that it is energetically more sensible to first transfer the workpiece pallet 300 from the first level 201 to the third level and then transfer the provided workpiece pallet 300* to the freed up holding device in the first level 201, instead of transferring it to the initially free holding device in the third level 203.

[0149] This results in a more energy-efficient method for handling the provided workpiece pallet 300*.

[0150] Fig. 4B shows an exemplary result of the above-described re-sorting starting from Fig. 4A, in which the provided workpiece pallet with attached Workpiece W* was transferred to the receiving device on the first level that became free during the re-sorting process.

[0151] Embodiments of the present invention and their advantages have been described in detail above with reference to the accompanying figures.

[0152] It is emphasized again that the present invention is in no way limited to the above-described embodiments and their features. The invention further encompasses modifications of the aforementioned embodiments, in particular those resulting from modifications and / or combinations of individual or multiple features of the described embodiments within the scope of the independent claims. List of reference symbols 100 handling device 110 Base equipment 120 carrier device 121 electric drive 130 Handling device 131 Telescopic axle 132 pallet holder 200 pallet storage 201-203 levels 210 Recording device 210a free mounting device 210b occupied receiving device 300 workpiece pallets 300* provided workpiece pallet 400 setup stations 410 Pick-up station pick-up device (secondary pick-up device) Wl, W* Workpieces

Claims

CLAIMS 1. A method for handling workpiece pallets (300, 300*) in a handling system, which comprises at least: a plurality of receiving devices (210), each configured to receive a workpiece pallet (300, 300*); and a handling device (100) comprising at least one pallet holder (132) movable relative to the plurality of receiving devices (210) for receiving a workpiece pallet (300, 300*) and configured to transfer a workpiece pallet (300, 300*) received in the pallet holder (132) to a free receiving device (210a) of the plurality of receiving devices (210) and / or to receive a workpiece pallet (300, 300*) deposited in one of the plurality of receiving devices (210b) into the at least one pallet holder (132); wherein the method comprises: Providing a workpiece pallet (300*) to be handled, which comprises a workpiece (W*) fastened thereon; Picking up the provided workpiece pallet (300*) into the pallet holder (132) of the handling device (100); Selecting a free receiving device (210a) from a set of free receiving devices (210a) of the plurality of receiving devices (210); and transferring the workpiece pallet (300*) received in the pallet holder (132) to the selected free receiving device (210a) by means of the handling device (100); characterized in that the method further comprises: Determining an energy consumption parameter of the provided workpiece pallet (300*), via which an energy consumption of the handling device (100) during handling of the provided workpiece pallet (300*) can be described; and wherein the selection of the free receiving device (210a) takes place depending on the determined energy consumption parameter 2. The method according to claim 1, wherein the energy consumption parameter is one of the following quantities or a term based thereon which comprises several of these quantities, preferably in the form of a weighted or an unweighted sum: a mass of the provided workpiece pallet (300*) together with the workpiece (W*) fastened thereon; a moment of inertia of the provided workpiece pallet (300*) together with the workpiece (W*) fastened thereon; a mass of the workpiece (W*) of the provided workpiece pallet (300*); a moment of inertia of the workpiece (W*) of the provided workpiece pallet (300*).

3. The method according to claim 1 or 2, wherein determining the energy consumption parameter of the provided workpiece pallet (300*) comprises: Reading an energy consumption parameter of the provided workpiece pallet (300*) provided in a storage device.

4. The method according to any one of claims 1 to 3, wherein determining the energy consumption parameter of the provided workpiece pallet (300*) comprises: Weighing the provided workpiece pallet (300*) by means of a weighing device, wherein the weighing device is preferably designed as part of the handling device (100); Determining the energy consumption parameter at least as a function of a weighing result of the weighing of the provided workpiece pallet (300*).

5. The method according to any one of claims 1 to 4, wherein determining the energy consumption parameter of the provided workpiece pallet (300*) comprises: Providing workpiece data of the workpiece of the provided workpiece pallet (300*), in particular in the form of CAD data and / or material data and / or processing data; and Determine the energy consumption parameter at least depending on the provided workpiece data.

6. The method according to any one of claims 1 to 5, wherein determining the energy consumption parameter of the provided workpiece pallet (300*) comprises: Detecting at least one operating variable of the handling device (100) during handling of the provided workpiece pallet (300*) received in the pallet holder (132), which describes an energy or power consumption during handling of the provided workpiece pallet (300*) received in the pallet holder (132), wherein the at least one operating variable is preferably an electrical power, an electrical energy quantity or an electrical current of the handling device (100), in particular of an electrical drive (121) of the handling device (100); and Determining the energy consumption parameter at least as a function of the detected at least one operating variable of the handling device (100).

7. The method according to claim 6, wherein the detection of the at least one operating variable takes place during a vertical movement of the pallet holder (132) with the provided workpiece pallet (300*) received therein.

8. The method according to claim 6 or 7, wherein determining the energy consumption parameter of the provided workpiece pallet (300*) comprises: Providing an energy reference value of the handling device (100) during handling of a reference pallet received in the pallet holder (132), which energy or power consumption describes an energy or power consumption during handling of the reference pallet received in the pallet holder (132), in particular an empty workpiece pallet without a secured workpiece; wherein the determination of the energy consumption parameter takes place at least as a function of the detected at least one operating variable of the handling device (100) and the provided energy reference value.

9. The method according to any one of claims 1 to 8, wherein the method further comprises: Dividing the plurality of receiving devices (210) at least into receiving devices of a first energy consumption group and receiving devices of a second energy consumption group; Providing a first limit value of the energy consumption parameter; and wherein selecting the free receiving device (210a) further comprises: Selecting a free receiving device (210a) from the first energy consumption group if the determined energy consumption parameter is less than or equal to the provided first limit value; and / or Selecting a free receiving device (210a) from the second energy consumption group if the determined energy consumption parameter is greater than or equal to the provided first limit value.

10. The method according to claim 9, wherein the subdividing of the plurality of receiving devices (210a) is performed based on vertical heights of the respective receiving devices (210a) with respect to a predefined reference height.

11. The method according to any one of claims 1 to 10, wherein selecting the free receiving device (210a) comprises: Determining energy consumption values for at least two free receiving devices (210a) of the plurality of receiving devices (210) as a function of the determined energy consumption parameter, in particular for all free receiving devices (210a) of the plurality of receiving devices (210), wherein the energy consumption values each describe an energy consumption for transporting the provided workpiece pallet (300*) by the handling device (100) from the receiving location to the respective free receiving device (210a); Selecting the free receiving device (210a) depending on the determined energy consumption values, in particular such that the free receiving device (210a) with the lowest energy consumption value of the determined energy consumption values is selected.

12. The method according to any one of claims 1 to 11, wherein the method further comprises: Reordering an occupancy of the plurality of receiving devices (210) at least depending on the determined energy consumption parameter of the provided workpiece pallet (300*) and a provided energy consumption parameter a further workpiece pallet (300) received in one of the plurality of receiving devices, which comprises a further workpiece (Wl) fastened thereon.

13. The method according to claim 12, wherein reordering the occupancy of the plurality of receiving devices (210) comprises: Determining a first energy consumption value for transferring the further workpiece pallet (300) received in a first of the plurality of receiving devices (210) into a second, free receiving device (210) of the plurality of receiving devices (210) as a function of the provided energy consumption parameter of the further workpiece pallet (300); Determining a second energy consumption value for transporting the provided workpiece pallet (300*) from its receiving location to the first receiving device (210) as a function of the determined energy consumption parameter of the provided workpiece pallet (300*); Determining a third energy consumption value for transporting the provided workpiece pallet (300*) from its receiving location to the second receiving device (210) as a function of the determined energy consumption parameter of the provided workpiece pallet (300*); Transferring the further workpiece pallet from the first to the second receiving device (210) by means of the handling device (100) if a sum of the first and second energy consumption values is lower than the third energy consumption value, wherein the selection of the free receiving device preferably comprises: Selecting the first holding fixture freed by the transfer as the free holding fixture for the provided workpiece pallet (300*).

14. The method according to any one of claims 1 to 13, wherein the handling system comprises a pallet storage (200) and the plurality of receiving devices (210) are each receiving devices (210) of the pallet storage (200).

15. The method according to claim 14, wherein the handling system comprises one or more secondary receiving devices (410) selected from the following group: a receiving device (410) of a setup station (400) of a machine tool; a receiving device of a pallet changer of a machine tool; a receiving device of a machine table of a machine tool; a receiving device of a transport device for transporting workpiece pallets in a production hall, in particular an autonomously driving, driverless transport vehicle; wherein the handling device (100) is additionally configured to transfer a workpiece pallet (300, 300*) received in the pallet holder (132) to a free secondary receiving device (410) of the one or more secondary receiving devices (410) and / or to receive a workpiece pallet (300, 300*) deposited in one of the one or more secondary receiving devices (410) into the at least one pallet holder (132).

16. A handling system for handling workpiece pallets (300, 300*), comprising: a plurality of receiving devices (210), each configured to receive a workpiece pallet (300, 300*); a handling device (100) comprising at least one pallet holder (132) movable relative to the plurality of receiving devices (210) for receiving a workpiece pallet (300, 300*) and configured to transfer a workpiece pallet (300, 300*) received in the pallet holder (132) to a free receiving device (210a) of the plurality of receiving devices (210) and / or to receive a workpiece pallet (300, 300*) deposited in one of the plurality of receiving devices (210b) into the at least one pallet holder (132); and a control device for controlling the handling device (100);wherein the control device is configured, in the course of handling a workpiece pallet (300*) provided to the handling device (100) and comprising a workpiece (W*) fastened thereon, to determine an energy consumption parameter of the provided workpiece pallet (300*), via which energy consumption of the handling device (100) during handling of the provided workpiece pallet (300*) can be described, and which is further configured to select a free receiving device (210a) from a set of free receiving devices (210a) of the plurality of receiving devices (210) depending on the determined energy consumption parameter; and further configured to control the handling device (100) in such a way that it transfers the provided workpiece pallet (300*) received in the pallet holder (132) to the selected free receiving device (210a) 17. Handling system according to claim 16, wherein the handling system, in particular its handling device (100), comprises a power recording unit which is configured to record an operating variable of the handling device (100) during handling of the provided workpiece pallet (300*) received in the pallet holder (132), which operating variable describes an energy or power consumption during handling of the provided workpiece pallet (300*) received in the pallet holder (132), wherein the control device, in the course of determining the energy consumption parameter of the provided workpiece pallet (300*), is configured to determine the energy consumption parameter at least as a function of the at least one operating variable of the handling device (100) recorded by the power recording unit.

18. Handling system according to one of claims 16 or 17, wherein the plurality of receiving devices (210) are divided at least into receiving devices (210) of a first energy consumption group and receiving devices (210) of a second energy consumption group, wherein the control device is configured, in the course of selecting the free receiving device (210a), to select said free receiving device depending on a first limit value of the energy consumption parameter provided to the control device, such that a free receiving device (210a) is selected from the first energy consumption group if the determined energy consumption parameter is less than or equal to the provided first limit value, and / or that a free receiving device (210a) is selected from the second energy consumption group if the determined energy consumption parameter is greater than or equal to the provided first limit value.

19. Handling system according to one of claims 16 to 18, wherein the control device is designed as part of the handling device (100) 20. Handling device (100) for use in a handling system according to claim 19.

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