Method and system for separating workpieces

Abstract

The invention relates to a method and a separating system (1) for separating workpieces (8, 9). The method comprises the following steps: first conveying of a plurality of workpieces (8, 9) lying one behind the other by means of a first conveying device (3) in a first conveying direction (12), introduction of a first workpiece (8) into a manipulator (2), wherein the first workpiece (8) is preferably aligned with a stop (2.7) of the manipulator (2), fixing of the first workpiece (8) in the manipulator (2), second conveying of the further workpieces (8, 9) on the first conveying device (3) in a second conveying direction (13), releasing of the first workpiece (8) out of the manipulator (2), third conveying of the first workpiece (8), in particular in the first conveying direction (12), to a transfer station or a machine tool, wherein the first and the second conveying direction (12, 13) preferably run in opposite directions, such that the first workpiece (8) can be separated from the further workpieces (9). In this way, a method is provided by means of which workpieces of any dimension or cross section can be separated and preferably aligned simultaneously. As a result, separated workpieces which are aligned and separated on the separating system (1) can be fed directly to a further processing machine.

Description

[0001] P2023-0320-WO Method and system for separating workpieces The invention relates to a method for separating workpieces lying one behind the other according to the preamble of claim 1 and to a corresponding separating system. When processing workpieces, in particular wood workpieces or wood composite workpieces, an aligned introduction of a separated workpiece into a processing machine is of great importance in order to be able to carry out proper processing. For this purpose, feeding devices are provided which feed a plurality of workpieces to the processing machines. In the case of workpieces with different dimensions or cross-sections, however, there is a risk of non-aligned introduction into the downstream processing machine. It is therefore an object of the present invention to provide an improved method or at least an alternative method for separating workpieces lying one behind the other.In particular, a method is to be proposed in which workpieces with different dimensions and cross-sections can be separated parallel to one another. This object is solved by the subject matter of independent patent claim 1. Preferred embodiments are the subject matter of the dependent patent claims. A further object of the present invention is to provide an improved or at least alternative separation system. In particular, a separation system for handling workpieces with different dimensions or cross-sections is proposed, which enables parallel separation of the workpieces. This object is solved by the subject matter of independent patent claim 9. Preferred embodiments are the subject matter of the dependent patent claims.The basic idea of ​​the invention is therefore to provide a method for separating workpieces comprising the following steps: first conveying a plurality of workpieces lying one behind the other by means of a first conveying device in a first conveying direction, introducing a first workpiece into a manipulator, fixing the first workpiece in the manipulator, second conveying the further workpieces located on the first conveying device in a second P2023-0320-WO conveying direction so that separation of the first workpiece from the further workpieces can be realized, releasing the first workpiece from the manipulator and third conveying the first workpiece to a transfer station or a processing machine, wherein the first and second conveying directions are preferably opposite, so that separation of the first workpiece from the further workpieces can be realized.This provides a method for aligning workpieces of any dimension or cross-section and simultaneously separating them. Consequently, the workpieces separated by the manipulator can be fed to another processing machine. The manipulator can preferably be designed as a clamping unit. This ensures secure fixation of the workpiece. The third conveying movement can take place, in particular, in the direction of the first conveying direction to a transfer station or a processing station. This makes it possible to provide a separating device that is directly upstream of another processing station. Within the meaning of the invention, separating means setting a defined distance between a first workpiece and another workpiece, in particular between a plurality of workpieces arranged one behind the other.According to a preferred embodiment of the method, the first workpiece is aligned with a stop of the manipulator upon insertion into the manipulator. By aligning the workpieces with the stop of the manipulator, it is therefore possible to feed the aligned and separated workpieces directly to another processing machine. According to a further preferred embodiment of the method, after and / or during the fixing of the first workpiece in the manipulator, a relative movement is brought about between the first workpiece and the first conveyor device, wherein the relative movement is oriented vertically orthogonal to the first conveyor direction and is preferably realized by raising the first workpiece, raising the manipulator, and / or lowering the first conveyor device.As a result, the first conveyor device and the first workpiece are disengaged, whereby actuation of the first conveyor device causes as little interaction with the first workpiece as possible. As a result, damage to the first workpiece caused by conveyance by means of the first conveyor belt can be avoided. P2023-0320-WO For the purposes of the invention, the altitude is considered to be the geodetic distance from a reference position, in this case the first conveying direction. Preferably, after the first workpiece has been fixed in the first conveying direction, the manipulator is moved by the first conveyor device in such a way that the workpiece is disengaged from the first conveyor device.According to a further preferred embodiment of the method, the first workpiece is fixed in the manipulator with the aid of a collet having an upper clamping jaw and a lower clamping jaw comprising a clamping jaw support surface and / or by means of a vacuum device which rests against one side of the first workpiece. This enables secure fixing in the manipulator for workpieces with different geometric dimensions. A vacuum device, in the sense of the invention, is understood to mean a vacuum generator and a plurality of suction cups, wherein the vacuum is applied to the first workpiece via the suction cups. The drive unit of the collet is preferably arranged below the clamping jaw support surface. This ensures a space-optimized arrangement of the drive unit.Particularly preferably, the vacuum device has adaptively adjustable suction cups, wherein the suction cups are designed to be applied to a surface of the first workpiece. According to a further preferred embodiment of the method, the fixing of the first workpiece is monitored by means of a monitoring sensor, wherein the monitoring sensor sends a signal to a control unit upon detection of a workpiece or upon reaching a predefined value. The monitoring sensor is preferably designed as a light sensor. This can ensure that a workpiece to be fixed is arranged in the collet. In an alternative embodiment, the monitoring sensor is a force gauge, wherein the force gauge sends a signal to a control unit upon reaching a predefined value. This allows the fixing process to be monitored and a signal to be sent to the control unit when the workpiece is securely fixed.When the force gauge is used as a monitoring sensor, it is thus possible to fix the workpiece in such a way that the workpiece is held securely and not damaged. P2023-0320-WO Particularly preferably, the monitoring sensor has a light sensor and a force gauge. This can ensure that a workpiece is arranged within the collet chuck and that the fixation does not lead to any damage to the workpiece. According to a further preferred embodiment of the method, in order to release the first workpiece, the upper clamping jaw is rotated by at least 90° and then the upper clamping jaw is lowered so that the first workpiece can be conveyed via the clamping jaw in the direction of the first conveying direction. By lowering the upper clamping jaw in an area below the lower edge of the first workpiece, it is possible for the workpiece to be conveyed via the manipulator in the direction of the first conveying direction.This allows workpieces to be separated in a conveying direction, with the individual workpieces being aligned parallel to one another by the stop on the manipulator. Preferably, the upper clamping jaw is lowered using a drive unit. The drive unit can be an electric motor, a hydraulic system, or a pneumatic system, with the corresponding drive unit being controlled by a control unit. According to a further preferred embodiment of the method, the insertion of the first workpiece into the manipulator is monitored using a first sensor, with the information from the first sensor being sent to a control unit in order to control the manipulator. This enables targeted control of the manipulator. In particular, with workpieces that have to be fixed using multiple collets, this can ensure that the workpiece is correctly positioned in each collet.This ensures that the workpieces are separated in parallel, even when they are long. The first conveyor device is preferably driven in the first conveying direction until the first sensor or a plurality of first sensors registers correct positioning within the manipulator and sends a signal to the control unit to actuate the manipulator and stop the first conveyor device. According to a further preferred embodiment of the method, the second conveying of the further workpieces in the second conveying direction is monitored by means of a second sensor, the second sensor being arranged in such a way that the first workpiece can be separated from the further workpieces. P2023-0320-WO This allows a defined distance between the workpieces to be maintained and monitored.Preferably, the second sensor is mounted so that it can be moved along the first conveyor. The second sensor is mounted on the first conveyor in such a way that it can be locked at different distances from the first sensor. Preferably, the second sensor is automatically moved along the first conveyor and locked. The second sensor is preferably a detection sensor. This allows different distances between the workpieces to be separated to be set and monitored depending on the desired subsequent processing.The invention further relates to a separation system for separating a plurality of workpieces arranged one behind the other, comprising a manipulator for holding a first workpiece and a first conveyor device with a first support surface, wherein the first conveyor device is configured to convey a first workpiece to the manipulator, wherein a control unit is provided to control the manipulator and / or the first conveyor device, wherein the control unit is configured such that, given a plurality of workpieces, separation of the workpieces can be realized. Preferably, separation can be realized according to one of the previously described methods, or various method steps of the above-mentioned separation methods are carried out. This provides a compact system for separating workpieces, the components of which are controlled by a control unit.The manipulator is particularly preferably designed as a clamping unit. This enables particularly secure fixation of the first workpiece. According to a preferred embodiment of the separation system, the manipulator and the first conveyor are positioned relative to one another such that a direct transfer of a workpiece from the first conveyor to the manipulator takes place. Preferably, when transferring a workpiece from the first conveyor to the manipulator, the clamping jaw support surface of the manipulator is arranged at least approximately on the same level as the first support surface of the first conveyor. This enables a barrier-free transfer from the conveyor to the manipulator. This ensures that the workpiece to be fixed is not damaged during the transfer.P2023-0320-WO Particularly preferably, the first support surface of the first conveyor device is made of a plastic, in particular of a polyester. By forming the first support surface of a plastic, a cost-effective and abrasion-resistant material is provided which does not damage the workpieces. According to a further preferred embodiment of the separation system, the manipulator has a collet chuck and a lifting device, wherein the lifting device is configured to raise a collet chuck of the manipulator or a lower clamping jaw, having a clamping jaw support surface, of the collet chuck of the manipulator relative to the first support surface of the first conveyor device, wherein the control unit activates the lifting device if a workpiece is fixed in the manipulator. As a result, the first workpiece and the first conveyor device are disengaged.This makes it possible for the first conveyor device to move the other workpieces located on the conveyor device without exerting a significant force on the first workpiece. This can prevent potential damage to the first workpiece. According to a further preferred embodiment of the separation system, the conveyor device has a lowering device, wherein the lowering device is designed to lower the first conveyor device having a first support surface relative to the clamping jaw support surface of the manipulator, wherein a control unit activates the lowering device if a workpiece is fixed in the manipulator. This also disengages the first workpiece and the first conveyor device. This allows the first conveyor device to move other workpieces located on the conveyor device without the risk of damaging the first workpiece.According to a further preferred embodiment of the singulation system, the conveying device has a plurality of first support surfaces, which are each arranged parallel at a distance from one another, wherein the manipulator comprises a plurality of collet chucks which are arranged laterally on the first support surfaces, wherein a first sensor, preferably a first detection sensor, is provided, wherein the first sensor is arranged such that an insertion of a workpiece into the manipulator is detected, wherein the first sensor is connected to a control unit, wherein the control unit controls the manipulator if a workpiece is detected in the manipulator. P2023-0320-WO This ensures that a workpiece with different dimensions is properly aligned and fixed on the manipulator in order to enable parallel singulation.Preferably, a first sensor, preferably a first detection sensor, is provided for each collet. This ensures that a first workpiece is properly arranged in each of the collets. This ensures that the workpiece is properly aligned on the manipulator. According to a further preferred embodiment of the singulation system, the singulation system has a second sensor, preferably a second detection sensor, wherein the second sensor is arranged in the region of the first conveyor device such that the presence of another workpiece on the conveyor device can be detected. By determining the position of the other workpiece using the detection sensor, the distance between the first workpiece and the other workpiece can be determined. This allows a predefined distance between the workpieces to be singulated to be set and monitored.Preferably, the second sensor is arranged so that it can be moved along the first conveyor. This makes it possible to adjust the distance according to the subsequent processing. According to a further preferred embodiment of the separation system, the first and / or the second sensor are designed as contact sensors or as contactless distance sensors, in particular as optical sensors, wherein the contactless distance sensor is preferably arranged below the plane of the first support surface of the first conveyor. The contactless sensor is preferably designed as a light sensor. This provides a cost-effective and easy-to-integrate sensor with which proper measurement can be ensured.According to a further preferred embodiment of the singulation system, a second conveyor device is provided, wherein the second conveyor device is arranged downstream of the first conveyor device in the first conveying direction and on the manipulator in such a way that the first workpiece is transferred from the manipulator to the second conveyor device, wherein the first and second conveyor devices are preferably driven by a common drive unit. P2023-0320-WO This ensures that both conveyor devices are operated at the same feed speed. Preferably, the second conveyor device has a second support surface and a lifting unit, wherein the lifting unit lifts the second conveyor device in such a way that the second support surface is positioned at almost the same height as or higher than the first support surface of the first conveyor unit.This ensures that after the workpieces have been separated, the first workpiece is transported by the second conveyor unit. According to a further preferred embodiment of the separation system, the second conveyor device has an at least partially overlapping area with the first conveyor device in the region of the manipulator, wherein the second conveyor device is raised relative to the first conveyor device in the overlapping area such that the first workpiece is transferred directly to the second conveyor device. An overlapping area within the meaning of the invention is understood to be the area in which the first conveyor device and the second conveyor device are arranged next to one another. The first and second conveyor devices are preferably arranged on a frame. This provides a particularly space-saving design.Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures with reference to the drawings. It is understood that the features mentioned above and those to be explained below can be used not only in the respectively specified combination, but also in other combinations or on their own, without departing from the scope of the present invention. Preferred embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein like reference numerals refer to like or similar or functionally identical components. They show: Fig. 1 a schematic view of a singling system according to the invention, Fig. 2 a schematic view of a further singling system according to the invention, Fig. 3 a schematic view of a third singling system according to the invention, Fig.4 shows a schematic view of a manipulator according to the invention in the extended state, Fig. 5 shows a schematic view of the manipulator according to the invention in the retracted state, P2023-0320-WO Fig. 6 shows a three-dimensional view of another singling system. Fig. 1 illustrates a singling system 1 according to the invention. In one embodiment, the singling system 1 is intended to singulate wooden workpieces, in particular wooden beams, in different dimensions and cross-sections. The singling system 1 has a first conveyor device 3 and a manipulator 2. The first conveyor device 3 and the manipulator 2 are arranged on a common frame 7. In the present exemplary embodiment, the first conveyor device 3 is designed as a belt conveyor and projects as far as the manipulator 2. The manipulator 2 has a first support surface 3.1 made of a plastic, in particular a polyester.In an embodiment not shown, the first conveyor device 3 is designed as a chain conveyor. The chain conveyor has individual chain segments made of a plastic or a metal. In a special embodiment of the chain segments, the chain segments have a metallic base body and a plastic top layer, with the top layer being connected to the metallic base body. The plastic top layer can be roughened such that wooden workpieces can be securely stored and moved on the surface. Furthermore, the top layer prevents damage to the wooden workpieces. The first conveyor device 3 further has a drive motor (not shown). This is controlled by a control unit 15 such that the wooden workpieces 8, 9, which are arranged on the first support surface 3.1, can be conveyed in both a first conveying direction 12 and a second conveying direction 13.When the wooden workpieces 8, 9 are conveyed in the first conveying direction 12, the wooden workpieces are conveyed towards the manipulator 2. When the workpieces 8, 9 are conveyed in the second conveying direction 13, the workpieces are conveyed away from the manipulator 2. The first conveying direction 12 is therefore oriented opposite to the second conveying direction 13. In the present exemplary embodiment, the manipulator 2 is designed as a clamping unit, which is shown separately in Fig. 4 and Fig. 5. The clamping unit 2 is designed as a collet 2.1 with an upper clamping jaw 2.2 and a lower clamping jaw having a clamping jaw support surface 2.3. The upper clamping jaw 2.2 can be moved vertically with the aid of a lifting device 2.4. In Fig. 1 and Fig. 4, the upper clamping jaw 2.2 is shown in an extended position. In the extended position, a first workpiece 8 can be conveyed into the clamping unit 2.For this purpose, the first workpiece 8 located on the first support surface 3.1 is conveyed in the direction of the clamping unit 2 until it at least partially rests against a stop 2.7 of the clamping unit 2. During conveyance into the clamping unit 2, in one embodiment the first workpiece 8 is lifted via an insertion wedge 2.5 such that the first workpiece 8 is disengaged from the first conveying device 3. The upper clamping jaw 2.2 is then lowered with the aid of the lifting device 2.4 in order to fix the first workpiece 8. In one P2023-0320-WO embodiment the upper clamping jaw 2.2 has a plastic surface. This can prevent or at least reduce damage to the workpiece 8 during fixation. The fixation of the first workpiece 8 can be further reinforced via the lower clamping jaw. The lower clamping jaw having the clamping jaw support surface 2.3 can be raised towards the upper clamping jaw 2.2 for this purpose.This also lifts the first workpiece 8 and clamps it between the upper clamping jaw 2.2 and the clamping jaw support surface 2.3 of the lower clamping jaw. In one embodiment, the clamping jaw support surface 2.3 has a plastic surface to prevent or at least reduce damage to the workpiece 8. In order to monitor whether the first workpiece 8 has been properly inserted into the clamping unit 2, a first sensor 10 can be arranged in the area of ​​the clamping unit 2 such that it registers the inserted workpiece. In one embodiment, the first sensor 10 is designed as a detection sensor 10. The detection sensor 10 can be designed as a contact switch. When the first workpiece 8 is conveyed into the clamping unit 2, a spring-loaded pushbutton switch is moved such that it closes an electrical circuit. This provides a simple way of signaling whether the first workpiece 8 is properly positioned in the clamping unit 2.The contact sensor can be arranged within the clamping unit 2 or below the plane of the first support surface 3.1, wherein the sensor protrudes above the plane of the first support surface 3.1 such that a workpiece can activate the sensor. In an alternative embodiment, the detection sensor 10 can be designed as a contactless distance sensor. In this case, the first sensor 10 can be designed as an optical sensor, for example as a light sensor. With a light sensor, a focused light beam is emitted onto the workpiece to be measured. Part of the light beam is reflected by the workpiece. This reflected part of the light beam radiates back to the sensor and is detected by a detector. This makes it possible to determine whether a workpiece is within the detection range of the light sensor or not. In the embodiment in Fig. 1, the light sensor is arranged below the plane of the first support surface 3.1.This position is preferred because it simplifies the wiring of the first sensor. In addition, the arrangement of the first sensor below the level of the first support surface 3.1 ensures proper detection of a first workpiece 8. The exemplary embodiment in FIG. 1 further comprises a second sensor 11. Like the first sensor 10, this can be designed as a contact sensor or as a contactless sensor. The second sensor 11 is arranged at a distance from the first sensor 10 such that the distance between the first workpiece 8 and the other workpieces 9 located on the first support surface 3.1 of the first conveyor device 3 can be detected with the second sensor 11. For this purpose, the workpieces 8, 9 located on the first conveyor device 3 are first conveyed in the first conveying direction 12 until the first workpiece 8 rests against the stop 2.7 of the manipulator 2.The first workpiece 8 is fixed to the manipulator 2 and the other workpieces 9 are conveyed by the first conveyor device 3 in the direction of the second conveying direction 13 until the second sensor 11 detects one of the other workpieces 9. When the desired distance between the P2023-0320-WO workpieces 8, 9 is reached, a signal is sent to the control unit 15 to stop the drive of the first conveyor device 3. In an embodiment not shown, the second sensor 11 is arranged so that it can be moved along a rail system. This allows the distance between the first sensor 10 and the second sensor 11 to be adjusted. This makes it possible to separate the first workpiece 8 from the other workpieces 9 at a predefined distance. Fig. 2 shows a schematic view of a further embodiment of a separation system 1 according to the invention.The separation system 1 comprises a first conveyor device 3 with a first support surface 3.1 and a manipulator 2. The manipulator 2 is arranged laterally on the first conveyor device 3. The position of the manipulator 2 on the first conveyor device 3 is such that workpieces 8, 9 are conveyed along a first conveying direction 12 to the manipulator 2 in order to separate the first workpiece 8 from the other workpieces. After the first workpiece 8 has been separated with the aid of the manipulator 2, the first workpiece 8 is transported further along the first conveying direction 12 by the first conveyor device 3. The manipulator 2 has an insertion wedge 2.5, a stop 2.7, a collet 2.1 and a workpiece support 2.6 for separation. The collet 2.1 comprises an upper clamping jaw 2.2, a lower clamping jaw having a clamping jaw support surface 2.3 and a lifting device 2.4.For separation, the first workpiece 8 is conveyed with the aid of the first conveyor device 3 via the insertion wedge 2.5 to the stop 2.7 of the manipulator 2. The upper clamping jaw 2.2 is then lowered to fix the first workpiece 8. In a special embodiment, the lower clamping jaw is also raised to assist in fixing the first workpiece 8. This allows the first workpiece 8 to be raised such that it is out of engagement with the first support surface 3.1 of the first conveyor device 3. This ensures that the first workpiece 8 is not damaged by a movement of the first support surface 3.1. After the first workpiece 8 has been lifted, the other workpieces 9, which are arranged on the first support surface 3.1, are moved in the second conveying direction 13 until a predefined distance between the first workpiece 8 and the other workpieces 9 is reached.In the embodiment shown in Fig. 2, the distance is monitored using the first and second sensors 10, 11, the first and second sensors 10, 11 being arranged and designed in accordance with the above-described embodiment shown in Fig. 1. Reference is made to the above description in this regard. In an alternative embodiment not shown, the distance is monitored via the actuator of the first conveyor device 3. This allows the distance to be calculated in the control unit (not shown) or another evaluation unit and output to an operator. After the workpieces 8, 9 have been separated, the upper clamping jaw 2.2 is opened. If the lower clamping jaw was raised, it is lowered so that the first workpiece 8 rests on the workpiece support 2.6. The upper clamping jaw 2.2 is then rotated such that the upper clamping jaw 2.2 can subsequently be lowered next to the first workpiece 8.P2023-0320-WO Preferably, the upper clamping jaw 2.2 is rotated by at least 90°, as this ensures that the upper clamping jaw 2.2 no longer comes into contact with the first workpiece 8. This ensures that no damage is caused to the first workpiece 8 by lowering the upper clamping jaw 2.2. In the embodiment according to Fig.2, the upper clamping jaw 2.2 is lowered below the workpiece support 2.6. In this case, as shown in Fig.5, the collet 2.1 with the upper clamping jaw 2.2, the lifting device 2.4 and the stop 2.7 is lowered below the workpiece support 2.6 or at least brought to the same height. In an embodiment not shown, the upper clamping jaw is lowered below the first support surface 3.1. By lowering the upper clamping jaw 2.2 below the workpiece support 2.6, the first workpiece 8 can be conveyed over the upper clamping jaw 2.2 in the direction of the first conveying direction 12.This allows the first workpiece 8 to be fed to a downstream processing machine in an extension of the first conveying direction 12. Fig. 3 shows a schematic view of another exemplary embodiment of a singling system 1 according to the invention. The singling system 1 has a manipulator 2, a first conveyor 3, and a second conveyor 4, wherein the manipulator 2 is designed according to the exemplary embodiments described above. Reference is made to the above description in this regard. The first conveyor 3 has a first support surface 3.1 for conveying a first workpiece 8 into the manipulator 2 for singling. The second conveyor 4 has a second support surface 4.1 and a lifting unit 4.2.The second conveyor device 4 is arranged downstream of the manipulator 2 in the first conveying direction 12 such that the first workpiece 8, after separation, can preferably be transferred directly from the manipulator 2 to the second conveyor device 4. The height of the second support surface 4.1 can be varied relative to the first support surface 3.1 by means of the lifting unit 4.2 by raising or lowering the second conveyor device 4. For this purpose, the lifting unit 4.2 has an articulated arm 4.3 and a lifting drive 4.4. In one variant, the lifting drive 4.4 is designed as a linear motor with a rotor and a stator, wherein the rotor is arranged for translational movement within the stator. When the lifting drive 4.4 is at rest, the rotor of the lifting drive 4.4 is in a retracted position. In the retracted position of the rotor, the height of the second support surface 4.1 is at least approximately at the height of the first support surface 3.1. If the lifting drive 4.4 is energized, the rotor moves out of the stator of the lifting drive 4.4. The translational movement of the rotor leads to a movement of the articulated arm 4.3. The articulated arm 4.3 lifts the second conveyor 4 such that the height of the second support surface 4.1 is above the level of the first support surface 3.1. As a result, the first workpiece 8 can be lifted by the second conveyor 4 after being separated by the manipulator 2. The first workpiece 8 is thus disengaged from the manipulator 2 and can be conveyed via the second conveyor 4 to another processing machine (not shown). For this purpose, the P2023-0320-WO conveyor 4 is driven by a drive (not shown). The lifting drive 4.4 of the lifting unit 4.2 is attached to the frame 7 via a bracket and arranged below the first conveyor 3.This allows a space-saving design to be provided. The lifting drive 4.4 and the drive of the second conveyor device 4 are controlled by a control unit (not shown). This ensures that the second conveyor device 4 is lifted first and then driven. As a result, the first workpiece 8 is first disengaged from the manipulator 2 before it is conveyed. This prevents damage to the first workpiece 8. In a further variant, the lifting drive can be designed as a pneumatic drive with a translatorily extending pneumatic cylinder. In an alternative further variant, the drive unit can be designed with a hydraulic drive with a translatorily extending hydraulic cylinder. In a further embodiment (not shown), the second conveyor device can be designed as an articulated arm robot.In a special variant, a plurality of articulated-arm robots can be provided. In this case, an articulated-arm robot has a base and an articulated arm. The base is arranged between the manipulator and the further processing machine. The articulated arm of the articulated-arm robot is rotatably mounted to the base and has a gripping device at its free end. The gripping device is rotatably and pivotably mounted on the articulated arm. In a further modified variant, the gripping device has a gripper with at least two gripping arms, wherein the gripping arms are displaceable relative to one another so that a first workpiece can be clamped between the gripping arms. In an alternative variant, the gripping device has a suction device in the form of a vacuum suction cup. With the help of the suction device, the first workpiece can be sucked onto the gripping device and held for transport.In a further variant, the gripping device can have both a gripper and a suction device. Depending on the workpiece, in this variant the workpiece can be clamped and / or suctioned with the gripper, the suction device or with the gripper and the suction device. The articulated-arm robot can securely grip workpieces of various dimensions and geometries and transport them from the manipulator to the further processing machine. The articulated-arm robot is configured such that the first workpiece can be placed in alignment on the further processing machine. Fig. 6 shows a three-dimensional view of a further embodiment of the singulation system 1 according to the invention. The singulation system 1 has a first conveyor device 3, a manipulator 2 and a second conveyor device 4, wherein the first conveyor device 3, the manipulator 2 and the second conveyor device 4 are arranged on a common frame 7.In the present exemplary embodiment, the first conveyor device 3 has two first support surfaces 3.1. In a variant not shown, the first conveyor device 3 can have a plurality of first support surfaces 3.1. In the end region of the first conveyor device 3, a manipulator 2 is arranged laterally on the carrier for each first support surface 3.1. The manipulators 2 have an upper clamping jaw 2.2, a lower clamping jaw having a clamping jaw support surface 2.3, a lifting device (not shown), a stop (not shown) for a first workpiece (not shown), an insertion wedge 2.5, and a workpiece support 2.6. The upper clamping jaw 2.2 can be extended and retracted via a lifting device (not shown) in order to fix a first workpiece between the upper clamping jaw 2.2 and the clamping jaw support surface 2.3 of the lower clamping jaw. In the embodiment shown in Fig.6, the upper clamping jaw is 2.2 is rotated by 90 degrees such that the upper clamping jaw 2.2 and the clamping jaw support surface 2.3 do not have an overlap area 5 in a plan view. In the retracted state, the upper clamping jaw 2.2 is positioned below the height level of the workpiece support 2.6, whereby the first workpiece rests on the workpiece support 2.6. This ensures that the upper clamping jaw 2.2 is not in engagement with the first workpiece. This reduces the risk of damage to the first workpiece. A first workpiece is conveyed by the second conveyor device 4 from the manipulator 2 to another processing machine (not shown). For this purpose, the second conveyor device 4 has a second support surface 4.1 and a lifting unit 4.2. In order to convey a first workpiece with the second conveyor device 4, the second conveyor device 4 is lifted by means of the lifting unit 4.2. For this purpose, the lifting unit 4.2 comprises an articulated arm 4.3 and a lifting drive 4.4. In one variant, the lifting drive 4.4 is designed as a linear motor with a rotor and a stator, wherein the rotor is arranged so as to be translationally movable within the stator. In an alternative variant, the lifting drive is designed as a hydraulic system which brings about a translational movement. The translational movement leads to a movement of the articulated arm 4.3. The articulated arm 4.3 is connected to the second conveyor device 4 in such a way that the movement of the articulated arm lifts the second conveyor unit 4. By lifting the second conveyor device 4, a first workpiece located in the manipulator 2 can rest on the second support surface 4.1. This ensures that the first workpiece can be conveyed to another processing machine by the second conveyor device 4.The first conveyor 3 and the second conveyor 4 have an overlap region 5 in the area of ​​the manipulator 2. This overlap region 5 can be longer or shorter depending on the design of the separation system 1. The overlap region 5 serves to transfer a first workpiece from the first conveyor 3 to the second conveyor 4 via the manipulator 2. The first and second conveyors 3, 4 have a common drive unit or individually arranged drive units. In an embodiment not shown, the first conveyor 3 and the second conveyor 4 can each have a separate drive unit, which is controlled via a common control unit. The embodiment according to Fig. 6 has a common drive unit 6 for the first and second conveyors 3, 4. The drive unit 6 comprises a shaft 6.1, a drive belt 6.2 and a motor unit 6.3. In a variant not shown, the drive unit has a P2023-0320-WO drive chain. With a drive chain, high forces can be transmitted from the motor unit to the shaft. In the present embodiment, the motor unit 6.3 is designed as an electric motor and is controlled by a control unit not shown. The electric motor 6.3 drives the drive belt 6.2, which in turn drives the shaft 6.1. The rotating shaft 6.1, in turn, drives the first and second conveyor devices 3, 4. This ensures that both conveyor devices 3, 4 are operated at the same conveying speed. In a variant not shown, a gear unit can be arranged between the electric motor 6.3 and the drive belt 6.2. This makes it possible to change the transmitted force or to change the speed of the electric motor 6.3 to the drive belt 6.2.The shaft 6.1 is located in the overlap area 5 of the two conveyor devices 3, 4 and is connected to both conveyor devices 3, 4 in a force-transmitting manner. The shaft 6.1 is also mounted on the frame 7. In a variant not shown, the bearing of the second and / or first conveyor device 3, 4 can be displaced via an adapter unit such that the overlap area 5 of the two conveyor devices 3, 4 can be varied. In one variant, the adapter unit can be a bearing movable in a slot. Separation of workpieces can be carried out by means of a method 14 according to the invention with the aid of the separation system 1, as shown in Fig. 6, according to the flow diagram according to Fig. 7. Within the scope of the method 14 according to the invention, a first conveying 14.1 of a plurality of workpieces 8, 9 arranged one behind the other by means of a first conveyor device 3 in a first conveying direction 12 in the direction of a manipulator 2. Subsequently, a first workpiece (not shown in Fig. 6) is introduced into the manipulator 2 with the aid of the first conveyor device 3. The first workpiece rests on the first support surfaces 3.1 and, in a preferred variant, is aligned with a stop (not shown) of the manipulator 2. In one variant, the proper insertion 14.2 of the first workpiece into the manipulator 2 can be monitored with the aid of a first sensor 10. In the present embodiment, the sensor 10 is designed as a light sensor. The signal from the light sensor 10 is sent to a control unit (not shown), which then controls the manipulator. Subsequently, the first workpiece is fixed between the upper clamping jaw 2.2 and the lower clamping jaw of the manipulator 2.During fixation 14.3, the upper clamping jaw 2.2 is extended with the aid of a lifting device 2.4 (not shown) such that the distance between the clamping jaw support surface 2.3 and the upper clamping jaw 2.2 is greater than the length of the first workpiece to be fixed. The upper clamping jaw 2.2 is subsequently lowered such that the first workpiece is fixed between the clamping jaw support surface 2.3 of the lower clamping jaw and the upper clamping jaw 2.2. In a further process step, the additional workpieces (not shown) located on the first support surface 3.1 of the first conveyor device 3 are conveyed in a second direction. The second conveying 14.4 continues until the first workpiece is separated from the other workpieces.In one variant, the distance between the first workpiece and the other workpieces can be monitored with the help of a second sensor 11, which P2023-0320-WO is preferably designed as a light sensor. In this case, a focused light beam is emitted from the light sensor onto the workpiece to be measured. Part of the light beam is reflected by the workpiece in such a way that the reflected part of the light beam radiates back to the light sensor and is detected by a detector of the light sensor. This makes it possible to determine whether a workpiece is located within the detection range of the light sensor. Once the predefined distance between the first and the other workpieces has been reached, the first workpiece is released from the upper clamping jaw 2.2. For the release 14.5, the upper clamping jaw 2.2 is raised by means of the lifting device 2.4. The upper clamping jaw 2.2 is then rotated by at least 90°. This ensures that the upper clamping jaw 2.2 in plan view does not overlap with the first workpiece. This makes it possible for the upper clamping jaw 2.2 to be lowered next to the first workpiece such that the upper clamping jaw 2.2 is below the height level of the first workpiece, whereby the workpiece can preferably be conveyed over the first clamping jaw 2.2. This allows a third conveyance 14.6 of the first workpiece to another processing machine. In the embodiment according to Fig. 6, a third conveyance 14.6 of the first workpiece to another processing machine takes place by raising the second conveyor device 4 with the aid of the lifting unit 4.2 such that the first workpiece rests on the second support surface 4.1. To raise the second conveyor device 4, a lifting drive 4.4 is controlled by the control unit. The lifting drive moves an articulated arm 4.3 such that the movement of the articulated arm 4.3, the second conveyor 4 is raised. The second conveyor 4 is then driven by the drive unit 6 to convey the first workpiece to another processing machine. This ensures that the workpieces are fed to a processing machine individually and aligned with the aid of the stop for further processing.

[0002] P2023-0320-WO Reference list: 1. Separation system 2. Manipulator 2.1 Collet 2.2 Upper clamping jaw 2.3 Clamping jaw support surface 2.4 Lifting device 2.5 Insertion wedge 2.6 Workpiece support 2.7 Stop 3. First conveyor device 3.1 First support surface 4. Second conveyor device 4.1 Second support surface 4.2 Lifting unit 4.3 Articulated arm 4.4 Lifting drive 5. Overlap area 6. Drive unit 6.1 Shaft 6.2 Drive belt 6.3 Motor unit 7. Frame 8. First workpiece 9. Other workpieces 10. First sensor 11. Second sensor 12. First conveying direction 13. Second conveying direction 14. Procedure 14.1 First conveying 14.2 Inserting 14.3 Fixing 14.4 Second conveying 14.5 Releasing 14.6 Third conveying 15. Control unit

Claims

P2023-0320-WO Claims 1. A method for separating workpieces, comprising the following steps: - first conveying (14.1) of a plurality of workpieces (8, 9) arranged one behind the other by means of a first conveying device (3) in a first conveying direction (12), - introducing (14.2) a first workpiece (8) into a manipulator (2), in particular a clamping unit - fixing (14.3) the first workpiece (8) in the manipulator (2), - second conveying (14.4) of the further workpieces (9) located on the first conveying device (3) in a second conveying direction (13), such that separation of the first workpiece (8) from the further workpieces (9) is possible, - releasing (14.5) the first workpiece (8) from the manipulator (2), - third conveying (14.6) of the first workpiece (8), in particular in the direction of the first conveying direction (12) to a transfer station or a processing machine, wherein the first and second conveying directions (12, 13) are preferably opposite.

2. The method according to claim 1, wherein the first workpiece (8) is aligned with a stop (2.7) of the manipulator (2) during insertion (14.2) into the manipulator (2).

3. The method according to claim 1 or 2, wherein after and / or during the fixing (14.3) of the first workpiece (8) in the manipulator (2), a relative movement is brought about between the first workpiece (8) and the first conveying device (3), wherein the relative movement is oriented vertically orthogonal to the first conveying direction (3) and is preferably realized by raising the first workpiece (8), raising the manipulator (2), and / or lowering the first conveying device (3). 4.Method according to one of the preceding claims, wherein the first workpiece (8) is fixed in the manipulator (2) with the aid of a collet (2.1) having an upper clamping jaw (2.2) and a lower clamping jaw having a clamping jaw support surface (2.3), and / or by means of a vacuum device which bears against one side of the first workpiece (8).

5. Method according to claim 4, wherein the fixing (14.3) of the first workpiece (8) is monitored by means of a monitoring sensor, preferably by means of a dynamometer, wherein the. P2023-0320-WO Monitoring sensor sends a signal to a control unit (15) upon detection of a workpiece or upon reaching a predefined value.

6. Method according to claim 4 or 5, wherein to release (14.5) the first workpiece (8), the upper clamping jaw (2.2) is rotated by at least 90° and subsequently the upper clamping jaw (2.2) is lowered so that the first workpiece (8) can be conveyed via the upper clamping jaw (2.2) in the direction of the first conveying direction (12).

7. Method according to one of the preceding claims, wherein the insertion (14.2) of the first workpiece (8) into the manipulator (2) is monitored with the aid of a first sensor (10), wherein the information from the first sensor (10) is passed to a control unit (15) in order to control the manipulator (2).

8. Method according to claim 7, wherein the second conveying (14.4) of the further workpieces (9) in the second conveying direction (13) is monitored by means of a second sensor (11), wherein the second sensor (11) is arranged such that a separation of the first workpiece (8) and the further workpieces (9) can be realized.

9. Separation system (1) for separating a plurality of workpieces (8, 9) arranged one behind the other, comprising a manipulator (2), in particular a clamping unit, for holding a first workpiece (8) and a first conveying device (3) with a first support surface (3.1), wherein the first conveyor device (3) is configured to convey a first workpiece (8) to the manipulator (2), wherein a control unit (15) is provided to control the manipulator (2) and / or the first conveyor device (3), wherein the control unit (15) is configured to carry out a separation of the first workpiece (8) in the case of a plurality of workpieces (8, 9), in particular a separation according to a method according to claims 1 to 8.

10. Separation system according to claim 9, wherein the manipulator (2) and the first conveyor device (3) are positioned relative to one another in such a way that a direct transfer of a first workpiece (8) from the first conveyor device (3) to the manipulator (2) takes place, in particular that during the transfer of the first workpiece (8) from the first conveyor device (3) to the manipulator (2), the clamping jaw support surface (2.3) of the manipulator (2) is on almost the same level as the first Support surface (3.1) of the first conveyor device (3). P2023-0320-WO 11. Separation system according to claim 10, wherein the manipulator (2) has a collet (2.1) and a lifting device (2.4), wherein the lifting device (2.4) is designed to lift a collet (2.1) of the manipulator (2) or a lower clamping jaw, having a clamping jaw support surface (2.3), of the collet (2.1) of the manipulator (2) relative to the first support surface (3.1) of the first conveyor device (3), wherein the control unit (15) controls the lifting device (2.4) if a workpiece (8) is fixed in the manipulator (2).

12. Separation system according to claim 10 or 11, wherein the first conveyor device (3) has a lowering device, wherein the lowering device is designed to lower the first conveyor device having the first support surface (3.1) relative to the clamping jaw support surface (2.3) to lower the manipulator (2), wherein a control unit (15) controls the lowering device, provided that a first workpiece (8) is fixed in the manipulator (2).

13. Separation system according to one of claims 9 to 12, wherein the first conveyor device (3) has a plurality of first support surfaces (3.1), each arranged parallel at a distance from one another, wherein the manipulator (2) comprises a plurality of collet chucks (2.1) arranged laterally on the first support surfaces (3.1), wherein a first sensor (10), preferably a first detection sensor, is provided, wherein the first sensor (10) is arranged such that an insertion of the first workpiece (8) into the manipulator (2) is detected, wherein the first sensor (10) is connected to a control unit (15), wherein the control unit (15) controls the manipulator (2) if a first workpiece (8) is detected in the manipulator (2).Separation system according to claim 13, comprising a second sensor (11), preferably a second detection sensor, wherein the second sensor (11) is arranged in the region of the first conveyor device (3) such that the presence of a further workpiece (9) on the first conveyor device (3) can be determined, wherein the second sensor (11) is arranged such that a distance between the first workpiece (8) and a further workpiece (9) can be determined by determining the position of the further workpiece.

15. Separation system according to claim 13 or 14, wherein the first and / or the second sensor (10, 11) are designed as a contact sensor or as a contactless distance sensor, in particular as an optical sensor, wherein the contactless distance sensor is preferably arranged below the plane of the first support surface (3.1) of the first conveyor device (3). P2023-0320-WO 16. Separation system according to claim 9 to 15, wherein a second conveyor device (4) is provided, wherein the second conveyor device (4) is arranged downstream of the first conveyor device (3) in the first conveying direction (12) and on the manipulator (2) in such a way that the first workpiece (8) is transferred from the manipulator (2) to the second conveyor device (4), wherein preferably the first and second conveyor devices (3, 4) are driven via a common drive unit (6).

17. Separation system according to claim 16, wherein the second conveyor device (4) has, in the region of the manipulator (2), an at least partially overlapping region (5) with the first conveyor device (3), wherein the second conveyor device (4) is raised in the overlapping region (5) relative to the first conveyor device (3) in such a way that the first workpiece (8) is transferred directly to the second conveyor device (4).

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