Automated manipulation of longitudinal profiles

Abstract

The invention relates to an installation (1) and to a method for an automated separation and manipulation of a longitudinal profile (2). The installation (1) comprises a first gripping device (4) with a first end effector (6) and a second gripping device (5) with a second end effector (7). The first end effector (6) has a first mandrel (14) with a first mandrel cross-section (16), and the second end effector (7) has a second mandrel (15) with a second mandrel cross-section (17). The first mandrel cross-section (16) and the second mandrel cross-section (17) each have a shape which complements the shape of the cross-section (18) of the longitudinal profile (2) at least in some areas and are designed to be undersized relative to the profile cross-section (18).

Description

[0001] AUTOMATED MANIPULATION OF LONGITUDINAL PROFILES

[0002] The invention relates to a system and a method for the automated separation of a rod-shaped, in particular flexible, and preferably non-symmetrical longitudinal profile with respect to its profile cross-section, in particular with a length of the longitudinal profile from a length range between 3 m and 12 m, from a stack or bundle of such longitudinal profiles and for manipulating the same longitudinal profile.

[0003] In this context, a longitudinal profile is understood to mean, in particular, a hollow profile or an extruded profile with a profile cross-section. Such longitudinal profiles can be produced, for example, by extrusion from plastic or metal and can be used, for example, as semi-finished products for the manufacture of window frames, doors, or similar objects. Accordingly, such longitudinal profiles can have a length of 3 m to 12 m or even longer along their longitudinal axis. Such longitudinal profiles are stored or transported in stacks or bundles, preferably held in baskets provided for this purpose, until they are sent for further processing. State-of-the-art methods and systems already exist for removing the longitudinal profiles from the stack or from a transport box provided for this purpose and then sending them for further processing.

[0004] For example, DE 2020 12 104 268 U1 discloses a device for the automated separation of non-magazined profiles from a transport container. This device also includes a lighting system and an image recognition system with a camera for separating the profiles.

[0005] However, the devices and methods known from the prior art cannot be satisfactorily used or applied to flexible longitudinal profiles. In this context, a flexible longitudinal profile is understood to be a longitudinal profile whose modulus of elasticity is within a specific range of values, such that the longitudinal profile, when supported on a central support point, deforms due to its own weight, starting from an original horizontal position. If such a longitudinal profile rests, for example, on a horizontal base and is lifted, lifted, or raised at one end or end region using a corresponding device, this longitudinal profile deforms due to its low rigidity.This deformation may result in the profile not being able to be lifted any further without being destroyed, or in the longitudinal profile slipping out of the device for lifting it due to its deformation.

[0006] The devices and methods known from the prior art do not offer satisfactory solutions with regard to the separation and manipulation of such flexible longitudinal profiles according to the problems described above.

[0007] The object of the present invention was to overcome the disadvantages of the prior art and to provide a system and a method by means of which a user is able to separate and manipulate flexible longitudinal profiles in a simple, safe and reliable manner.

[0008] This object is achieved by a system and a method according to the claims.

[0009] The system according to the invention for the automated separation of a flexible, rod-shaped and preferably non-symmetrical longitudinal profile with respect to its profile cross-section, in particular with a length from a length range between 3 m and 12 m, from a stack or bundle of flexible rod-shaped longitudinal profiles and for manipulating the longitudinal profile, comprises a first gripping device with a first end effector, a second gripping device with a second end effector, a first image recognition device associated with the first gripping device and a second image recognition device associated with the second gripping device, wherein a longitudinal profile or a stack of flexible rod-shaped longitudinal profiles can be positioned in a storage area between the first gripping device and the second gripping device,and wherein a first end face of a longitudinal profile can be detected by the first image recognition device and a second end face of the same longitudinal profile can be detected by the second image recognition device, so that the first end effector and the second end effector can each be inserted or engaged into the longitudinal profile at their end faces. The system according to the invention is further characterized in that the first end effector has a first mandrel with a first mandrel cross-section and the second end effector has a second mandrel with a second mandrel cross-section, wherein the first mandrel cross-section and the second mandrel cross-section are each formed, at least in sections, with a complementary shape to a profile cross-section of the longitudinal profile and with an undersize compared to the profile cross-section. In this context, an undersize is to be understood asthat the respective mandrel cross-section of a mandrel is scaled smaller relative to the corresponding profile cross-section. An undersize is therefore the opposite of an oversize. This allows the respective mandrel to be reliably inserted into the longitudinal profile using the respective gripping device. Since the respective mandrel cross-section is at least partially complementary to a profile cross-section of the longitudinal profile and is designed with an undersize compared to the profile cross-section, it is advantageous that the longitudinal profile wedges itself into the respective mandrel when it is lifted, separated, and manipulated. This is advantageous in thatbecause the system according to the invention is designed especially for flexible longitudinal profiles. In the case of these flexible longitudinal profiles with a longitudinal extension or a length ranging from 3 m to 12 m, the longitudinal profile sags when lifted due to their low modulus of elasticity and thus low rigidity, so that the longitudinal profile can sag in the direction of gravity, deviating from a horizontal orientation. Due to this sag, the longitudinal profile would deviate from the domes by which it is held at both ends. However, since the domes are essentially designed to complement the respective profile cross-section, the respective end of the longitudinal profile wedges itself against the respective dome due to the sag.This limits sagging and allows the longitudinal profile to be held by the mandrels. This allows the pliable longitudinal profile to be reliably separated and manipulated.

[0010] Furthermore, it can be provided that the first end effector comprises a first tong arm that is displaceable, in particular pivotable, relative to the first mandrel, and the second end effector comprises a second tong arm that is displaceable, in particular pivotable, relative to the second mandrel, wherein a longitudinal profile, in particular a respective end region of the longitudinal profile, can be gripped or clamped between a respective mandrel and the associated tong arm.

[0011] By combining a tong arm and a mandrel per end effector, a gripper or a tong gripper can be formed. The mandrel can be immobile relative to the end effector, whereas the tong arm can be articulated on the end effector and thus form a gripper together with the mandrel. The tong arm can be designed relative to the mandrel in such a way that the mandrel can first penetrate the longitudinal profile, and then the tong arm can be pivoted towards the mandrel and thus towards the longitudinal profile, so that the longitudinal profile can be gripped or fixed in position between the mandrel and the tong arm. This makes it easy to reduce or even completely prevent the longitudinal profile from slipping relative to the end effector due to flexural flexibility and thus sagging when lifting the longitudinal profile.

[0012] Furthermore, it can be provided that the first mandrel and the second mandrel are each formed in two parts, so that a respective mandrel can be expanded in a direction parallel to its mandrel cross-section, so that a longitudinal profile can be clamped by expanding a mandrel inserted therein.

[0013] It can be provided that the respective mandrel is formed from a first clamping element and a second clamping element, wherein the two clamping elements are displaceable relative to one another between a starting position, in which the two clamping elements taken together simulate the profile cross-section of the longitudinal profile at least in sections and with an undersize, and a clamping position. For example, the mandrel can initially be inserted into the longitudinal profile so that the two clamping elements are then displaced relative to one another in a direction parallel to the mandrel cross-section into the clamping position. In this way, the clamping elements can be brought into contact with the inner surfaces of the longitudinal profile, which results in the clamping of the longitudinal profile in a simple and reliable manner. In this way, slipping of the longitudinal profile relative to the respective end effector can be avoided or at least minimized.

[0014] Furthermore, it may be expedient if the first mandrel and the second mandrel each have a penetration depth for inserting the same into a longitudinal profile from a range comprising 150 mm to 700 mm, in particular up to 1300 mm.

[0015] This penetration depth is advantageous for longitudinal profiles with longitudinal extensions or lengths in the range from 3 m to 12 m. In particular, the system according to the invention can be used for separating and manipulating plastic window profiles. These longitudinal profiles are flexible, and the previously mentioned penetration depth range proves advantageous for these profiles, so that the longitudinal profiles do not detach from the respective mandrel despite their deflection when lifted and manipulated. In particular, for longitudinal profiles that are window profiles as semi-finished products for window production, with a length of 6 m, a penetration depth of at least 300 mm proves to be particularly advantageous. With precisely this combination, the separating and manipulation of the longitudinal profiles can be carried out particularly reliably using the system according to the invention.For particularly flexible longitudinal profiles with a length of up to 12 m, a penetration depth of 1300 mm can be provided, so that these longitudinal profiles can be separated and manipulated in a reliable manner.

[0016] According to a further development, it is possible for the respective image processing device to comprise a light source that is fixed in position with respect to the respective gripping device or with respect to the storage area and that can be aligned or directed onto the respective end face of the longitudinal profiles from a stack, and a camera that is fixed in position on the end effector.

[0017] Alternatively and possibly independently thereof, it can also be provided that the respective image processing device has a light source fixed in position on the respective gripping device, or that the respective camera comprises an integrated light source.

[0018] The respective light source of an image processing device can, for example, be positioned or fixed in position in the close range of the respective end faces of the longitudinal profiles and the storage area. For example, a respective light source can be positioned on a floor in front of a stack of longitudinal profiles. This ensures that the respective end faces or end sides of the longitudinal profiles are constantly illuminated or illuminated during operation of the system. The advantage here is that the illumination of the end faces is constant and independent of movements of the respective end effector or the respective gripping device. The image acquisition of the respective image processing device can be carried out by means of a camera which, in contrast to the respective light sources, is positioned on the respective end effector. The respective camera thus follows the movement of a respective end effector.In conjunction with the light sources that are stationary relative to the gripping devices, a simplified position determination or orientation determination of the longitudinal profiles to be separated and manipulated can be carried out so that the lighting is independent of the movements of the respective camera or the respective end effector.

[0019] The invention further relates to a method for the automated separation of a flexible, rod-shaped and preferably non-symmetrical longitudinal profile with respect to its profile cross-section, in particular with a length from a length range between 3 m and 12 m, from a stack or bundle of flexible, rod-shaped longitudinal profiles and for manipulating the longitudinal profile, comprising the following method steps:

[0020] - Providing a first gripping device with a first end effector in the region of first end faces of longitudinal profiles of a stack of longitudinal profiles and a second gripping device with a second end effector in the region of second end faces of longitudinal profiles of the stack of longitudinal profiles, wherein the first gripping device is positioned opposite the second gripping device with respect to the longitudinal profiles in the direction of a longitudinal extension of the longitudinal profiles;

[0021] - detecting a first end face of a longitudinal profile by means of a first image recognition device and a second end face of the same longitudinal profile by means of a second image recognition device, wherein the respective end face is illuminated by means of a light source that is fixed in position with respect to the respective gripping device or with respect to a storage area for the longitudinal profiles and aligned with the respective end faces of the longitudinal profiles, and is detected by means of a camera that is fixed in position on the respective end effector; characterized in that the method comprises the following steps:

[0022] - inserting a first mandrel of the first end effector with a first mandrel cross-section into the longitudinal profile in the region of a first end face of the longitudinal profile and a second mandrel of the second end effector with a second mandrel cross-section into the longitudinal profile in the region of a second end face of the longitudinal profile, wherein the first mandrel cross-section and the second mandrel cross-section are each formed at least in sections to be complementary in shape to a profile cross-section of the longitudinal profile and to be undersized compared to the profile cross-section;

[0023] - Coordinated manipulation of the longitudinal profile on both sides by means of the first gripping device and the second gripping device.

[0024] Thus, each mandrel can be reliably inserted into the longitudinal profile using the respective gripping device. Since the respective mandrel cross-section is at least partially designed to be complementary in shape to a profile cross-section of the longitudinal profile and is undersized compared to the profile cross-section, this advantageously results in the longitudinal profile becoming wedged with the respective mandrel when it is lifted, separated and manipulated. This is advantageous because the method according to the invention can be used in particular for flexible longitudinal profiles. In the case of precisely these flexible longitudinal profiles with a longitudinal extent or a length in a range comprising 3 m to 12 m, the longitudinal profile sags when they are lifted due to their low modulus of elasticity and thus low rigidity, so that the longitudinal profile can sag in the direction of gravity, deviating from a horizontal alignment.Due to this sagging, the longitudinal profile would slip off the respective mandrel, which holds it at both ends. However, since the mandrels are essentially designed to complement the respective profile cross-section, the respective end of the longitudinal profile wedges itself against the respective mandrel due to the sagging, limiting the sagging and allowing the longitudinal profile to be held by the mandrels. This allows the flexible longitudinal profile to be reliably separated and manipulated.

[0025] In this context, bilaterally coordinated manipulation means that the two gripping devices carry out the respective process step in a coordinated manner. For example, the respective gripping devices can initially be positioned relative to the end faces of a longitudinal profile in such a way that their respective image recognition device can detect the corresponding end face of the longitudinal profile. Furthermore, the respective mandrel of an end effector can then be inserted into the corresponding end region of a longitudinal profile in such a way that both mandrels are inserted into the respective end region of the longitudinal profile simultaneously or at least almost simultaneously and in a coordinated manner with respect to one another in their insertion movement. This can prevent the insertion of just one mandrel from displacing the longitudinal profile relative to the other mandrel. This makes the step of picking up or separating the longitudinal profile more reliable.

[0026] In addition, it can be provided that the respective mandrel is inserted into the front side of the longitudinal profile over a distance or a penetration depth from a range comprising 150 mm to 1300 mm, in particular up to 1300 mm.

[0027] This penetration depth is advantageous for longitudinal profiles with longitudinal extensions or lengths in the range from 3 m to 12 m. In particular, the method according to the invention can be used for separating and manipulating plastic window profiles. These longitudinal profiles are flexible, and the previously mentioned penetration depth range proves advantageous for these profiles, so that the longitudinal profiles do not detach from the respective mandrel despite their deflection when lifted and manipulated. In particular, for longitudinal profiles that are window profiles as semi-finished products for window production, with a length of 6 m, a penetration depth of 300 mm proves to be particularly advantageous. With precisely this combination, the separating and manipulation of the longitudinal profiles can be carried out particularly reliably using the method according to the invention.Particularly with a length of the longitudinal profiles of 12 m, it can be advantageous if the respective mandrel has a penetration depth of up to 1300 mm, so that the longitudinal profiles can be separated and manipulated particularly reliably.

[0028] Also advantageous is a form of embodiment according to which it can be provided that the longitudinal profile is tilted or lifted relative to the remaining longitudinal profiles of the stack or relative to a horizontal line directly after the insertion of the domes in the area of ​​the domes during coordinated manipulation on both sides by means of the first gripping device and the second gripping device.

[0029] In this sense, lifting is understood to mean the bending of an end region of a longitudinal profile against the force of gravity and away from a support surface on which the longitudinal profile rests, whereby the end of the longitudinal profile is therefore lower in the direction of gravity than the remaining end region of the longitudinal profile. Likewise, lifting can therefore be understood to mean the tilting of an end region of the longitudinal profile. This easily achieves the result that a flexible longitudinal profile is curved, at least in sections, in the direction against the force of gravity with regard to its longitudinal extension, so that slipping of the end regions of the longitudinal profile from the domes accommodated therein can be avoided. This enables reliable separation and thus also reliable manipulation of longitudinal profiles in a simple and effective manner.

[0030] Furthermore, it can be provided that the domes, if the coordinated manipulation on both sides by means of the first gripping device and the second gripping device comprises a rotation of the longitudinal profile about a longitudinal axis of the longitudinal profile, are tilted or lifted relative to a horizontal in the direction of a center of the longitudinal profile when the longitudinal profile is rotated about the longitudinal axis.

[0031] In connection with the previous definition of the term "lifting," it can be noted that this process step enables the safe handling of flexible longitudinal profiles. As a result, the longitudinal profile is tilted, at least in its end regions, in the direction opposite to gravity at all times during rotation, thus preventing the longitudinal profile from slipping at all times during rotation.

[0032] Furthermore, it may be expedient if the longitudinal profile, after the frontal insertion of a respective mandrel, can be clamped between the mandrel and the mandrel arm by means of a clamp arm assigned to the first mandrel and pivotable relative thereto, and by means of a clamp arm assigned to the second mandrel and pivotable relative thereto, so that the longitudinal profile is held frictionally between the mandrel and the clamp arm.

[0033] By combining a tong arm and a mandrel per end effector, a gripper or a tong gripper can be formed. The mandrel can be immobile relative to the end effector, whereas the tong arm can be articulated on the end effector and thus form a gripper together with the mandrel. The tong arm can be designed relative to the mandrel in such a way that the mandrel can first penetrate the longitudinal profile, and then the tong arm can be pivoted towards the mandrel and thus towards the longitudinal profile, so that the longitudinal profile can be gripped or fixed in position between the mandrel and the tong arm. This makes it easy to reduce or even completely prevent the longitudinal profile from slipping relative to the end effector due to flexural flexibility and thus sagging when lifting or lifting the longitudinal profile.

[0034] Furthermore, it may be expedient if the longitudinal profile is clamped after the frontal insertion of a respective mandrel by expanding the domes, each designed as a two-part dome, within the profile cross-section and in a direction parallel to the profile cross-section, so that the longitudinal profile is held frictionally and / or in sections positively with the mandrel.

[0035] It can be provided that the respective mandrel is formed from a first clamping element and a second clamping element, wherein the two clamping elements are displaceable relative to one another between a starting position, in which the two clamping elements taken together simulate the profile cross-section of the longitudinal profile at least in sections and with an undersize, and a clamping position. For example, the mandrel can initially be inserted into the longitudinal profile so that the two clamping elements are then displaced relative to one another in a direction parallel to the mandrel cross-section into the clamping position. In this way, the clamping elements can be brought into contact with the inner surfaces of the longitudinal profile, which results in the clamping of the longitudinal profile in a simple and reliable manner. In this way, slipping of the longitudinal profile relative to the respective end effector can be avoided or at least minimized.

[0036] Alternatively, it can also be provided that the first end effector is designed differently from the second end effector. This means that the first end effector, for example, has a first dome that is not formed in two parts, while the second end effector further has a second dome that is formed in two parts. In this sense, all possible combinations of design variants of the two end effectors are possible. For example, it can also be provided that a longitudinal profile is initially separated using both gripping devices in order to then be able to manipulate it subsequently using only one gripping device, and vice versa.

[0037] For a better understanding of the invention, it is explained in more detail using the following figures.

[0038] They show in a highly simplified, schematic representation:

[0039] Fig. 1 shows a possible embodiment of the system according to the invention;

[0040] Fig. 2 shows a possible design of the end effector in interaction with a longitudinal profile.

[0041] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosures contained throughout the description can be applied mutatis mutandis to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure, and these positional information must be applied mutatis mutandis to the new position in the event of a change in position.

[0042] Fig. 1 shows a possible embodiment of the system 1 according to the invention. The system

[0043] 1 is designed for the automated separation of a flexible and rod-shaped longitudinal profile 2. One longitudinal profile 2 or a plurality of longitudinal profiles

[0044] 2 can be collected in a receiving container 3 provided for this purpose or positioned in a storage area 23 provided for this purpose. The longitudinal profiles 2 can be received stacked in the receiving container 3, wherein the receiving container 3 can be used, for example, to jointly transport a plurality of longitudinal profiles 2. The system 1 can comprise a first gripping device 4 and a second gripping device 5, wherein the first gripping device 4 can be positioned or fixed in position in a first end region of the storage area 23 and the second gripping device 5 can be positioned or fixed in position in a second end region of the storage area 23 opposite the first end region in the longitudinal direction of the longitudinal profiles 2 positioned thereon. The first gripping device 4 can have a first end effector 6 and the second gripping device 5 can have a second end effector 7.The gripping devices 4 and 5 can be designed such that their end effectors 6 and 7, respectively, reach the end faces of the longitudinal profiles 2 positioned in the storage area 23 or in the receiving container 3. In this sense, a gripping device 4 or 5 is understood to be a manipulator such as a multi-axis robot.

[0045] Furthermore, the system 1 can also comprise a first image recognition device 8 assigned to the first gripping device 4 and a second image recognition device 9 assigned to the second gripping device 5. The first image recognition device 8 can comprise a camera 10 coupled to the first gripping device 4 or, in particular, to the first end effector 6 or fixed in position thereon, as well as a light source 13 directed toward the stack of longitudinal profiles 2 or toward their first end faces 11. Likewise, the second image recognition device 9 can comprise a camera 10 coupled to the second gripping device 5 or, in particular, to the second end effector 7 or fixed in position thereon, as well as a light source 13 directed toward the stack of longitudinal profiles 2 or toward their second end face 12.Thus, the first end face 11 and the second end face 12 can be detected by the first image recognition device 8 and by the second image recognition device 9, so that the first end effector 6 and the second end effector 7 can each be inserted into the longitudinal profile 2 at the end face.

[0046] In this regard, Fig. 2 shows an exemplary embodiment of the end effector 6 or 7 in interaction with a longitudinal profile 2, wherein the same reference numerals or component designations as in the previous Fig. 1 are used for the same parts. To avoid unnecessary repetition, reference is made to the detailed description in the previous Fig. 1. The exemplary embodiment of the end effector 6 or 7 shown in Fig. 2 is further to be understood in such a way that the basic components of the two end effectors 6 or 7 on which the invention is based are the same or, under certain circumstances, structurally identical. If individual components are not the same or structurally identical, this is explicitly pointed out. The following description is therefore to be understood in an overall view of Fig. 1 as well as Fig. 2.

[0047] The first end effector 6 can comprise a first mandrel 14 with a first mandrel cross-section 16. Analogously, the second end effector can comprise a second mandrel 15 with a second mandrel cross-section 17. In the system 1 according to the invention, the first gripping device 4 and the second gripping device 5 can be arranged or positioned, in particular, on opposite sides of the longitudinal profiles 2 to be separated and manipulated. Since the longitudinal profiles generally have an asymmetrical cross-section, the second mandrel 15 must have a second mandrel cross-section 17, which second mandrel cross-section

[0048] 17 is different from the first mandrel cross-section 16. This results from the fact that the respective mandrel 14 or 15 can be inserted into the longitudinal profile 2 or into the respective end face of a longitudinal profile 2. This ensures that the first mandrel cross-section 16 and the second mandrel cross-section 17 are each at least partially complementary in shape to a profile cross-section 18 of the longitudinal profile 2 and with an undersize compared to the profile cross-section

[0049] 18 are formed. This means that the respective mandrel cross-section 16 or 17 is not completely designed to be complementary in shape to the profile cross-section 18, but is only partially designed to be complementary in shape to the profile cross-section 18. This makes it easier to insert the respective mandrel 14 or 15. Furthermore, in particular due to the flexural flexibility of the longitudinal profile 2, it is also provided that the respective mandrel cross-section 16 or 17 has an undersize compared to the respective associated profile cross-section 18. In this context, an undersize is to be understood as the opposite of an oversize. The respective mandrel cross-section 16 or 17 can thus be viewed as a smaller-scale variant of the associated profile cross-section 18. This in turn makes it easier to insert or penetrate the respective mandrel 14 or 15 into the longitudinal profile 2 at the end.

[0050] The respective mandrel 14 or 15 can in particular have a length ranging from 150 mm to 700 mm, in particular up to 1300 mm. In particular, for flexible profiles with a length of 4 m to 6 m, it has proven practical and reliable if the respective mandrel 14 or 15 has a length or a penetration depth into the longitudinal profile 2 of 300 mm. With precisely these profile lengths, this penetration depth means that the flexible profile can be reliably lifted, lifted, separated and manipulated without the longitudinal profile 2, due to its low rigidity, exhibiting a deflection due to its own weight. This deflection would cause the longitudinal profile 2 to slip completely off the two mandrels 14 or 15 and thus to drop.

[0051] In addition to a specific penetration depth of the domes 14 or 15, it can also be provided that the first end effector 6 comprises a first tongs arm 19 that can be moved relative to the first mandrel 14, and the second end effector 7 comprises a second tongs arm 20 that can be moved relative to the second dome 15, wherein a longitudinal profile 2 can be gripped between a respective dome 14, 15 and the associated tongs arm 19, 20. For example, the respective dome 14 or 15 can first be inserted into the respective end of the longitudinal profile 2 at the front, wherein an associated tongs arm 19 or 20, which is, for example, pivotably coupled to the end effector 6 or 7, can then be pivoted towards the longitudinal profile 2 so that the longitudinal profile 2 can be clamped between the respective 14 or 15 and the associated tongs arm 19 or 20. This further improves the holding of the longitudinal profile 2, which means that, for example, the penetration depth of a respective dome 14 or15 could be shortened or that, with the same penetration depth, longer longitudinal profiles 2 can be separated and manipulated without these longitudinal profiles 2 slipping.

[0052] In this context, it can also be provided that the first mandrel 14 and the second mandrel 15 are each formed in two parts, so that a respective mandrel 14, 15 can be expanded in a direction parallel to its mandrel cross-section 16, 17, so that a longitudinal profile 2 can be clamped by expanding a mandrel 14, 15 inserted therein. The following more detailed description of this possible embodiment relates to the first mandrel 14 and can be analogously applied to the second mandrel 15. As can be seen from Fig. 2, the first mandrel 14 can therefore be formed in two parts, so that the first mandrel 14 has a first clamping element 21 and a second clamping element 22.The first mandrel cross-section 16 can further correspond to a smaller-scaled profile cross-section 18, provided that the first clamping element 21 and the second clamping element 22 are brought closer to each other in a starting position, so that the first mandrel 14 can be inserted into a longitudinal profile 2 with the clamping elements 21 and 22 displaced into the starting position. In any case, the clamping elements 21 and 22 can also be displaced into a clamping position, wherein one of the clamping elements 21 and 22 is moved relative to the other in a direction parallel to the first mandrel cross-section 16, so that the longitudinal profile 2 can be clamped.

[0053] The insertion of a mandrel 14, 15 into a longitudinal profile 2 is preferably coordinated on both sides, i.e., coordinated with both gripping devices 4 and 5, respectively, and carried out in mutual interaction. Likewise, the separation and subsequent manipulation of a longitudinal profile 2 is preferably coordinated on both sides, i.e., coordinated with both gripping devices 4 and 5, respectively, and carried out in mutual interaction. For example, after the insertion of a respective mandrel 14, 15, a mutually coordinated lifting, i.e., tilting or initiating an angular position of the mandrels 14, 15 relative to a horizontal, of the longitudinal profile 2 can be carried out. As a result, the longitudinal profile, at least in the area of ​​its ends, is curved against the force of gravity, which largely prevents the longitudinal profile 2 from slipping. It may also happen that a longitudinal profile 2 must be rotated about its longitudinal axis during the necessary manipulation.During such a rotation, it can be provided that the gripping devices 4 and 5, in mutually coordinated interaction, continue to maintain an angular position relative to a horizontal despite the rotation, so that the longitudinal profile 2 or at least its ends are tilted or lifted at all times against the force of gravity.

[0054] Alternatively, it can also be provided that the ends or the end regions of a longitudinal profile 2 are not lifted after the insertion of the respective mandrel 14, 15, but that the longitudinal profile 2 is instead clamped by means of a two-part mandrel 14, 15 and / or by means of a clamp arm 19, 20, so that the longitudinal profile 2 is fixed in position to the respective mandrel 14, 15 and can thus be reliably separated and manipulated.

[0055] The exemplary embodiments show possible embodiments. It should be noted at this point that the invention is not limited to the specifically illustrated embodiments. Rather, various combinations of the individual embodiments are also possible. Due to the teaching of technical action based on the invention, this variation possibility lies within the skill of the person skilled in the art. The scope of protection is determined by the claims. However, the description and the drawings must be used to interpret the claims. Individual features or combinations of features from the various exemplary embodiments shown and described may represent independent inventive solutions in themselves. The problem underlying the independent inventive solutions can be derived from the description.

[0056] All information on value ranges in this description is to be understood as including any and all sub-ranges thereof, e.g. the information 1 to 10 is to be understood as including all sub-ranges starting from the lower limit of 1 and the upper limit of 10, ie all sub-ranges begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0057] For the sake of clarity, it should finally be pointed out that, in order to better understand the structure, some elements have been shown out of scale and / or enlarged and / or reduced in size.

[0058] Reference symbol list

[0059] Attachment

[0060] Longitudinal profile

[0061] Receptacle

[0062] First gripping device

[0063] Second gripping device

[0064] First end effector

[0065] Second end effector

[0066] First image recognition device

[0067] Second image recognition device

[0068] camera

[0069] First frontal surface

[0070] Second frontal surface

[0071] light source

[0072] First Cathedral

[0073] Second Cathedral

[0074] First dome cross-section

[0075] Second dome cross-section

[0076] Profile cross-section

[0077] First clamp arm

[0078] Second clamp arm

[0079] First clamping element

[0080] Second clamping element

[0081] Storage area

Claims

P a t e n t a n s p r ü c h e 1. A system (1) for the automated separation of a rod-shaped, in particular flexible, longitudinal profile (2) from a stack of longitudinal profiles (2) and for manipulating the longitudinal profile (2), comprising a first gripping device (4) with a first end effector (6), a second gripping device (5) with a second end effector (7), wherein a stack of longitudinal profiles (2) can be positioned in a depositing area (23) between the first gripping device (4) and the second gripping device (5), characterized in that the first end effector (6) has a first mandrel (14) with a first mandrel cross-section (16) and the second end effector (7) has a second mandrel (15) with a second mandrel cross-section (17), wherein the first mandrel cross-section (16) and the second mandrel cross-section (17) are each formed, at least in sections, in a shape complementary to a profile cross-section (18) of the longitudinal profile (2) and with an undersize compared to the profile cross-section (18). are,so that the first end effector (6) and the second end effector (7) can each be inserted into the longitudinal profile (2) at the front., 2. System (1) according to claim 1, characterized in that the system (1) further comprises a first image recognition device (8) assigned to the first gripping device (4) and a second image recognition device (9) assigned to the second gripping device (5), wherein a first end face (11) of a longitudinal profile (2) can be detected by the first image recognition device (8) and a second end face (12) of the same longitudinal profile (2) can be detected by the second image recognition device (9).

3. System (1) according to one of the preceding claims, characterized in that the first end effector (6) comprises a first tong arm (19) which is displaceable relative to the first mandrel (14) and / or the second end effector (7) comprises a second tong arm (20) which is displaceable relative to the second mandrel (15), wherein a longitudinal profile (2) is grippable between a respective mandrel (14, 15) and the associated tong arm (19, 20).

4. System (1) according to one of the preceding claims, characterized in that the first mandrel (14) and the second mandrel (15) are each formed in two parts, so that a respective mandrel (14, 15) in the direction parallel to its mandrel cross-section (16, 17) is expandable so that a longitudinal profile (2) can be clamped by expanding a mandrel (14, 15) inserted therein.

5. Installation (1) according to one of the preceding claims, characterized in that the first dome (14) and the second dome (15) each have a penetration depth for inserting the same into a longitudinal profile (2) from a range comprising 150 mm to 700 mm, in particular up to 1300 mm.

6. System (1) according to one of the preceding claims, characterized in that the respective image recognition device (8 or 9) comprises a light source (13) which is fixed in position with respect to the respective gripping device (4 or 5) and aligned with the respective end face (11, 12) of the longitudinal profiles (2) from a stack, and a camera (10) which is fixed in position on the end effector (6 or 7).

7. A method for the automated separation of a rod-shaped, in particular flexible, longitudinal profile (2) from a stack of longitudinal profiles (2) and for manipulating the longitudinal profile (2), comprising the following method steps: - Providing a first gripping device (4) with a first end effector (6) in the region of first end faces (11) of longitudinal profiles (2) of a stack of longitudinal profiles (2) and a second gripping device (5) with a second end effector (7) in the region of second end faces (12) of longitudinal profiles (2) of the stack of longitudinal profiles (2); - detecting a first end face (11) of a longitudinal profile (2) by means of a first image recognition device (8) and a second end face (12) of the same longitudinal profile (2) by means of a second image recognition device (9), wherein the respective end face (11, 12) is illuminated by means of a light source (13) directed onto the respective end faces (11, 12) and is detected by means of a camera (10); characterized in that the method comprises the following steps: - inserting a first mandrel (14) of the first end effector (6) with a first mandrel cross-section (16) into the longitudinal profile (2) and a second mandrel (15) of the second end effector (7) with a second mandrel cross-section (17) into the longitudinal profile (2), wherein the first mandrel cross-section (16) and the second mandrel cross-section (17) are each at least partially complementary in shape to a profile cross-section (18) of the longitudinal profile (2) and are provided with a are designed to be undersized compared to the profile cross-section (18); - Coordinated manipulation of the longitudinal profile (2) on both sides by means of the first gripping device (4) and the second gripping device (5).

8. Method according to claim 7, characterized in that the respective dome (14, 15) is inserted into the longitudinal profile (2) at the end face over a distance from a range comprising 150 mm to 700 mm, in particular up to 1300 mm.

9. Method according to one of claims 7 or 8, characterized in that the longitudinal profile (2) is tilted or lifted during coordinated manipulation on both sides by means of the first gripping device (4) and the second gripping device (5) directly after the insertion of the domes (14, 15) in the region of the domes (14, 15) by tilting the domes (14, 15) relative to the remaining longitudinal profiles (2) of the stack or relative to a horizontal.

10. Method according to one of claims 7 to 9, characterized in that the domes (14, 15), if the bilateral coordinated manipulation by means of the first gripping device (4) and the second gripping device (5) comprises a rotation of the longitudinal profile (2) about a longitudinal axis of the longitudinal profile (2), are tilted upwards relative to a horizontal in the direction of a center of the longitudinal profile (2) upon rotation of the longitudinal profile (2) about the longitudinal axis.

11. Method according to one of claims 7 to 10, characterized in that the longitudinal profile (2) after the frontal insertion of a respective mandrel (14, 15) by means of a first tongs arm (19) assigned to the first mandrel (14) and pivotable relative thereto and by means of a second tongs arm (20) assigned to the second mandrel (15) and pivotable relative thereto, can be clamped in each case between the mandrel (14, 15) and the tongs arm (19, 20), so that the longitudinal profile (2) is held in each case frictionally between the mandrel (14, 15) and the tongs arm (19, 20).

12. Method according to one of claims 7 to 11, characterized in that the longitudinal profile (2) after the frontal insertion of a respective mandrel (14, 15) by Widening the domes (14, 15), each designed as a two-part dome (14, 15), within the profile cross-section (18) and in a direction parallel to the profile cross-section (18) is clamped, so that the longitudinal profile (2) is held frictionally with the mandrel (14, 15).

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