Device for the automated loading and / or unloading of workpieces for a laser processing machine

Abstract

The invention relates to a device for the automated loading and / or unloading of workpieces for a laser processing machine (2), in particular a laser cutting machine, comprising a support element (5) which extends along a first axis (A1), which, in the operating position of the device (1), extends upwards from the floor, and a cantilever arm (8) which extend outwards along a second axis (A2) starting from the support element (8) and is automatically rotatable about the first axis (A1). A holding device (12) for holding the workpieces, which is automatically rotatable about a third axis (A3), is provided in the region of an outer end of the cantilever arm (8) facing away from the support element (5). Actuators (14a, 14b, 14c, 14d) for the automated execution of movements of the device (1) and a control device (15) for controlling the actuators (14a, 14b, 14c, 14d) are provided in the device (1). The device according to the invention is characterized in that the cantilever arm (8) is coupled to the support element (5) via a rotating device (7), wherein the rotating device (7), starting from a zero position, enables a rotation of the cantilever arm (8) relative to the support element (5) about the first axis (A1) of at least up to 240° in each direction of rotation.

Description

[0001] Bystronic Laser AG

[0002] Industriestr. 21

[0003] 3362 Niederonz

[0004] Switzerland

[0005] Device for the automated loading and / or unloading of workpieces for a laser processing machine

[0006] Description

[0007] The invention relates to a device for the automated loading and / or unloading of workpieces for a laser processing machine, in particular a laser cutting machine. In other words, the invention relates to a device with which the laser processing machine can be automatically loaded with workpieces and / or with which workpieces can be automatically unloaded from the laser processing machine.

[0008] It is known from the state of the art to use an automated device to feed workpieces to a laser processing machine or to remove them from it. For this purpose, the automated device can perform suitable movements to transport the workpieces.

[0009] Publication WO 2011 / 134524 Al discloses a device for unloading workpieces from a laser cutting machine. The device comprises a cantilever arm that is rotatably attached to a support element. The angular range of rotation of the cantilever arm is limited. Document DE 43 09 735 Al discloses an automatic handling device comprising rotatable elements couped to stationary elements via a roller bearing. The rotatable elements can rotate about a vertical axis with respect to the stationery elements using a drive motor.

[0010] Document US 4 642 212 A shows an industrial robot with a movable assembly for maneuvering a work gripping device. The movable assembly is located on a robot platform supported by a stationary base which accommodates a gear mechanism for rotating the platform around a vertical axis on the base.

[0011] The object of the invention is to provide a device for the automated loading and / or unloading of workpieces for a laser processing machine, the movements of which cover a large spatial area.

[0012] This object is achieved by the device according to patent claim 1. Further developments of the invention are defined in the dependent claims.

[0013] The device according to the invention is used for the automated loading and / or unloading of workpieces for a laser processing machine, wherein the laser processing machine is preferably a laser cutting machine. The workpieces are preferably metallic workpieces and in particular sheet metal. The device comprises a support element which extends along a first axis which, in the operating position of the device (i.e. in the position of intended use of the device), extends upwards from the floor on which the device is placed. Preferably, the first axis is located in the support element and preferably the first axis runs in a vertical direction from the floor upwards. The device further comprises a cantilever arm, which extends outwards along a second axis starting from the support element and, in particular, starting from an upper end of the support element (i.e. the end of the support element which is the upper end in the operating position) and is automatically rotatable about the first axis. Preferably, the second axis runs perpendicular to the first axis. In the device according to the invention, a holding device for holding the workpieces, which is automatically rotatable about a third axis, is provided in the region of an outer end of the cantilever arm facing away from the support element (i.e. the end of the cantilever arm which is remote from the support element). Preferably, the third axis extends parallel to the first axis. The device further comprises actuators for the automated execution of movements of the device, wherein the movements comprise the automated rotations of the cantilever arm or the holding device about the first or the third axis described above and may possibly also relate to further movements that can be executed by the device. A control device is provided to control the actuators.

[0014] The device according to the invention is characterised in that the cantilever arm is coupled to the support element and preferably to the upper end of the support element via a rotating device, wherein the rotating device, starting from a zero position, which is the neutral position with a 0° angle of rotation, enables a rotation of the cantilever arm relative to the support element about the first axis of at least up to 240° in each direction of rotation. This can be achieved in particular by the fact that the rotation of the cantilever arm is not restricted by components of the device and in particular not by the support element.

[0015] The zero position, i.e. the position with a rotation angle of 0°, can be defined as required. In a preferred variant, the zero position is the position in which the cantilever arm faces towards a support of the laser processing machine during the intended operation of the device, via which the workpieces are exchanged between the device and the laser processing machine.

[0016] The device according to the invention has a large radius of movement, so that it can reach workpieces in a large spatial area. As a result, the device can be used very flexibly in a wide variety of spatial conditions. In a preferred embodiment, the rotating device, starting from the zero position, enables the rotation of the cantilever arm relative to the support element about the first axis of at least up to 270° and preferably of at least up to 360° in each direction of rotation. This allows workpieces that are handled by the device to be arranged substantially around the entire device.

[0017] In another preferred embodiment, the direction of rotation includes a slewing ring. Slewing rings are known from the state of the art and are used, for example, in the field of excavator technology. A slewing ring comprises an inner ring and an outer ring, wherein the outer ring can be rotated relative to the inner ring via a drive. As a rule, the drive is coupled via a worm wheel or gear wheel with an external toothing of the outer ring. With a slewing ring as a rotating device, a large rotation angle range can be easily realised. In addition, cables, such as electrical cables, compressed air lines, or hydraulic lines, can be easily routed through the slewing ring.

[0018] In a further preferred variant of the device according to the invention, the holding device is coupled to the cantilever arm by means of a further rotating device, wherein the rotating device, starting from a zero position, which is the neutral position with a 0° angle of rotation, enables a rotation of the holding device relative to the cantilever arm about the third axis of at least up to 240°, preferably of at least up to 270° and particularly preferably of at least up to 360°, in each direction of rotation. The zero position of the holding device can be defined as required. Preferably, the holding device is in the zero position during operation of the device when a workpiece is delivered to or picked up from the laser processing machine.

[0019] Analogous to the rotating device described above, which allows the cantilever arm to rotate relative to the support element, the further rotating device, which couples the holding device to the cantilever arm, also contains a slewing ring in a preferred embodiment. In a further, particularly preferred variant of the device according to the invention, the cantilever arm is designed for automated extension and retraction along the second axis, in particular as a telescopic arm. This adds a translational degree of freedom to the movement of the device. Preferably, a hydraulic actuator, in particular a hydraulic cylinder, is provided for extending and retracting the cantilever arm.

[0020] In a further preferred variant of the device according to the invention, a lifting device is provided on the cantilever arm for displacing the holding device relative to the cantilever arm along the third axis. This adds a further degree of freedom to the movement of the device. The lifting device preferably has a hydraulic actuator.

[0021] The actuators for the automated execution of movements of the device can be of any design. Preferably, the actuators of the device include one or more hydraulic actuators, with which even heavy workpieces can be handled by the device.

[0022] In a particularly preferred embodiment, the rotating device has a hydraulic drive, preferably a hydraulic motor, for the rotation of the cantilever arm about the first axis and the further rotating device has a further hydraulic drive, in particular a hydraulic motor, for the rotation of the holding device about the third axis. Instead of a hydraulic drive, an electric motor drive can also be used for the rotating device and / or the additional rotating device.

[0023] In a further preferred embodiment, at least some of the actuators and in particular all of the actuators are controlled independently of one another via the control device, wherein preferably at least the actuators for the rotating device and the further rotating device are controlled independently of one another via the control device. The movements of the device can thus be decoupled from each other, which enables a very flexible movement sequence of the device.

[0024] In a further embodiment, the support element has a hollow body which extends along the first axis. The hollow body is preferably conically shaped, tapering towards the cantilever arm. This shape ensures very good force transmission into the support element via the slewing ring.

[0025] In a further preferred variant, cables extend from the cantilever arm through an opening of the rotating device into the hollow body, wherein the cables can be electrical cables, pneumatic lines and possibly also hydraulic lines. With this variant, cables can be connected to external equipment outside the device via the hollow body of the support element. The cables can be twisted relative to the support element when the cantilever arm is rotated, so that the angular ranges of rotation described above are guaranteed.

[0026] In a further preferred embodiment, a counterweight is provided in the region of the end of the cantilever arm that is adjacent to the support element, which is rotatable about the first axis together with the cantilever arm. This ensures symmetrical distribution of the weight on the rotating device. In a preferred variant, the counterweight contains the control device, which allows the control device to be accommodated compactly in the device.

[0027] Depending on the design, the holding device for holding the workpieces can comprise a pneumatically actuated suction device and / or a mechanical holding means. A pneumatically actuated suction device is usually used to hold the workpieces when loading the laser processing machine, whereas a mechanical holding means is used to hold the workpieces when unloading the laser processing machine. The pneumatically actuated suction device can, for example, comprise a large number of suction cups for holding the corresponding workpiece via negative pressure. Furthermore, the suction device can also be designed in such a way that the holding force is generated via an air flow (Venturi principle). The mechanical holding means can, for example, comprise one or more movable forks, on which the underside of the workpiece rests during transportation. In addition to the device described above, the invention relates to a laser processing system comprising a laser processing machine and the device according to the invention or a preferred variant of the device according to the invention. The device is used to load the laser processing machine with workpieces and / or to unload workpieces from the laser processing machine.

[0028] Exemplary embodiments of the invention are described in detail below with reference to the accompanying figures.

[0029] In the drawing:

[0030] Fig. 1 shows a perspective view of an embodiment of a device according to the invention, which is arranged for loading and unloading workpieces on a laser processing machine; and

[0031] Fig. 2 shows a top view of the arrangement of Fig. 1.

[0032] Fig. 1 shows a perspective view of a variant of a device according to the invention for loading and unloading workpieces for a laser processing machine. The device is designated by reference number 1 and the laser processing machine by reference number 2. In the embodiment described here, the laser processing machine 2 is a laser cutting machine. Fig. 1 and also Fig. 2 show a coordinate system to illustrate the spatial directions. The x-axis of the coordinate system corresponds to the direction in which workpieces are transported out of an interior of the laser processing machine 2. This direction is the longitudinal direction of the laser processing machine 2. The y-axis corresponds to the transverse direction of the laser processing machine 2 and the z-axis corresponds to the vertical direction or height direction.

[0033] The laser processing machine 2 comprises a shuttle table 3 with a displaceable support 4. The shuttle table 3 is used to move workpieces in the form of metal sheets into the interior of the laser processing machine 2 for laser cutting and to move them out of the interior again after laser cutting. The support 4 of the shuttle table 3 comprises a large number of slats with spaces between them that extend in the y-direc- tion. The gaps between the slats allow the engagement of holding forks to pick up workpieces from the support 4, as described in more detail below.

[0034] The device 1 comprises a support element 5, which is attached to the floor via a base plate 6. For example, anchor rods can be provided in the floor for this purpose, via which the base plate 6 is screwed to the floor. The support element 5, which extends upwards along a vertical first axis Al, is located above the base plate 6. The support element 5 comprises two conical half shells 501, which taper in an upward direction. The half shells 501 are preferably made of steel with a thickness of 6 mm, for example. At the upper end of the support element 5, there is a flange plate on which a rotating device 7 in the form of a slewing ring is provided. In a manner known per se, the slewing ring comprises an outer ring with external teeth, which is rotatable relative to an inner ring. To rotate the outer ring, a hydraulic actuator 14a in the form of a hydraulic drive (not shown in detail) is used, which preferably causes the outer ring to rotate via a worm gear.

[0035] The rotating device 7 has an opening through which, in the embodiment described here, electrical cables and compressed air lines are routed to a hole pattern 502 in the lower area of the support element 5. Suitable connections are attached to the hole pattern (not shown). The electrical cables or compressed air lines are connected to external devices (power supply or compressed air source) via these connections.

[0036] A cantilever arm 8 is attached to the top of the rotating device 7, which extends along a horizontal second axis A2 and can be rotated about the first axis Al by means of the rotating device 7. A counterweight 13 is attached to the end of the cantilever arm 8, which is adjacent to the rotating device 7, to ensure symmetrical weight distribution on the support element 5. The conical shape of the support element 5 ensures that the force is distributed evenly across the surface and into the ground. The counterweight 13 contains a control device 15, which is only shown schematically as a dotted rectangle. In other words, the counterpart 13 comprises a housing in which the control device 15 is arranged. The control device 15 is used to control the automated movements of the device 1 described below.

[0037] The cantilever arm 8 can be telescopically extended and retracted along the second axis A2. A hydraulic actuator 14b in the form of a hydraulic cylinder is used for this purpose. The length of the cantilever arm when not extended is, for example, two meters, whereby the cantilever arm can preferably be extended up to 800 mm or, if necessary, 1000 mm. At the end of the cantilever arm 8, which is located away from the support element 5, there is a lifting device 9 comprising a C-shaped profile that can be moved along a third vertical axis A3. To move the C-shaped profile, the lifting device comprises a hydraulic actuator 14c, which is only indicated schematically. At the lower end of the profile, there is a further rotating device 10, which, like the rotating device 7, is designed as a slewing ring and contains a hydraulic actuator 14d in the form of a hydraulic drive (not shown in detail).

[0038] An H-shaped carrier 11 is attached to the underside of the rotating device 10, which can rotate about the axis A3 by means of the rotating device 10. A holding device 12 is connected to the H-shaped carrier 11 to hold the corresponding workpieces during loading and unloading. The holding device 12 is detachably attached to the H-shaped carrier 11 so that it can be replaced by another holding device if necessary. The holding device 12 is designed as a suction frame, which has a large number of suction cups (not shown) on the underside. A vacuum pump (not shown) can be used to generate negative pressure to hold a workpiece on the underside of the suction frame via the suction cups. Compressed air, which is supplied via the compressed air lines described above, can be used to quickly release the workpiece. The compressed air lines extend through an opening in the rotating device 10 into the cantilever arm 8 and from there via an opening in the rotating device 7 to a connection on the support element 5. The suction frame is used to hold the workpieces as part of the loading of the laser processing machine 2. In addition, a mechanical holding means in the form of a double fork consisting of two opposing retractable and extendable holding forks is provided on the suction frame. This mechanical holding means, which is not shown in Fig. 1 for reasons of clarity, is used to hold machined workpieces. To remove a machined workpiece, the holding forks of the double fork move into the above-mentioned gaps of the support 4, so that the machined workpiece, which is located on the support 4, is removed from the support 4 when the holding device 12 moves upwards.

[0039] The actuators 14a to 14d of the device 1 are controlled via the control device 15. The actuator 14a is used to rotate the cantilever arm 8 about the first axis Al, the actuator 14b is used to retract and extend the cantilever arm 8 along the second axis A2, the actuator 14c is used to move the holding device 12 along the third axis A3 and the actuator 14d is used to rotate the holding device 12 about the third axis A3. The aforementioned movements can be carried out independently of one another by means of the actuators 14a to 14d, which means that different movement sequences can be implemented very flexibly via corresponding control by means of the control device 15.

[0040] Several pallets 16 are arranged around the device 1. During operation of the device 1, the workpieces to be processed by the laser processing machine 2 are located on part of these pallets. Other pallets are also provided for storing workpieces after they have been machined. Instead of or in addition to the pallets 16, a suitable material store or material trolley can also be used to provide workpieces to be machined or to deposit machined workpieces.

[0041] To load the laser processing machine 1 with a workpiece or metal sheet, the holding device 12 is moved by a corresponding movement of the device 1 towards a pallet 16 on which a workpiece to be machined is located. The holding device 12 is arranged above the workpiece. The workpiece is then sucked in via the suction cups of the holding device 12 and thus held on the holding device 12. The holding device 12 with the workpiece held thereon is then positioned over the support 4 of the shuttle frame 3 by a corresponding movement of the device 1. The workpiece is then released from the holding device 12 so that the workpiece rests on the support 4 of the shuttle frame 3.

[0042] The workpiece is then moved into the interior of the laser processing machine 2 by moving the support 4 and cut there as required. Once the cutting process is complete, the support 4 with the cut workpiece parts is moved back out of the interior of the laser processing machine 2. The machined workpiece parts can then be picked up by the holding device 12 via the double fork described above and then positioned on a pallet 16 provided for depositing via a corresponding movement of the device 1.

[0043] The device 1 of Fig. 1 is characterised by the fact that the cantilever arm 8 and the holding device 12 have a large range of rotation and the cantilever arm 8 can be extended and retracted. This is illustrated again in the top view in Fig. 2. In this figure, the individual directions of movement around or along the axes Al, A2 and A3 are indicated. The rotating device 7 enables the cantilever arm 8 to be rotated about the first axis Al both clockwise and counterclockwise by at least 240° and preferably by up to 360°, as indicated by the two arrows P. In the same way, the rotating device 10 enables the holding device 12 to be rotated about the third axis A3 both clockwise and counterclockwise by an angle of at least 240° and preferably by up to 360°, which is indicated by corresponding arrows P'. In addition, the retractable and extendable cantilever arm 8 achieves a translational movement along the axis A2 in the range of approximately 1000 mm, as indicated by the double arrow DP.

[0044] The embodiments of the invention described above provide a number of advantages. In particular, a device 1 for loading and unloading workpieces for a laser processing machine 2 is created, which can move very flexibly within a large spatial area. In particular, this enables the cantilever arm 8 to be rotated within a large angular range, so that workpieces can be picked up or deposited at a wide variety of positions in the vicinity of the device 1.

[0045] List of reference signs

[0046] 1 Device for the automated loading and / or unloading of workpieces

[0047] 2 Laser processing machine

[0048] 3 Shuttle table

[0049] 4 Support

[0050] 5 Support element

[0051] 501 Half shells of the support element

[0052] 502 Hole pattern

[0053] 6 Base plate

[0054] 7 Rotating device (slewing ring)

[0055] 8 Cantilever arm

[0056] 9 Lifting device

[0057] 10 Additional rotating device (slewing ring)

[0058] 11 Carrier

[0059] 12 Holding device

[0060] 13 Counterweight

[0061] 14a Actuator for the rotating device

[0062] 14b Actuator for the cantilever arm

[0063] 14c Actuator for the lifting device

[0064] 14d Actuator for the additional rotating device

[0065] 15 Control device

[0066] 16 Pallets

[0067] Al First axis

[0068] A2 Second axis

[0069] A3 Third axis

[0070] P, P' Arrows to indicate rotations around the first axis or the third axis

[0071] DP Double arrow to indicate the retraction and extension of the cantilever arm along the second axis

Claims

Claims1. A device (1) for the automated loading and / or unloading of workpieces for a laser processing machine (2), in particular a laser cutting machine, comprising a support element (5) which extends along a first axis (Al), which, in the operating position of the device (1), extends upwards from the floor, and a cantilever arm (8) which extend outwards along a second axis (A2) starting from the support element (8) and is automatically rotatable about the first axis (Al), wherein a holding device (12) for holding the workpieces, which is automatically rotatable about a third axis (A3), is provided in the region of an outer end of the cantilever arm (8) facing away from the support element (5), wherein actuators (1 a, 14b, 14c, 14d) for the automated execution of movements of the device (1) and a control device (15) for controlling the actuators (14a, 14b, 14c, 14d) are provided, characterised in that the cantilever arm (8) is coupled to the support element (5) via a rotating device (7), wherein the rotating device (7), starting from a zero position, enables a rotation of the cantilever arm (8) relative to the support element (5) about the first axis (Al) of at least up to 240° in each direction of rotation.

2. The device according to claim 1, characterised in that the rotating device (7), starting from the zero position, enables the rotation of the cantilever arm (8) relative to the support element (5) about the first axis (Al) of at least up to 270° and preferably of at least up to 360° in each direction of rotation.

3. The device according to claim 1 or 2, characterised in that the rotating device (7) comprises a slewing ring.

4. The device according to any one of the preceding claims, characterised in that the holding device (12) is coupled to the cantilever arm (8) by means of a further rotating device (10), wherein the rotating device (10), starting from a zeroposition, enables a rotation of the holding device (12) relative to the cantilever arm (8) about the third axis (A3) of at least up to 240°, preferably of at least up to 270° and particularly preferably of at least up to 360°, in each direction of rotation.

5. The device according to claim 4, characterised in that the further rotating device (10) comprises a slewing ring.

6. The device according to any one of the preceding claims, characterised in that the cantilever arm (8) is designed for automated extension and retraction along the second axis (A2), in particular as a telescopic arm.

7. The device according to any one of the preceding claims, characterised in that a lifting device (9) for displacing the holding device (12) relative to the cantilever arm (8) along the third axis (A) is provided on the cantilever arm (8).

8. The device according to any one of the preceding claims, characterised in that the actuators (14a, 14b, 14, 14d) of the device (1) comprise one or more hydraulic actuators.

9. The device according to claim 8, characterised in that the rotating device (7) has a hydraulic drive, preferably a hydraulic motor, for the rotation of the cantilever arm (8) about the first axis (Al) and the further rotating device (10) has a further hydraulic drive, in particular a hydraulic motor, for the rotation of the holding device (12) about the third axis (A3).

10. The device according to any one of the preceding claims, characterised in that at least some of the actuators (14a, 14b, 14c, 14d), and in particular all actuators (14a, 14b, 14c, 14d), are controlled independently of one another via the control device (15), wherein preferably at least the actuators (14a, 14b, 14c,14d) for the rotating device (7) and the further rotating device (8) are controlled independently via the control device (15).

11. The device according to any one of the preceding claims, in that the support element (5) has a hollow body which extends along the first axis (Al), wherein the hollow body is preferably conically shaped and tapers towards the cantilever arm (8).

12. The device according to any one of the preceding claims, characterised in that cables extend from the cantilever arm (8) through an opening of the rotating device (7) into the hollow body.

13. The device according to any one of the preceding claims, characterised in that a counterweight (13) is provided in the region of the end of the cantilever arm (8) which is adjacent to the support element (5), which counterweight is rotatable about the first axis (Al) together with the cantilever arm (8).

14. The device according to claim 13, characterised in that the counterweight (13) contains the control device (15).

15. A laser processing system, characterised by a laser processing machine (2) and a device according to any one of the preceding claims for loading the laser processing machine (2) with workpieces and / or for unloading workpieces from the laser processing machine (2).

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