Handling device for handling a sheet-like part

Abstract

A handling device for handling a sheet-like part (14) has a carrier structure and fixing devices (13) which are provided on the carrier structure and are designed to jointly releasably secure the sheet-like part (14) to the carrier structure. The fixing devices (13) each comprise a sheet support (21) and a locking device (22) for the sheet support (21). In a operative position, the sheet supports (21) of the fixing devices (13) engage under the sheet-like part (14) in the direction of gravity. In an inoperative position, the sheet supports (21) release the sheet-like part (14) for movement in the direction of gravity. When the sheet supports (21) are arranged in the operative position, the locking devices (22) can be simultaneously switched into an inoperative state by means of a switching device (27). The locking devices (22) switched into the inoperative state release the sheet supports (21) arranged in the operative position for a movement into the inoperative position, and the released sheet supports (21) move together from the operative position into the inoperative position under the effect of the weight force of the sheet-like part (14) with the sheet supports (21) engaging underneath.

Description

[0001] Handling device for handling a plate-shaped part

[0002] The invention relates to a handling device for handling a plate-shaped part, in particular a sheet metal part or a residual grid from a separating sheet metal processing operation, with a support structure and with fixing devices provided on the support structure, which are designed for jointly and releasably fixing the plate-shaped part to the support structure.

[0003] • wherein the fixing devices each comprise a plate support and a locking device for the plate support,

[0004] • wherein the plate supports of the fixing devices can be arranged to support the plate-shaped part in the direction of gravity in a functional position and to release the plate-shaped part for movement in the direction of gravity in a non-functional position,

[0005] • wherein a switching device is provided for the locking devices of the fixing devices, by means of which the locking devices can be switched into an effective state and into an ineffective state and

[0006] • wherein the locking devices switched to the effective state lock the plate supports arranged in the functional position against movement into the non-functional position.

[0007] The invention also relates to an automation unit of a machine arrangement for workpiece processing with a handling device of the aforementioned type, a machine arrangement for workpiece processing with such an automation unit, and a fixing device for a handling device of the aforementioned type.

[0008] The generic prior art is disclosed in DE 10 2012 219 127 B3.

[0009] The prior art relates to a handling unit by means of which a residual grid with openings from a sheet metal separating process can be removed from a pallet storing the residual grid. The handling unit has a movable support frame with several identical gripper assemblies. Each gripper assembly comprises two double-armed pivot levers, which are arranged adjacent to each other on a housing of the gripper assembly and are each pivotally mounted about a horizontal pivot axis. The outer lever arms of the pivot levers project downwards from the housing of the gripper assembly. The inner lever arms of the pivot levers are located inside the housing of the gripper assembly.An actuating device, also located inside the gripper assembly housing, engages the inner lever arms of the pivot levers and pivots the pivot levers either into a position where the outer lever arms are close together or into a position where the outer lever arms are spread apart. To pick up the remaining wire mesh from the pallet it is stored on, the pivot levers are pivoted into a disengaged position where the outer lever arms are close together. Subsequently, the closely positioned outer lever arms of the pivot levers are inserted into one of the openings in the remaining wire mesh by a corresponding lowering movement of the gripper assembly.After being inserted into the opening of the residual grid, the outer lever arms of the pivot levers are spread apart by pivoting the levers using the actuating device until they support the edge of the opening. The pivot levers are now in their operating position, and the residual grid can be lifted from the pallet by raising the support frame equipped with the gripper assemblies. To then place the residual grid at a destination, the pivot levers on the gripper assemblies supporting the grid in the direction of gravity are pivoted back to their initial position using the respective actuating devices. In this position, the outer lever arms of the pivot levers are again close together, and the pivot levers consequently return to their disengaged position, releasing the residual grid for movement in the direction of gravity.

[0010] For the orderly placement of the remaining grid, the pivot levers on all gripper assemblies must be pivoted simultaneously from the functional position to the inactive position. The object of the present invention is to enable the orderly placement of a plate-shaped part, in particular a sheet metal part or a remaining grid from sheet metal processing, in a reliable manner.

[0011] According to the invention, this problem is solved by the handling device according to claim 1, by the automation unit according to claim 13, by the machine arrangement according to claim 14 and by the fixing device according to claim 15.

[0012] In the case of the invention, the locking devices of the fixing devices are simultaneously switched to the inactive state by means of the switching device when the plate supports are arranged in the functional position. This simultaneously releases the plate supports in the functional position for movement into the inactive position. The movement of the released plate supports of the various locking devices into the inactive position is then effected not by means of a control-requiring actuating device, but rather directly by the plate-shaped part, whose weight force, acting simultaneously on all plate supports, drives the plate supports synchronously from the functional position to the inactive position.Depending on the application, the plate-shaped part can be supported by the plate supports arranged in the functional position at the outer edge of the plate or at the edge of plate openings provided in the interior of the plate.

[0013] Special embodiments of the handling device according to claim 1, the automation unit according to claim 12, the machine arrangement according to claim 13 and the fixing device according to claim 14 are set out in dependent claims 2 to 11.

[0014] According to claim 2, the transfer of a plate support from the out-of-function position to the functional position is preferably carried out mechanically by means of a return mechanism. To fix the plate-shaped part to the handling device, the return mechanism is actuated when the plate support is in the out-of-function position, so that the plate support moves from the out-of-function position to the functional position, in which it supports the plate-shaped part. When the plate support has moved into the functional position, the associated locking device is switched into the effective state, thereby locking the plate support in the functional position.

[0015] In a further development of the invention, the return device for the plate support comprises a return piston-cylinder unit which is connected on one side to the support structure of the handling device and on the other side to the plate support (claim 3). A pneumatic return piston-cylinder unit is preferred according to the invention.

[0016] According to claim 4, the return mechanism is also used to secure the plate support in the functional position. This securing function of the return mechanism is used in particular during the movements performed by the handling device according to the invention with a plate-shaped part fixed to it. To place the plate-shaped part down, the securing function of the return mechanism is deactivated at the latest when the locking device is moved into the inactive state.

[0017] A design of the handling device according to the invention is characterized by simple kinematics and a space-saving construction, in which the plate support of at least one of the fixing devices is pivotably mounted about a horizontal support pivot axis (claim 5). In a first support pivot position, the plate support supports the plate-shaped part in the direction of gravity. Due to the weight of the plate-shaped part, the plate support pivots from the first support pivot position to a second support pivot position, which is provided as a disengaged position, when the locking device is ineffective.

[0018] Preferably, a two-armed lever pivotable about the horizontal pivot axis of the support is provided as a plate support, which in the functional position supports the plate-shaped part with a support arm in the direction of gravity (claim 6). The return mechanism can optionally engage the additional lever arm of the two-armed lever, by means of which the two-armed lever is moved from the out-of-function position into the functional position and, if necessary, also secured in the functional position.

[0019] According to claim 7, in a further development of the invention, the locking device of at least one of the fixing devices comprises a locking element which can be moved by means of the switching device into a first locking element position, forming the effective state of the locking device, and into a second locking element position, forming the ineffective state of the locking device. Alternatively, a magnetically actuated locking device with a switchable holding magnet would be conceivable, for example, which, depending on the switching state, holds the plate support arranged in the functional position or releases it for movement into the inoperative position.

[0020] To lock the plate support in the functional position, a releasable positive locking connection is preferably made between the locking element of the locking device and the plate support arranged in the functional position (patent claim 8).

[0021] The design according to claim 9 is characterized by a structurally simple and functionally reliable construction, in which a locking lever is provided as the locking element, which can be moved by means of the switching device by means of a pivoting movement about a locking pivot axis into a first lever pivot position provided as the first locking element position and into a second lever pivot position provided as the second locking element position.

[0022] To create a releasable positive locking connection between the locking lever, which is moved into the first lever pivot position, and the plate support associated with it and arranged in the functional position, the locking lever, in a further development of the invention, engages a support edge provided on the plate support on the side of the support edge located in the direction of the out-of-functional position of the plate support with a positive locking element (patent claim 10).

[0023] As a switching device for moving the locking element into the first locking element position and / or into the second locking element position, a preferably pneumatic locking piston-cylinder unit can be provided, which is connected on the one hand to the support structure of the handling device and on the other hand to the locking element.

[0024] In a further preferred embodiment of the invention, at least one of the fixing devices has a pressure device by means of which, when the plate support is arranged in the functional position and the locking device is switched to the effective state, the plate-shaped part supported by the plate support in the direction of gravity can be acted upon against the plate support in the direction of gravity (claim 12). The pressure device enables a backlash-free mounting of the plate-shaped part on the plate support(s) of the handling device according to the invention, particularly during the transfer of the plate-shaped part into a target position. The pressure device is preferably deactivateable. The pressure device is deactivated, in particular, before the locking device is switched from the effective to the ineffective state.

[0025] The invention is explained in more detail below with reference to exemplary schematic diagrams. These show:

[0026] Figure 1 shows a machine arrangement for sheet metal processing with a laser flatbed machine and with an automation unit with handling device,

[0027] Figure 2 shows the handling device of the automation unit according to Figure 1 in a perspective view from above, Figure 3 shows the handling device according to Figure 2 in a perspective view from below with a residual grid fixed by means of fixing devices of the handling device,

[0028] Figure 4 shows one of the fixing devices according to Figures 2 and 3 in the view in the direction of arrow IV in Figure 2 and

[0029] Figures sectional views of the fixing device according to Figure 4 for 5.1 to illustrate the function of the fixing devices according to Figures 2 to 4.

[0030] A machine arrangement 1 for sheet metal processing, shown in Figure 1, comprises a conventional laser flatbed machine 2 as a processing device. Within an enclosure 3 of the laser flatbed machine 2, a machine portal 4 with two laser cutting heads 5 is provided for the separating processing of a sheet metal sheet placed on a sheet metal pallet 6, which is not shown in Figure 1 for the sake of simplicity.

[0031] A sheet metal pallet 6 loaded with a sheet to be processed is fed to the laser flatbed machine 2 by a pallet changer 7 located outside the enclosure 3. As usual, simultaneously with the transfer of a sheet metal pallet 6 loaded with a sheet to be processed into the interior of the laser flatbed machine 2, a sheet metal pallet 6 loaded with the products of a previously performed sheet metal processing operation is moved from inside the laser flatbed machine 2 onto the pallet changer 7.

[0032] In the illustrated example, finished parts produced as products of sheet metal processing (not shown in Figure 1) are manually unloaded from the sheet metal pallet 6 at the pallet changer 7. An automation unit 8 is used to unload a residual grid (also not shown in Figure 1) from the sheet metal pallet 6. The automation unit 8 comprises a column 9, a boom 10 mounted horizontally pivotable on the column 9, and a handling device 11 rotatably and raising and loweringly attached to the free end of the boom 10.

[0033] Figure 1 shows a highly schematic representation of the handling device 11. The handling device 11 is shown in detail in the subsequent figures.

[0034] As shown in Figures 2 and 3, the handling device 11 has a rectangular support structure 12. Four fixing devices 13 are mounted at the corners of the support structure 12. In the illustrated example, the fixing devices 13 serve to fix a plate-shaped part in the form of a residual grid 14 (Figure 3) produced during the sheet metal cutting process on the laser flatbed machine 2 and removed by the pallet changer 7 to the support structure 12.

[0035] The structure and function of the fixing devices 13 are illustrated in Figures 4 and 5.1 to 5.5. The fixing devices 13 of the handling device 11 are identical in construction.

[0036] Figure 4 shows one of the fixing devices 13 in the view in the direction of arrow IV in Figure 2. The line VV in Figure 4 indicates the course of the section plane of Figures 5.1 to 5.5.

[0037] Each of the fixing devices 13 has a clamping unit 16 on both sides of a support unit 15, which serves as a pressure device. The support unit 15 and the clamping units 16 of a fixing device 13 form a single assembly.

[0038] Each of the clamping units 16 comprises a clamping piston-cylinder unit 17 with a clamping cylinder 18 and a clamping piston movable vertically inside the clamping cylinder 18. A piston rod 19 attached to the clamping piston projects downwards from the respective clamping cylinder 18.

[0039] A strip-shaped pressure piece 20 is attached to the free ends of the piston rods 19 (Figures 5.1 to 5.5). Each of the fixing devices 13 has a plate support 21 and a locking device 22 for the plate support 21 on its support unit 15 (Figures 5.1 to 5.5). The plate support 21 is designed as a two-armed lever, which is pivotably mounted about a horizontal support pivot axis 23 on a housing 24 of the support unit 15, which is connected to the support structure 12.

[0040] The locking device 22 comprises a locking lever 25 as a locking element, which is pivotably mounted on the housing 24 of the support unit 15 about a horizontal locking pivot axis 26. By means of a switching device designed as a locking piston-cylinder unit 27, the locking lever 25 can be moved into a first lever pivot position, designated as the first locking element position, and into a second lever pivot position, designated as the second locking element position.

[0041] After completion of workpiece processing, the automation unit 8 takes over a residual grid 14 at the pallet changer 7 of the machine arrangement 1. By means of the fixing devices 13, the residual grid 14 is fixed to the support structure 12 of the handling device 11 after being taken over, as shown in Figure 3. The plate supports 21 of the fixing devices 13 are in their functional position in Figure 3, in which they support the residual grid 14 in the direction of gravity. The locking devices 22 of the fixing devices 13 are switched into an effective state by means of the respective locking piston-cylinder unit 27, in which the locking devices 22 lock the plate supports 21 in their functional position against leaving their functional position.

[0042] To ensure the backlash-free mounting of the residual grid 14 on the plate supports 21 of the handling device 11, the clamping piston-cylinder units 17 of the clamping units 16 of the fixing devices 13 lowered the strip-like pressure piece 20 of the clamping units 16 onto the top of the residual grid 14 on two opposite sides of the residual grid 14. In doing so, the residual grid 14, supported by the plate supports 21, is subjected to pressure from gravity against the plate supports 21 by the pressure pieces 20, thus clamping it between the plate supports 21 and the pressure pieces 20. Due to the clamping of the residual grid 14, the handling device 11, with the residual grid 14 transferred from the pallet changer 7, can be moved to a target position without the residual grid 14 undesirably changing its position on the handling device 11.

[0043] In the target position, the residual grid 14 is placed on a designated storage area, for example on a residual grid pallet, which is not shown in the drawings for the sake of simplicity.

[0044] Figure 5.1 shows the conditions at the fixing devices 13 of the handling device 11 at the beginning of the depositing process.

[0045] The pressure piece 20 of the clamping unit 16 has already been moved from the position shown in dashed lines in Figure 5.1 to a raised position by actuating the respective clamping piston-cylinder unit 17 from the top of the residual grid 14. The plate support 21 of the fixing device 13 is still in its functional position, in which it supports the residual grid 14 in the direction of gravity.

[0046] A positive locking connection is established between the plate support 21 and the locking lever 25 of the locking device 22 of the fixing device 13 by the locking lever 25 engaging a support edge 29 provided on the plate support 21 with a positive locking element formed by a projection 28 on the side of the support edge 29 located towards the out-of-function position of the plate support 21. Due to the positive locking connection, the locking lever 25 of the fixing device 22 locks the plate support 21 in its functional position against movement towards its out-of-function position.

[0047] Additionally, the plate support 21 is secured against pivoting from the functional position to the non-functional position by a return device 30, specifically by a return piston-cylinder unit 31 of the return device 30. For this purpose, the return piston-cylinder unit 31 actuates a lever arm 32 of the plate support 21, which is designed as a two-armed lever, via a piston rod. Opposite the lever arm 32 actuated by the return piston-cylinder unit 31 is a support arm 33 of the plate support 21 in the functional position, which supports the residual grid 14 in the direction of gravity.

[0048] Based on these conditions, the locking lever 25 is moved by means of the locking piston-cylinder unit 27 into a second pivot position that renders the locking lever 25 inactive. This releases the previously existing positive locking connection between the locking lever 25 and the plate support 21. Immediately before the positive locking connection between the locking lever 25 and the plate support 21 is released, the return piston-cylinder unit 31 is depressurized (Figure 5.2).

[0049] The now freely pivoting plate support 21 pivots into the out-of-function position under the influence of the weight force of the residual grid 14, thereby releasing the residual grid 14 for movement in the direction of gravity (Figure 5.3).

[0050] Due to corresponding control of the locking piston-cylinder units 27 and the return piston-cylinder units 31 of all fixing devices 13, the release of the plate supports 21 to move into the disengaged position occurs synchronously at all fixing devices 13. The remaining grid 14 can therefore move parallel to itself in the direction of gravity and is thus placed in an orderly manner on the designated shelf.

[0051] After the release of the residual grid 14, the handling device 11, with the fixing devices 13 in the operating state shown in Figure 5.3, is moved back to the pallet changer 7. There, the handling device 11, with the plate supports 21 of the fixing devices 13 in their disengaged position, enters the spaces between the support rails of the sheet metal pallet 6, which holds the next residual grid 14 on the pallet changer 7. Based on the conditions shown in Figure 5.3, the return piston cylinder unit 31 is now actuated on each of the fixing devices 13.

[0052] This transfers the plate supports 21 of the fixing devices 13 from the out-of-function position according to Figure 5.3 into the functional position, in which they engage an edge of the residual grid 14 to be removed by the pallet changer 7 (Figure 5.4).

[0053] By actuating the locking piston-cylinder units 27 of the locking devices 22, a positive locking connection is re-established between the locking lever 25 and the plate support 21 at all fixing devices 13 (Figure 5.5). This locks the plate supports 21, which are arranged in the functional position, against movement into the non-functional position.

[0054] Finally, the two pressure pieces 20 of the clamping units 16 are lowered at the respective edges of the residual grid 14, which is supported on the plate supports 21, from the position shown with solid lines in Figure 5.5 to the position indicated by dashed lines in Figure 5.5. This clamps the residual grid 14, which is now to be removed by the pallet changer 7, between the plate supports 21 of the fixing devices 13 and the pressure pieces 20 of the clamping units 16. The residual grid 14 can then be lifted by the pallet changer 7 and transported without interference to the desired storage location. The processes described in detail above then follow for the placement of the residual grid 14 at the storage location.

Claims

Patent claims 1. Handling device for handling a plate-shaped part (14), in particular a sheet or a residual grid from a separating sheet metal processing, with a support structure (12) and with fixing devices (13) provided on the support structure (12), which are designed for jointly and releasably fixing the plate-shaped part (14) to the support structure (12), • wherein the fixing devices (13) each have a plate support (21) and a locking device (22) for the plate support (21), • wherein the plate supports (21) of the fixing devices (13) can be arranged to support the plate-shaped part (14) in the direction of gravity in a functional position and to release the plate-shaped part (14) for movement in the direction of gravity in a non-functional position, • wherein a switching device (27) is provided for the locking devices (22) of the fixing devices (13), by means of which the locking devices (22) can be switched into an effective state and into an ineffective state and • wherein the locking devices (22) switched into the effective state lock the plate supports (21) arranged in the functional position against movement into the non-functional position, characterized in that • that the locking devices (22) of the fixing devices (13) can be switched to the ineffective state simultaneously by means of the switching device (27) when the plate supports (21) are arranged in the functional position, • that the locking devices (22) switched to the ineffective state release the plate supports (21) of the fixing devices (13) arranged in the functional position for movement into the out-of-function position and • that the plate supports (21) released by the locking devices (22) in the functional position for movement into the non-functional position move together from the functional position into the non-functional position due to the effect of the weight force of the plate-shaped part (14) supported by the plate supports (21), thereby releasing the plate-shaped part (14) for movement in the direction of gravity.

2. Handling device according to claim 1, characterized in that, • that the plate support (21) arranged in the out-of-function position can be moved from the out-of-function position to the functional position of at least one of the fixing devices (13) by means of a return device (30) when the locking device (22) is ineffective and • that when the plate support (21) is moved into the functional position, the locking device (22) can be switched into the effective state.

3. Handling device according to claim 2, characterized in that the reset device (30) has at least one reset piston cylinder unit (31) which is connected on one side to the support structure (12) of the handling device and on the other side to the plate support (21).

4. Handling device according to claim 2 or claim 3, characterized in that the return device (30) for securing the plate support (21) is designed in the functional position.

5. Handling device according to one of the preceding claims, characterized in that the plate support (21) of at least one of the fixing devices (13) is pivotably mounted about a horizontal support pivot axis (23), wherein the plate support (21) supports the plate-shaped part (14) in a first support pivot position provided as a functional position in the direction of gravity and wherein the plate support (21) moves into a second support pivot position provided as a non-functional position due to the weight force of the plate-shaped part (14) supported by the plate support (21).

6. Handling device according to claim 5, characterized in that a two-armed lever pivotable about the horizontal support pivot axis (23) is provided as the plate support (21), which in the functional position supports the plate-shaped part (14) with a lever arm provided as a support arm (33) in the direction of gravity.

7. Handling device according to one of the preceding claims, characterized in that, • that the locking device (22) has at least one of the fixing devices (13) a locking element (25) that can be adjusted by means of the switching device (27) and • that the locking element (25) can be moved by means of the switching device (27) into a first locking element position forming the effective state of the locking device (22) and into a second locking element position forming the ineffective state of the locking device (22).

8. Handling device according to claim 7, characterized in that a releasable positive locking connection is established between the locking element (25) which is moved into the first locking element position and the plate support (21) associated with it and arranged in the functional position, by virtue of which the locking element (25) locks the plate support (21) arranged in the functional position against movement into the non-functional position.

9. Handling device according to claim 7 or claim 8, characterized in that • a locking lever is provided as a locking element (25), which can be moved by means of the switching devices (27) with a pivoting movement about a locking pivot axis (26) and • that the locking lever can be moved by means of the switching device (27) by a pivoting movement into a first lever pivot position provided as the first locking element position and into a second lever pivot position provided as the second locking element position.

10. Handling device according to claim 8 and claim 9, characterized in that a releasable positive locking connection is established between the locking lever, which is positioned in the first lever pivot position, and the plate support (21) associated with it and arranged in the functional position, by the locking lever engaging a support edge (29) provided on the plate support (21) on the side of the support edge (29) located in the direction of the out-of-function position of the plate support (21) with a positive locking element (28).

11. Handling device according to one of claims 7 to 10, characterized in that a locking piston cylinder unit is provided as a switching device (27) for moving the locking element (25) into the first locking position and / or into the second locking position, which is connected on one side to the support structure (12) of the handling device and on the other side to the locking element (25).

12. Handling device according to one of the preceding claims, characterized in that at least one of the fixing devices (13) has a pressing device (16) by means of which, when the plate support (21) is arranged in the functional position and the locking device (22) is switched into the effective state, the plate-shaped part (14) supported by the plate support (21) in the direction of gravity can be acted upon in the direction of gravity against the plate support (21).

13. Automation unit of a machine arrangement for workpiece processing, in particular a machine arrangement (1) for sheet metal processing, with a handling device (11) by means of which a plate-shaped workpiece to be processed, in particular a sheet metal to be processed and / or a plate-shaped product of a workpiece processing, for example a residual grid of a separating sheet metal processing, can be moved from a starting position to a target position, characterized in that the handling device (11) is the handling device (11) according to one of claims 1 to 12.

14. Machine arrangement for workpiece processing, in particular for sheet metal processing, comprising a processing device (2) and an automation unit (8) for the processing device (2), characterized in that the automation unit (8) is the automation unit (8) according to claim 13.

15. Fixing device for releasably fixing a plate-shaped part (14), in particular a sheet or a residual grid from a separating sheet metal processing, to a support structure (12), with a plate support (21) and with a locking device (22), • wherein the plate support (21) can be arranged to support the plate-shaped part (14) in the direction of gravity in a functional position and to release the plate-shaped part (14) for movement in the direction of gravity in a non-functional position, • wherein the locking device (22) can be switched to an effective state and to an ineffective state and • wherein the locking device (22) switched into the effective state locks the plate support (21) arranged in the functional position against movement into the non-functional position, characterized in that • that the locking device (22) can be switched to the ineffective state when the plate support (21) is in the functional position, • that the locking device (22) switched to the ineffective state releases the plate support (21) arranged in the functional position for movement into the out-of-function position and • that the plate support (21), which in the functional position is released by the locking device (22) for movement into the non-functional position, moves from the functional position into the non-functional position due to the effect of the weight force of the plate-shaped part (14) supported by the plate support (21), thereby releasing the plate-shaped part (14) for movement in the direction of gravity.

Images