Handling Device Gripper Path for Workpiece Detachment
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Solution Overview
Problem
During the automated removal of workpiece parts from a machine tool, entanglement issues arise due to small separating cuts and dynamic stresses, causing the workpiece parts to hook onto the remaining workpiece, leading to interruptions in the removal process.
Innovation Solution
A method that employs a handling device with a force sensor or optical detection to recognize interlocking, followed by a release strategy involving controlled movement paths, such as circular, elliptical, or spiral paths, to gently disengage the workpiece part from the remaining workpiece, ensuring snag-free removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a handling device grips and lifts the workpiece part vertically, then the workpiece part can be removed from the remaining workpiece, but the workpiece part may hook onto the remaining workpiece due to small separating cuts and dynamic stresses
Solution Approach 1:
The patent applies dynamics by implementing a multi-phase lifting process with varying lifting speeds. The handling device first lifts the workpiece part at a first lifting speed to detect potential hooking, then transitions to a second lifting speed for complete removal. This dynamic speed adjustment allows the system to adapt to different removal conditions and prevent hooking while maintaining automated removal efficiency.
2Speed
If the workpiece part is lifted quickly to improve removal speed, then productivity increases, but the risk of hooking and entanglement increases
Solution Approach 1:
The patent implements periodic action through a two-stage lifting process. The first stage involves lifting at a controlled first speed to detect and prevent hooking, followed by a second stage with increased lifting speed for complete removal. This periodic variation in lifting speed allows the system to balance speed and reliability by adjusting the lifting rate at different phases of the removal process.
3Device complexity
If a vertical lifting path is used, then the removal process is simple and quick, but it cannot release entanglement caused by machining residues or burrs
Solution Approach 1:
The patent applies curvature by introducing a horizontal traversing movement component to the lifting path. Instead of a purely vertical path, the handling device performs a combined movement with horizontal and vertical components, creating a curved trajectory. This curved path helps release entanglement caused by machining residues or burrs while maintaining relatively simple device structure.
4Reliability
If the handling device applies strong gripping force to secure the workpiece part, then the workpiece part can be lifted reliably, but it may cause deformation or damage to the workpiece part
Solution Approach 1:
The patent applies dynamics by adjusting the gripping force according to the lifting phase. During the first lifting phase at lower speed, the gripping force is sufficient to detect and prevent hooking. During the second lifting phase at higher speed, the gripping force is optimized to secure the workpiece part without excessive force that could cause deformation. This dynamic adjustment of gripping force balances secure gripping with workpiece integrity.
Data Source
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AI summary
The invention relates to a method for removing a workpiece part (36), formed by cutting machining on a sheet-like workpiece (12) resting on a workpiece mount (16) of a machine tool (11), from a residual workpiece (37), in which the workpiece (12) is fixed for machining by means of a holding device (17) and is displaceable in at least one X or Y direction in an X/Y plane of the workpiece (12), in which, prior to or after the workpiece part (36) is cut out of the residual workpiece (37), a handling device (26) is positioned with respect to the workpiece by means of a gripper device (27), in which the gripper device (27) is activated and the workpiece part (36) is grasped in its position resting on the workpiece mount (16), wherein, if catching of the workpiece part (36) with the residual workpiece (37) is detected by means of an unloading monitoring device (44), at least one detachment strategy is initiated, in which at least one travelling movement of the holding device (17), the gripper device (27) or the holding device (17) and the gripper device (37) relative to one another with a predefined path, with at least one movement component in an X/Y plane, is actuated. The invention furthermore relates to a machine tool for carrying out the method.