Patent Application
20240082969
This application claims priority to German patent application 10 2022 122 977.7, filed on Sep. 9, 2022. The entire content of this priority application is incorporated herein by reference.
The present disclosure relates to a handling cell for a machine tool and to a manufacturing system comprising at least one machine tool and a handling cell. According to various aspects, the present disclosure relates to compact design machine tools and their integration into manufacturing systems and plants for machining. Compact design machine tools are, for example, those having a workspace smaller than 250 mm×250 mm×250 mm.
In exemplary embodiments, the workspace of the machine tool is smaller than 200 mm×200 mm×200 mm. In exemplary embodiments, the workspace of the machine tool is smaller than 150 mm×150 mm×150 mm. In exemplary embodiments, the workspace of the machine tool is smaller than 100 mm×100 mm×100 mm. In exemplary embodiments, the workspace of the machine tool is smaller than 75 mm×75 mm×75 mm. In certain embodiments, these parameters relate to the possible travel paths along the X, Y and Z axes. The workspace can be cube-shaped. However, cuboid-shaped spaces are also conceivable, whose travel paths are not uniform in X, Y and Z. By way of example, machine tools of that kind are suitable for precision machining, for example in the manufacture of watches, jewelry and the like. It goes without saying that other applications are also conceivable, for example in the field of medical technology, precision engineering and the like.
Machine tools and systems for metal-cutting manufacturing are known. US 2019/0084102 A1 discloses a manufacturing plant, which has a plurality of compact design machine tools that are arranged one above the other and side by side, which are arranged in a common enclosure, wherein in addition a robot is provided for the tool change and/or workpiece change, which is arranged to be horizontally movable on a vertically movable beam. The system includes an integrated storage for workpieces that can be moved with the robot.
EP 2 227 349 B1 discloses a movable robot cell having a housing, which robot cell can be placed in front of an opening to a workspace of a machine tool, if required, in order to load workpieces with a robot. In the operational state, the robot cell blocks an access opening of the machine tool that is usually provided for a worker.
A processing system for workpieces is known from EP 2 036 664 A1, having at least one processing machine, a guarding enclosure having at least one rack magazine, and a loading device that is arranged inside the guarding enclosure for loading and unloading the processing machine, wherein the loading device comprises a carriage, which is displaceable along a guide and has an adjustable extension arm, which carries at least one handling unit for parts to be handled, wherein the guide for the carriage is provided in an overhead region, and wherein the extension arm, which is articulated on the underside of the carriage, of the loading device has two arms which are coupled together and which are pivotable relative to one another. The at least one rack magazine is part of the guarding enclosure.
DE 35 43 209 A1 discloses a manufacturing system for the flexible production of workpieces, which comprises several machine tools, a transport system for workpieces that connects the machine tools, and a loading device for each machine tool, which is arranged between the machine tool and the transport system and is configured for loading and unloading the machine tool. The manufacturing system includes a loading station and an unloading station spaced apart from each other. Buffer storage is required there in each case.
DE 10 2014 114 258 A1 discloses an arrangement comprising a singlestation metal cutting machine and a robot cell, wherein the robot cell can be coupled to the cutting machine for loading and unloading the latter, wherein the cutting machine has a machine room and the robot cell has a robot cell room, and wherein, in the coupled state of the robot cell, the machine room and the robot cell room form a common machining room. Buffer storage is arranged within the robot cell. In the operational state, the robot cell blocks an access opening of the machine tool that is normally provided for a worker.
By way of example, it has been observed that the desired components can be manufactured with high precision and efficiency using a compact design machine tool, even with relatively small external dimensions of the machine tool.
However, it has also been observed that specific constraints have to be taken into account with regard to automation aspects for compact design machine tools. On the one hand, transfer systems, handling units and the like cannot be designed to be arbitrarily compact. Even if this were possible from a technological point of view, in practice there are often certain minimum dimensions for transfer systems, handling units, robots, grippers and the like.
This may result in the actual machine tool (and its workspace, respectively) being small in relation to the automation technology (handling technology, transfer systems and the like).
Furthermore, the automation technology (for example, robots with grippers and the like) must interact with the machine tool in the installation space (if applicable, workspace) of the machine tool to enable the transfer of workpieces and, if applicable, tools.
Furthermore, it has been observed that even with compact design machine tools, there is often a desire for the possibility of direct visual monitoring by the operator. Similar to machine tools of larger design, access openings (doors) with windows are regularly demanded. In an automated system, this means that this area (“front” of the machine tool) is not available for automation technology.
Furthermore, it has been observed that compact design machine tools are often designed small in relation to commercially available automation technology. This results in specific requirements for the automation of compact design machine tools. Furthermore, new possibilities for automation and interlinking arise that may not have been feasible with conventional machine tools.
In view of this, it is an object of the present disclosure to present a handling cell for a machine tool that is suitable for compact machine tools.
It is a further object of the present disclosure to present a handling cell that should take into account specific boundary conditions for compact design machine tools.
It is a further object of the present disclosure to present a handling cell by means of which it should be possible to implement manufacturing systems that enable partially automated or even highly automated production even with only a small installation space. This relates, for example, to the workpiece change.
It is a further object of the present disclosure to present a manufacturing system comprising a handling cell and at least one machine tool, wherein the machine tool can be automatically loaded and unloaded via the handling cell for workpiece changing purposes.
According to a first aspect, these and other objects are achieved by a tool changing device handling cell for a machine tool, comprising:
According to another aspect, these and other objects are achieved by a manufacturing system for machining workpieces, comprising:
According to another aspect, the present disclosure relates to a handling cell for a machine tool comprising:
In this way, a machine tool can be upgraded for an automated workpiece change. The handling cell is suitable at least in exemplary embodiments for compact design machine tools.
The loading aid is, for example, a pallet, a tray or a box for holding a plurality or even a large number of workpieces. The workpieces are, for example, precision mechanical workpieces, components for watches, components for medical technology and the like. In an exemplary embodiment, the loading aid is configured to hold both unmachined workpieces (blanks) and machined workpieces. However, it is also conceivable to use a first type of loading aids for providing unmachined workpieces and a second type of loading aids for receiving machined workpieces.
For example, workpieces with only small dimensions can be machined using machine tools with a correspondingly small workspace. This has an overall positive effect on the installation space requirement (footprint). However, if machine tools with only small dimensions and e.g., small installation spaces are used, one may aim at the handling unit with the handling robot interacting as little as possible with the installation space.
This may relate to arrangements in which the handling robot moves into the installation space of the machine tool only for the purpose of changing the workpiece. If no workpiece change is being performed, the handling robot is completely moved out of the workspace according to these arrangements.
In an exemplary embodiment, the first loading interface can be closed by a door so that the workspace is sufficiently separated from the handling cell when no workpiece change takes place.
According to an exemplary embodiment, the handling robot is configured to enter the workspace of the machine tool through the first loading interface with at least one workpiece gripper in order to transfer a workpiece directly to or from a workpiece holder.
The handling robot with the workpiece gripper can move far enough into the workspace to exchange workpieces there. This includes, for example, a transfer of workpieces to be processed to a workpiece holder and a transfer of processed workpieces from the workpiece holder. Since the handling robot is not installed in the workspace, the workspace is not occupied by the handling robot if no workpiece change takes place and the handling robot with the workpiece gripper is moved out of the workspace.
According to another exemplary embodiment, the handling robot is a suspended robot, for instance a suspended articulated robot. In this way, the handling robot is suspended inside the handling cell so that an area below the handling robot is basically available as installation space for installations. This can simplify loading of the handling cell with the feeding cart. The feeding cart is arranged, for example, as a floor conveyor. The feeding cart can therefore be placed underneath the handling robot in exemplary embodiments, at least when the handling robot is in a retracted state.
According to another arrangement, the handling robot has a multiple gripper for workpieces. The multiple gripper is arranged, for example, as a double gripper, triple gripper or quadruple gripper. With a multiple gripper, the workpiece change can be accelerated. The handling robot can pick up a processed workpiece in the workspace and deliver a workpiece (blank) to be processed without having to be moved out of the workspace in the meantime. The same applies to the change of workpieces at the loading aid in the provisioning position.
According to a further arrangement, the handling cell further comprises a second loading interface that is facing away from the first loading interface, which can be coupled to a workspace of a second machine tool.
In this way, the handling cell can be used to supply two machine tools. Even with the second machine tool, the workspace is not excessively stressed if no workpiece change is performed.
According to a further arrangement, the handling robot is movable along a positioning axis, for instance a horizontally oriented and/or ceiling side positioning axis, between the first loading interface and the second loading interface, wherein the provisioning position is arranged along the travel path of the handling robot along the positioning axis between the first loading interface and the second loading interface.
In this way, the handling robot can control both a first machine tool at the first loading interface and a second machine tool at the second loading interface. Further degrees of freedom of movement of the handling robot allow the handling robot with the workpiece gripper to be moved into the respective workspace.
According to another arrangement, the handling robot is guided along the positioning axis between the first loading interface and the second loading interface over the feeding cart during the travel movement.
In this way, the space under the handling robot (and under or next to the positioning axis, respectively) can be used for feeding purposes. The handling cell can have a considerable capacity for holding workpieces due to the feeding cart. In this way, the two machine tools can be automated and operated autonomously at least temporarily. This includes, by way of example, both the provision of unmachined workpieces (blanks) and the pickup of machined workpieces of a series of workpieces. The feeding cart can feed a plurality of blanks into the handling cell and, after machining, be moved out of the handling cell with a corresponding number of machined workpieces.
According to another arrangement, the handling cell further comprises a bay for the feeding cart that is integrated in an enclosure of the handling cell, wherein in the entered state of the feeding cart a transfer of loading aids between the feeding cart and the provisioning position is enabled.
The provisioning unit can directly approach the feeding cart that is positioned at the bay to move loading aids and workpieces placed on them between the feeding cart and the provisioning position.
In an exemplary embodiment, the feeding cart can completely enter the handling cell. This also includes, for example, a barrier to the outside, such as a door, when the feeding cart entered and is positioned at the bay.
According to a further arrangement, the feeding cart has a movable securing element for securing received loading aids, wherein the securing element is mechanically unlocked when the feeding cart is moved into the handling cell.
The movable securing element is configured as a securing bar, for instance. The securing bar extends over several or all receiving spaces for loading aids in the feeding cart. In an exemplary embodiment, the securing bar has a roller that is lifted on a ramp when the feeding cart is moved into the handling cell. In this way, the securing bar is also lifted. The securing bar further comprises a deflector that at least partially deflects the lifting movement into a horizontal movement during lifting. In this way, the receiving spaces can be released when the securing element moves out laterally.
According to another arrangement, the provisioning unit has a vertically oriented lifting axis and a horizontally oriented transfer axis with a support for at least one loading aid.
In this way, a loading aid can be removed from the feeding cart and made available for the transfer of workpieces with the handling robot at the provisioning position. For example, a footprint within the handling cell used for transferring the loading aids between the feeding cart and the provisioning position is only slightly larger than twice the footprint of the feeding cart. This also contributes to the compactness of the handling cell and the production system as a whole.
In an exemplary embodiment, the transfer axis is oriented perpendicular to an entry direction for the feeding cart. This allows loading aids to be removed laterally from the feeding cart within the handling cell. This allows a small footprint.
According to a further arrangement, the transfer axis is arranged on a lifting carriage which is movable along the lifting axis, wherein the transfer axis comprises a linear drive to enter the feeding cart and to remove loading aids from one or more receiving spaces of the feeding cart or to deposit them there.
This means that the movements required for transferring loading aids can be generated with just a few driven axes. The feeding cart itself does not have to be equipped with active (motor-driven) handling technology.
In an exemplary embodiment, the transfer axis is parallel to the positioning axis of the handling robot. In this way, the installation space in the handling cell is used efficiently.
According to a further arrangement, the lifting axis is adapted to generate lifting movements or depositing movements when the support entered the feeding cart along the transfer axis in order to selectively lift or deposit loading aids from receiving spaces.
In an exemplary embodiment, the handling cell comprises a control device that is configured to control at least one of the provisioning unit, the lifting axis and the transfer axis accordingly. In an exemplary embodiment, the handling cell comprises a control device that is configured to control the provisioning unit, the lifting axis and the transfer axis accordingly. The control device can be part of a higher-level control device of the manufacturing system.
According to another arrangement, the provisioning unit further comprises a tilting mechanism that tilts loading aids, if required, to create a preferred orientation for workpieces in the loading aid. In this way, a loading aid can be tilted at the provisioning position. For example, the tilting mechanism is arranged at the support of the transfer axis. Arrangements are also conceivable in which such tilting is not required.
Tilting of the loading aid causes workpieces to slide within their respective locating seat in a defined direction, for example in the direction towards a stop. This increases the overall accuracy. For the handling robot, gripping workpieces is simplified.
According to a further arrangement, the tilting mechanism has a tilting axis, a holding piece fixed to the frame and spaced from the tilting axis, and a bearing piece that can be engaged in the holding piece, wherein a tilting of the loading aid is possible with the bearing piece engaged in a lifting movement along the lifting axis. The holding piece can hold the bearing piece (for instance in the vertical lifting direction) so that a further lifting movement of the lifting carriages is followed by a tilting about the tilting axis. In this way, the tilting movement can be generated without the need for a separate tilting drive. By way of example, the support for the at least one loading aid is pivotably mounted on the lifting carriage. A non-tilted position is assumed automatically by gravity.
According to another arrangement, a change of the feeding cart is enabled while a loading aid is available at the provisioning position for the transfer of workpieces. This can be achieved, for example, by the provisioning unit providing a loading aid at the provisioning position and not interacting with the feeding cart during this time. Then, at least one buffer (e.g., a loading aid for holding a plurality of workpieces) is provided for a plurality of workpieces at the provisioning position. This ensures a certain time window in which a feeding cart can be exchanged. This allows a series of workpieces to be processed without interruption.
According to another aspect, there is presented a manufacturing system for machining, for instance for manufacturing precision mechanical workpieces, comprising:
In this way, the machine tool can be operated at least partially automatically. This includes, for example, the production of series, wherein workpieces can be changed semi-automatically or fully automatically.
The front of the workspace is therefore free and accessible for an operator, at least in exemplary embodiments. The front side can also be referred to as the operator side. The front side is arranged opposite the rear side. Lateral sides of the workspace are available for handling (workpiece change, tool change). In this way, the compact design is taken into account.
The handling cell is adjacent to the workspace of the machine tool, for example arranged at a small distance laterally thereto. The handling unit is assigned to the handling cell and not to the machine tool. This means that the machine tool, which has only a relatively small workspace, does not require any complex interventions or adjustments.
The handling unit can approach the workpiece holder and any holding device already located there in order to carry out a workpiece change (loading and unloading) in the workspace. This can also involve the removal of residual pieces (waste).
In an exemplary embodiment, the tool holder is configured as a tool spindle and is provided with a vertically oriented axis. The workpiece holder is assigned to a swivel axis and/or a swivel table of the machine tool, for example.
According to an exemplary embodiment, the manufacturing system further comprises:
In this way, two machine tools can be automated or at least partially automated with only one handling cell. This relates for instance to the workpiece change.
According to a further exemplary embodiment, the first machine tool and the second machine tool each have a loading side that is defined with respect to the workspace, which loading side is arranged equally for the first machine tool and the second machine tool with respect to the respective workspace, wherein the first machine tool and the second machine tool are arranged opposite one another and offset from one another by 180° about an imaginary vertical center axis and coupled to the handling cell.
This may have the result that the handling cell can be arranged between two essentially similar or even identical machine tools in which the same side of the workspace (in relation to their workspaces and tool spindle) serves as the loading side. In other words, from the operator's point of view, the operator side of the first machine tool and the operator side of the second machine tool are oriented in opposite directions. For example, the respective side of the machine tools that is facing away from the handling cell is a setup side (tool change side).
It is to be understood that the previously mentioned features and those mentioned in the following may not only be used in the respectively indicated combination, but also in other combinations or as isolated features without leaving the spirit and scope of the present disclosure.
Further features and advantages of the present disclosure will be apparent from the following description and explanation of several exemplary embodiments with reference to the drawings, wherein:
The machine tool 10 further comprises kinematics 20 configured as a multi-axis kinematics. In at least some of the Figures, a Cartesian coordinate system X-Y-Z is shown for illustrative purposes. The X-Y-Z coordinate system includes an X-axis (lateral direction), a Y-axis (depth direction), and a Z-direction (height direction). The X-axis and the Y-axis are horizontal axes in the exemplary embodiment. The Z-axis is a vertical axis in the exemplary embodiment. The X-Y-Z axes are orthogonal to each other. The X-Y-Z coordinate system is primarily used to illustrate and describe components and functions of the machine tool 10. It is understood that other coordinate systems may also be used for these purposes. The coordinate system X-Y-Z is therefore not to be understood in a limiting sense. The person skilled in the art can carry out the necessary conceptual steps for the conversion into other coordinate systems without further ado.
In the exemplary embodiment, the kinematics 20 comprise various components which are mounted indirectly or directly on the frame block 16. This ensures short force paths and high stiffness. In
The machine tool 10 further comprises a workpiece holder 30 (also: workpiece receptacle) for holding at least one workpiece to be machined. Furthermore, a tool spindle 32 is provided. The tool spindle 32 comprises a tool holder 34 configured to receive a tool 36. The tool 36 is rotatably drivable to machine a workpiece held by the workpiece holder 30.
In the exemplary embodiment, the workpiece holder 30 sits on a cantilever arm 40 that is guided on one side, which accommodates a pivot drive or rotary drive 42 for the workpiece holder 30. The rotational axis provided in this manner may also be referred to as the C-axis. The cantilever arm 40 is coupled to a linear drive 46 via another rotary drive 44, which in turn is mounted to the frame block 16. The rotary drive 44 provides a rotational axis, which may be referred to as the B-axis. The linear drive 46 provides a translational axis, which may be referred to as the Y-axis.
The tool spindle 32 is coupled to the frame block 16 via a linear drive 50 and a linear drive 52. The linear drive 50 provides a translational axis, which may also be referred to as the Z-axis. The linear drive 52 provides a translational axis, which may also be referred to as an X-axis. The two linear drives 50, 52 form a cross-slide drive. In the exemplary embodiment, two translational axes (X, Z) are associated with the tool spindle 32 and the tool 36, respectively. A translatory axis (Y) is assigned to the tool changer 30 and the workpiece, respectively. Furthermore, in the exemplary embodiment two rotatory axes/swivel axes (B, C) are assigned to the workpiece holder 30 and the workpiece, respectively. Other types of assignment are conceivable and depend on the machine kinematics concept.
Overall, the machine tool 10 provides a compact workspace 24. This in turn leads to a small size of the machine tool 10, combined with low weight and low energy requirements. At the same time, high precision and a high material removal rate can be ensured due to the design-specific rigidity. The workspace 24 is easily accessible, since the workpiece holder 30 and the tool holder 34 are each arranged and mounted on a rear side of the workspace 24 indirectly or directly on the frame block 16 and on the base frame 14 of the frame 12. Thus, basically three sides (front side as well as two lateral sides) are available for horizontal access to the workspace 24.
In the exemplary embodiment shown in
The workpiece holder 30 and the tool holder 34 are disposed in the workspace 24 and arranged on a rear side 94 of the workspace 24. This provides good accessibility from a front side which is opposite the rear side 94, and which is referred to as the operator side 88. The workspace 24 is accessible via an access opening 82. At the operator side 88, the workspace 24 is easily visible. In the exemplary embodiment, a door 84 is provided to close the access opening 82, if required. An exemplary embodiment of the door 84 is a swinging door. It is also conceivable to arranged the door 84 as a sliding door, for instance as a vertically movable sliding door that is moved upward to uncover the access opening 82.
The handling cell 70 has a cabinet-like design. The handling cell 70 enables an automated workpiece change. In exemplary embodiments, the handling cell 70 also serves for at least temporary storage of workpieces (blanks and/or machined workpieces). The handling cell 70 rests on a frame 74 and comprises an enclosure 78. In the exemplary embodiment, a door 98 is provided through which an interior of the handling cell 70 is accessible.
Based on
The handling cell 70 is provided with a handling unit 100 that is illustrated merely by a block in
The machine tools 10 each include a rear side 94 on which the workpiece holder 30 and the tool spindle 32 are indirectly or directly mounted. Opposite the rear side 94, an operator side 88 is provided, via which an operator can view the workspace 24 and/or access to the workspace 24 is enabled.
A first side of the workspace 24 of the machine tools 10 serves as the loading side 106. There, the loading interface 110, 112 is coupled to the workspace 24. A side facing away from the loading side 106 serves as the setup side 124 There, the setup cell 66 is coupled via a respective setup interface 122. The setup interface 122 may also be referred to as the tool change interface. In both machine tools 10 shown in the exemplary embodiment according to
In this way, one and the same handling cell 70 can be used to load two similar machine tools 10. On the one hand, this results in a compact design of the manufacturing system 60 and, on the other hand, good accessibility via the respective operator side 88 of the machine tools 10. In this regard, also compare the exemplary embodiment of the respective operator console 86 adjacent to the operator side 88 of the machine tools 10 in the top view according to
In the exemplary embodiment shown in
Instead, the feeding interface 136 serves to move in and out the feeding cart 140, which may contain a plurality of loading aids and possibly a plurality of workpieces. In this way, the handling cell 70 can also serve as a storage or buffer. This enables highly automated and at least temporarily autonomous operation of the manufacturing system 60. In the exemplary embodiment, the feeding cart 140 serves to receive unmachined workpieces (blanks) as well as machined workpieces (finished parts). This is not to be understood in a limiting sense.
The feeding cart 140 includes a plurality of receiving spaces 144 configured as slide-in modules in the exemplary embodiment. For example, five or more receiving spaces 144 are provided, arranged one above the other. The receiving spaces 144 serve to accommodate loading aids 150. Trays, for example, can serve as loading aids 150. The use of so-called Euro boxes or similar loading aids is also conceivable. It is essential that the loading aids 150 can be inserted into the receiving spaces 144. In the exemplary embodiment, a transfer direction of the loading aids 150 is approximately perpendicular to the entry direction 138 of the feeding cart 140.
In the exemplary embodiment according to
A securing element 148, which in the exemplary embodiment is arranged as a securing bar, is used to secure loading aids 150 in the receiving spaces 144 of the feeding cart 140.
The securing element 148 is movably arranged on the feeding cart 140 via an inclined deflection 158. In this way, the lifting movement is at least partially deflected into a horizontal movement (in the exemplary embodiment parallel to the retraction direction 138) when the roll 154 is lifted. This allows lateral disengagement of the securing element 148 so that loading aids 150 can be removed from the receiving spaces 144. Once the feeding cart 140 has moved out of the bay 142, the securing element 148 is reengaged. Outside the bay 142 in the handling cell 70, the loading aids 150 are adequately secured in their position in the receiving spaces 144 of the feeding cart 140.
In the exemplary embodiment, the provisioning unit 160 has a lifting axis 162 and a transfer axis 168. The lifting axis 162 is oriented vertically. The transfer axis 168 is oriented horizontally. The transfer axis 168 is oriented approximately perpendicular to the entry direction 138 for the feeding cart 140.
The lifting axis 162 comprises a vertically movable lifting carriage 164, which is coupled to a lifting drive and carries components of the transfer axis 168. The transfer axis 168 comprises a horizontally movable support 170, which is used to hold loading aids 150. Via movement along the lifting axis 162, the support 170 can approach a selected receiving space 144 in the feeding cart 140. Via the transfer axis 168, the support 170 can move into or out of the feeding cart 140 to transfer loading aids 150.
In the exemplary embodiment according to
The transfer axis 168 comprises a linear drive 180, exemplarily comprising a cylinder. In the exemplary embodiment according to
In the exemplary embodiment, the driving recess 184 of the loading aid 150 is arranged in a protruding lug. In the exemplary embodiment, the driving pin 182 is arranged at the support 170 of the transfer axis 168 that is movable by the linear drive 180. Engagement or disengagement of the driving pin 182 with respect to the driving recess 184 typically requires a lifting movement (small in amount) along the lifting axis 162 when the loading aid 150 rests on a receiving space 144 of the feeding cart 140.
In exemplary embodiments, the support 170 of the transfer axis 168 further comprises a tilting axis 188. A slight tilting of the support 170 and a loading aid 150 arranged thereon around the tilting axis 188 is possible, if required. This allows the loading aid 150 and/or workpieces 176 to be provided in a preferred orientation. This can simplify the transfer of workpieces 176 to the handling unit 100 in the provisioning position 198.
In exemplary embodiments, the handling robot 102 is configured to provide workpieces 176, if required, via a first loading interface 110 of a first machine tool 10 and/or via a second loading interface 112 of a second machine tool 10. This comprises an at least partial entry of the handling robot 102 into a respective workspace 24 of the machine tool 10. The first loading interface 110 and the second loading interface 112 are spaced apart from each other, compare also the schematic representation in
To overcome the distance between the first loading interface 110 and the second loading interface 112, a positioning axis 192 is used along which the handling robot 102 is guided horizontally by a carriage 194. In the exemplary embodiment according to
The handling unit 100 is used to transfer workpieces 176 between the provisioning position 198 and the respective workpiece support 30 in the workspace 24 of the machine tool 10. This is done through a loading interface 110, 112 into the respective workspace 24. With reference to
The support 170 is mounted on the lifting carriage 164 to be pivotable about the tilting axis 188. The tilting by the tilting mechanism 200 can be selectively brought about in the provisioning position 198. For this purpose, a holding piece 204 is provided, which is mounted on the frame side of the handling cell 70. The support 170 has a bearing piece 206 that can move into the holding piece 204, if required. In
This causes tilting of the support 170 about the tilting axis 188, compare a curved double arrow 202 in
For gripping or depositing workpieces, the handling robot 102 has an end effector in the form of a workpiece gripper 230. In the exemplary embodiment, the workpiece gripper 230 is arranged as a multiple gripper 232. In this way, the workpiece gripper 230 can pick up blanks 240 from the loading aid 150 and hand over machined workpieces 242 to the loading aid 150 without having to approach the workpiece holder 30 of the machine tool 10 in the meantime. The same applies to the workpiece exchange at the workpiece holder 30 in the workspace 24 of the machine tool 10. This reduces the workpiece exchange times.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2022 122 977.7 | Sep 2022 | DE | national |
