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EP-4735190-A1 - HANDLING DEVICE AND METHOD FOR SEPARATING AT LEAST ONE WORKPIECE FROM A RESIDUAL GRID OF A RESIDUAL GRID ASSEMBLY OF PARTS

EP4735190A1EP 4735190 A1EP4735190 A1EP 4735190A1EP-4735190-A1

Abstract

The invention relates to a handling device and to a method for separating a workpiece (7) from a residual grid (8) of a residual grid assembly of parts (9) which can be produced from a plate-shaped material (2) by means of a cutting process, said handling device comprising: a support framework (23) on which a rear-engagement device (24) is provided which has rear-engagement elements (19, 20) that can be moved relative to the support framework (23) from a disengagement position into a gripping position (33) in which the residual grid assembly of parts (9) is engaged from behind; and a holding device (28) which is arranged on the support framework (23) and which comprises at least one holding element (27), by means of which the residual grid assembly of parts (9) can be transferred from a gripping position (33) to a separating position (35) in which the residual grid assembly of parts (9) is lifted away from the rear-engagement elements (19, 20), wherein the residual grid assembly of parts (9) arranged in the separating position (35) can be subjected to vibrations from a vibration tool (34) in order to separate the at least one workpiece (7) from the residual grid (8).

Inventors

  • MACH, PATRICK
  • KRAUSE, STEFAN

Assignees

  • TRUMPF Werkzeugmaschinen SE + Co. KG

Dates

Publication Date
20260506
Application Date
20240630

Claims (16)

  1. 1. Handling device for separating a workpiece (7) from a residual grid (8) of a residual grid assembly (9) which can be produced by cutting from a plate-shaped material (2), with a support frame (23) on which a rear gripping device (24) is provided, which has rear gripping elements (19, 20) which can be moved relative to the support frame (23) from a disengaged position into a gripping position (33) in which the residual grid assembly (9) is gripped behind, with a holding device (28) arranged on the support frame (23) which comprises at least one holding element (27) by means of which the residual grid assembly (9) can be transferred from a gripping position (33) into a separating position (35) in which the residual grid assembly (9) is lifted off from the rear gripping elements (19, 20), characterized in that the holding device arranged in the separating position (35) skeleton part composite (9) for separating the at least one workpiece (7) from the residual grid (8) can be subjected to vibrations of a vibration tool (34).
  2. 2. Handling device according to claim 1, characterized in that the vibrations of the vibration tool (34) can be controlled in pulses.
  3. 3. Handling device according to claim 1 or 2, characterized in that after positioning the residual skeleton part assembly (9) in the separation position (35), the residual skeleton part assembly (9) is contacted with the vibration tool (34).
  4. 4. Handling device according to one of the preceding claims, characterized in that the vibration tool (34) has one or more vibration heads or at least one vibration piston oscillator, which can advantageously be contacted directly with the residual grid (8) of the residual grid part assembly (9).
  5. 5. Handling device according to one of claims 1 to 3, characterized in that the vibration tool (34) is designed as an impact wrench, by means of which the vibrations can be introduced into a peripheral edge of the residual grid-part assembly (9).
  6. 6. Handling device according to one of the preceding claims, characterized in that the vibration tool (34) comprises a hold-down element (26) which advantageously extends parallel to the separation position (35), and the residual skeleton part assembly (9) can be positioned in the separation position (35) adjacent to the hold-down element (26).
  7. 7. Handling device according to claim 6, characterized in that the hold-down element (26) extends over its entire surface and preferably the format of the hold-down element (26) is equal to or larger than the format of the residual skeleton part assembly (9).
  8. 8. Method for separating at least one workpiece (7) from a residual grid (8) of a residual grid component assembly (9), which can be produced by cutting from a plate-shaped material (2), in which a rear gripping device (24) with rear gripping elements (19, 20) is moved on a support frame (23) relative to a support frame (23) of the handling device (11) between a disengaged position and a gripping position (33), in which the residual grid component assembly (9) is gripped from behind, in which the residual grid component assembly (9) is transferred from a gripping position (33) to a separating position (35) with a holding device (28) arranged on the support frame (23), which comprises at least one holding element (27), in which the residual grid component assembly (9) is lifted off from the rear gripping elements (19, 20), characterized in that that the residual skeleton part assembly (9) arranged in the separation position (35) is subjected to vibrations by a vibration tool (34) for separating the at least one workpiece (7) from the residual skeleton (8).
  9. 9. Method according to claim 8, characterized in that the residual grid part assembly (9) is lifted relative to the rear gripping elements (19, 20) from the gripping position (33) to a height for assuming the separation position (35) which corresponds to at least 1 times the thickness, preferably 1.5 times the thickness, of the residual grid part assembly (9).
  10. 10. Method according to claim 8 or 9, characterized in that the vibration tool (34), which is preferably positioned on the support frame (23), is placed on an upper side of the residual grid part assembly (9) and/or positioned on an end face of the residual grid part assembly (9) after the positioning of the residual grid part assembly (9) in the separation position (35).
  11. 11. Method according to one of claims 8 to 10, characterized in that during the cutting processing of the plate-shaped material (2) for producing the at least one workpiece (7), at least one opening is made in the residual grid (8) and that the at least one rod-shaped holding element (27) with a gripping hook (30) provided at the end opposite the support frame (23) is introduced into the at least one opening in the residual grid part assembly (9), in particular the at least one opening in the residual grid (8), and subsequently the residual grid part assembly (9) is raised into the separating position.
  12. 12. Method according to one of claims 8 to 11, characterized in that the vibration tool (34) comprises a hold-down element which is received by the support frame (23), and that when the residual skeleton part assembly (9) is transferred into the separation position (35), the hold-down element (26) is positioned resting on the residual skeleton part assembly (9), and preferably the hold-down element (26) is received detachably and/or replaceably by further holding elements on the support frame (23).
  13. 13. Method according to one of claims 8 to 12, characterized in that during a separation process in which the residual grid part composite (9) is Vibrations are applied, the rear gripping elements (19, 20) remain positioned below the residual grid part assembly (9) in the gripping position (33) and the at least one workpiece (7) separated from the residual grid (8) is held in place by the rear gripping elements (19, 20).
  14. 14. Method according to one of claims 8 to 12, characterized in that before the start of a separation process in which the residual skeleton part assembly (9) is subjected to vibrations, the handling device (11) is positioned above a conveyor belt and the rear gripping elements (19, 20) are moved into a disengaged position so that the at least one workpiece (7) separated from the residual skeleton (8) is transferred to the conveyor belt.
  15. 15. Method according to claim 13 or 14, characterized in that after the at least one workpiece (7) has been separated from the residual grid (8), the residual grid (8) is deposited in an unloading station or a storage station in a separate work step.
  16. 16. Method according to one of claims 8 to 15, characterized in that the vibration tool (34) is operated with frequencies which pass through a specific frequency band, wherein the natural frequency of the at least one component excited to vibrate lies within the frequency band.

Description

Handling device and method for separating at least one workpiece from a residual grid of a residual grid part composite The invention relates to a handling device for separating at least one workpiece from a residual grid of a residual grid part composite and a method therefor. EP 2 662 182 B1 also discloses a method and a device for removing a residual grid part assembly from a workpiece support in a machine tool with subsequent separation of the workpieces from a residual grid. This device comprises a support frame on which a rear gripping device is provided, which comprises rake-like rear gripping elements that can be moved relative to the support frame. To remove the residual grid part assembly, the device is positioned with an open rear gripping device for the workpiece support, so that the rake-like rear gripping elements can be positioned between support webs of the workpiece support in order to grip an underside of the residual grid part assembly. The residual grid part assembly resting on the rear gripping elements is then lifted off the workpiece support. The residual grid part assembly is then lifted off the holding elements so that the workpiece parts can fall out of the residual grid. Particularly in the case of a residual grid part assembly in which the workpieces are completely cut free from the residual grid, the workpieces may tilt relative to the residual grid when the residual grid part assembly is lifted off the workpiece support, so that the subsequent separation of the workpieces may be more difficult. EP 3 708 524 A1 discloses a method for removing a workpiece from a residual grid of a residual grid part assembly. The workpiece to be removed is held in place by a suction gripping device and lifted out of the residual grid. If there is a jamming between the workpiece and the residual grid, a vibration plate is then lowered from above onto the workpiece to be removed. After the vibration plate has landed on the workpiece, a vibration element is activated to release the jamming between the workpiece and the residual grid. From DE 10 2021 117 265 A1, a device for separating a cut-out workpiece from a residual skeleton is known. The workpiece is held fixed to the residual skeleton by at least one web connection. The device for separating the workpiece comprises at least one gripping element, a pulling device and an impact device, wherein the gripping element is movable in the direction of the workpiece. The gripping element is designed to grip the cut-out workpiece and the pulling device is designed to apply a pulling force away from the workpiece to the gripping element in a state connected to the workpiece, wherein the impact device is aligned such that an impact element of the impact device exerts an impact force on the base body at the web connection in order to break the web connection. From DE 10 2010 031 001 A1, an industrial conveyor is known which has elongated workpiece storage elements and a chassis on the floor. In order to facilitate workpiece transfer between a workpiece support and the industrial conveyor, the workpiece storage elements can be arranged in several spaces between the support elements of the workpiece support. This makes it easy to lift off the residual skeleton with the cut workpieces. If the workpiece storage elements are arranged above a sheet metal cutout holder, the workpieces can be pushed through the workpiece storage elements. Alternatively, a vibrating device can also be provided to shake free the workpieces that are still connected to the residual skeleton, for example via microjoints. One variant is when a lifting device provided on the industrial conveyor serves as a vibrating device for raising and lowering the workpiece storage elements. The invention is based on the object of proposing a handling device and a method for separating at least one workpiece from a residual grid of a residual grid part composite in order to achieve a shortening of the process time in automation. This object is achieved by a handling device with a support frame on which a rear gripping device with rear gripping elements is provided and with a holding device which comprises at least one holding element which transfers the residual skeleton part assembly perpendicular to a workpiece plane from a gripping position resting on the rear gripping elements to a separating position in which the residual skeleton part assembly is lifted relative to the rear gripping elements, in which the residual grid part assembly arranged in the separation position to the support frame can be subjected to vibrations by a vibration tool and/or shaking tool in order to separate the at least one workpiece from the residual grid. This makes it possible for the at least one workpiece to be separated from the residual grid in the handling device immediately after the residual grid part assembly has been removed from a workpiece support of a pallet or a pallet changer by the handling device. Advan