WORKPIECE HANDLING APPARATUS AND METHOD FOR BATCH PROCESSING PANEL-TYPE WORKPIECES

Abstract

Workpiece handling apparatus for handling at least one panel-type workpiece which preferably consists at least in part of wood, wood-containing material, composite material or plastics material, comprising a lifting unit and a gripping unit, wherein the gripping unit is adapted to perform a displacement movement parallel to at least a first direction, and the gripping unit has a workpiece pick-up device which is so configured that it is able to enter into a reversible, force-based and/or form-fitting connection with at least one panel-type workpiece, characterised in that the gripping unit is so configured that the workpiece pick-up device can perform a displacement movement parallel to a second direction which is different from the first direction, and the lifting unit has at least one guide element which is configured to perform a displacement movement parallel to the second direction, and which is additionally configured to limit at least one degree of freedom of movement of the at least one panel-type workpiece.

Claims

1. Workpiece handling apparatus (1) for handling at least one preferably panel-type workpiece (8) which preferably consists at least in part of wood, wood-containing material, composite material or plastics material, comprising a lifting unit (3) and a gripping unit (2), wherein the gripping unit (2) is adapted to perform a displacement movement parallel to at least a first direction (R1), and the gripping unit (2) has a workpiece pick-up device (7) which is so configured that it is able to enter into a reversible, force-based and/or form-fitting connection with at least one panel-type workpiece (8), characterised in that the gripping unit (2) is so configured that the workpiece pick-up device (7) can perform a displacement movement parallel to a second direction (R2) which is different from the first direction (R1), and the lifting unit (3) has at least one guide element (9) which is configured to perform a displacement movement parallel to the second direction (R2), and which is additionally configured to limit at least one degree of freedom of movement of the at least one panel-type workpiece (8).

2. Workpiece handling apparatus (1) according to claim 1, characterised in that the second direction (R2) is oriented parallel to the direction of gravity or has a component that is oriented parallel to the direction of gravity.

3. Workpiece handling apparatus (1) according to any one of the preceding claims, characterised in that the at least one guide element comprises at least one guide roller, at least one guide rail and/or at least one conveyor belt.

4. Workpiece handling apparatus (1) according to any one of the preceding claims, characterised in that the workpiece pick-up device (7) is in the form of a vacuum gripper or clamping gripper.

5. Workpiece handling apparatus (1) according to any one of the preceding claims, characterised in that the gripping unit (2) and/or the lifting unit (3) has at least one hydraulically, pneumatically and/or electrically operated actuator.

6. Workpiece handling apparatus (1) according to any one of the preceding claims, characterised in that the gripping unit (2) and the lifting unit (3) have a common control unit (10) which is preferably adapted to control the first displacement speed of the workpiece pick-up device (v1) and the second displacement speed of the at least one guide element (v2), and which is particularly preferably adapted to make possible an operating state in which the component oriented parallel to the second direction (R2) with the first displacement speed (v1) and the component oriented parallel to the second direction (R2) with the second displacement speed (v2) are identical.

7. System, comprising a workpiece handling apparatus (1) according to any one of the preceding claims and a storage apparatus (11) for storing at least one panel-type workpiece (8), wherein in the case of multiple panel-type workpieces (8a, 8b, . . . ) they are arranged on the storage apparatus (11) preferably in a stack, characterised in that the gripping unit (2) is so configured that the workpiece pick-up device (7) is able to enter into a reversible, force-based and/or form-fitting connection with at least one panel-type workpiece (8) which is stored in or on the storage apparatus (11).

8. System according to claim 7, characterised in that the storage apparatus (11) is so configured that the at least one panel-type workpiece (8) can be moved parallel to the second direction (R2).

9. Processing machine (12), preferably in the form of a flat-table machine, comprising either a workpiece handling apparatus (1) according to any one of claims 1 to 6 or a system according to either claim 7 or claim 8, as well as a processing table (5) which has a workpiece supporting plane (13), and a processing unit (6) which is adapted to perform a displacement movement parallel to the first direction (R1), characterised in that the gripping unit (2) is fixedly connected to the processing unit (6).

10. Processing machine (12) according to claim 9, characterised in that the lifting unit (3) can be recessed completely in the processing table (5) of the processing machine (12).

11. Processing machine (12) according to either claim 9 or claim 10, wherein the processing table (5) has a first boundary contour (K1) and the at least one guide element (9) has a second boundary contour (K2), wherein the first boundary contour (K1) is defined as the vertical projection of the processing table (5) into the workpiece supporting plane (13), and the second boundary contour (K2) is defined as the vertical projection of the at least one guide element (9) into the workpiece supporting plane (13), characterised in that the first boundary contour (K1) and the second boundary contour (K2) overlap, or the second boundary contour (K2) is enclosed completely by the first boundary contour (K1).

12. Method for batch processing panel-type workpieces (8) with a processing machine (12) comprising a system according to either claim 6 or claim 7 as well as a processing table (5) which has a workpiece supporting plane (13), and a processing unit (6) which is adapted to perform a displacement movement parallel to the first direction (R1), comprising the steps: 1) displacing the workpiece pick-up device (7) until it is in a position in which it is able to enter into a reversible, force-based and/or form-fitting connection with at least one panel-type workpiece (8) which is stored in or on the storage apparatus (11); 2) producing a force-based and/or form-fitting connection between the workpiece pick-up device (7) and at least one panel-type workpiece (8); 3) displacing the at least one guide element (9) until it is in a position in which it is tangential to the surface of the panel-type workpiece (8) that is facing the processing table (5); 4) displacing the workpiece pick-up device (7) and the at least one panel-type workpiece (8) connected thereto by a force-based and/or form-fitting connection, wherein the displacement movement is oriented parallel to the first direction (R1); 5) simultaneously displacing the workpiece pick-up device (7) and the at least one guide element (9) parallel to the second direction (R2) until the at least one panel-type workpiece (8) touches the workpiece supporting plane (13) of the processing table (5); 6) releasing the force-based and/or form-fitting connection between the workpiece pick-up device (7) and the at least one panel-type workpiece (8); 7) fastening the at least one panel-type workpiece (8) to the processing table (5), preferably using vacuum clamping elements; 8) processing the at least one panel-type workpiece (8); wherein the order of the steps can be varied, and wherein the acute angle which the at least one panel-type workpiece (8) encloses with the workpiece supporting plane (13) during steps 1) to 8) preferably assumes a value between 0 and 45° and particularly preferably a value between 0 and 15°.

13. Method according to claim 12, further comprising the step: displacing the next panel-type workpiece (8) to be processed, parallel to the second direction (R2), while it is stored in or on the storage apparatus (11).

14. Method according to either claim 12 or claim 13, wherein the processing machine (12) is so configured that the workpiece pick-up device (7) is displaceable parallel to a third direction R3, wherein the third direction R3 is different from the first direction (R1) and the second direction (R2), and wherein the processing machine (12) comprises a second storage apparatus (11a), further comprising the steps: 1) producing a force-based and/or form-fitting connection between the workpiece pick-up device (7) and at least one processed panel-type workpiece (80); 2) simultaneously displacing the workpiece pick-up device (7) and the at least one guide element (9) parallel to the second direction (R2); 3) simultaneously displacing the workpiece pick-up device (7) and the at least one processed panel-type workpiece (80) connected thereto by a force-based and/or form-fitting connection parallel to the third direction R3, wherein the at least one processed panel-type workpiece (80) is stored on or in the second storage apparatus (11a) when the displacement movement is complete.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Preferred embodiments of the present invention and further configurations and advantages will become apparent from the following description of the figures:

[0055] FIG. 1 shows a first embodiment of a workpiece handling apparatus according to the invention with a panel-type workpiece in a first state;

[0056] FIG. 2 shows a first embodiment of a workpiece handling apparatus according to the invention with a panel-type workpiece in a second state;

[0057] FIG. 3 shows a second embodiment of a workpiece handling apparatus according to the invention with a panel-type workpiece in a first state;

[0058] FIG. 4 shows a second embodiment of a workpiece handling apparatus according to the invention with a panel-type workpiece in a second state;

[0059] FIG. 5 shows a third embodiment of a workpiece handling apparatus according to the invention with a panel-type workpiece in a first state;

[0060] FIG. 6 shows a first embodiment of a system according to the invention consisting of a workpiece handling apparatus and a storage apparatus in a first state;

[0061] FIG. 7 shows a first embodiment of a system according to the invention consisting of a workpiece handling apparatus and a storage apparatus in a second state;

[0062] FIG. 8 shows a first embodiment of a system according to the invention consisting of a workpiece handling apparatus and a storage apparatus in a third state;

[0063] FIG. 9 shows a first embodiment of a processing machine according to the invention in a side view in a first state;

[0064] FIG. 10 shows a first embodiment of a processing machine according to the invention in a side view in a second state;

[0065] FIG. 11 shows a first embodiment of a processing machine according to the invention in a side view and in the absence of panel-type workpieces;

[0066] FIG. 12 shows a second embodiment of a processing machine according to the invention in an isometric view in a first state;

[0067] FIG. 13 shows a second embodiment of a processing machine according to the invention in an isometric view in a second state;

[0068] FIG. 14 shows a second embodiment of a processing machine according to the invention in a view perpendicular to the workpiece supporting plane.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0069] FIG. 1 shows a first preferred embodiment of the workpiece handling apparatus 1 according to the invention in a first state. The workpiece handling apparatus can be used for handling panel-type workpieces 8, for example solid wood or chipboard panels, and generally comprises a lifting unit 3 and a gripping unit 2. The gripping unit 2 is adapted to perform a displacement movement parallel to a first direction R1, wherein the direction R1 in the present case runs linearly and horizontally.

[0070] The gripping unit 2 comprises a workpiece pick-up device 7, which is in the form of a vacuum gripper. In the state shown, the vacuum gripper has been brought into a force-based connection with a panel-type workpiece 8. However, the vacuum gripper is so configured that the connection can also be released. The gripping unit 2 is further so configured that the vacuum gripper can be moved parallel to a second direction R2 using a pneumatically or optionally hydraulically operated working cylinder. In the embodiment shown, the direction R2 runs linearly and parallel to the direction of gravity. The lifting unit 3 of the workpiece handling apparatus 1 has two guide elements 9, which are in the form of rollers. The rollers are each mounted on hydraulically operated working cylinders, so that they can be moved parallel to the direction R2. Furthermore, the rollers are so arranged that they support the panel-type workpiece 8 so that it does not fall as a result of gravity.

[0071] FIG. 2 shows the same embodiment of a workpiece handling apparatus according to the invention as FIG. 1, but in a second state which is different from the first state. This second state is reached starting from the first state shown in FIG. 1 by the workpiece pick-up device 7 and the guide elements 9 being displaced together with a panel-type workpiece 8 parallel to the second direction R2.

[0072] FIGS. 3 and 4 also show a preferred embodiment of a workpiece handling apparatus 1 according to the invention in two different states. The second embodiment shown in FIG. 3 and FIG. 4 differs from the first embodiment shown in FIG. 1 and FIG. 2 only in that, instead of two rollers, a guide rail is provided as the guide element 9. In the embodiment shown, the guide rail is made of metal and, in order to optimise the sliding properties, is coated with plastics material of the polyoxymethylene type. The states shown in FIG. 3 and FIG. 4 correspond to the states of FIG. 1 and FIG. 2, respectively.

[0073] FIG. 5 shows a third preferred embodiment of a workpiece handling apparatus 1 according to the invention. The difference with respect to the second embodiment shown in FIG. 3 and FIG. 4 consists in that the workpiece pick-up device 7 is not in the form of a vacuum gripper but in the form of a clamping gripper. The state of the workpiece handling apparatus shown corresponds to the state shown in FIG. 1 and FIG. 3.

[0074] A workpiece handling apparatus 1 according to one of the above-described embodiments also comprises a control unit 10, although this is not depicted in FIGS. 1 to 5. This control unit 10 is adapted to control the first displacement speed of the workpiece pick-up device v1 and the second displacement speed of the guide elements v2 and to make possible an operating state in which the component oriented parallel to the second direction R2 with the first displacement speed v1 and the component oriented parallel to the second direction R2 with the second displacement speed v2 are identical.

[0075] FIGS. 6, 7 and 8 show a preferred embodiment of a system according to the invention, wherein a system according to the invention comprises a workpiece handling apparatus 1 and a storage apparatus 11. The storage apparatus 11 is thereby in the form of a scissor lift table and stores multiple panel-type workpieces 8a, 8b, 8c, . . . in the form of a panel stack. The workpiece handling apparatus 1 comprises a lifting unit 3 and a gripping unit 2. The gripping unit 2 is displaceable parallel to the direction R1 and has a workpiece pick-up device 7 which is displaceable parallel to the direction R2. This is in the form of a vacuum gripper comparably to the embodiment shown in FIGS. 1 to 4. The lifting unit comprises a guide element 9 which is in the form of a roller and is displaceable parallel to the direction R2.

[0076] FIG. 6 shows a state in which the gripping unit 2 has been brought into a position in which the workpiece pick-up device 7 is able to enter into a force-based connection with the uppermost panel-type workpiece 8a stored on the storage apparatus 11. Furthermore, the guide element 9 of the lifting unit is in a position tangential to the plane that contains the supporting surface of the uppermost panel-type workpiece 8a.

[0077] The state shown in FIG. 7 is reached starting from the state in FIG. 6 by moving the gripping unit 2 together with the uppermost panel-type workpiece 8a parallel to the first direction R1. In the present case, the first direction R1 runs horizontally.

[0078] The state shown in FIG. 8 is reached starting from the state in FIG. 7 by further moving the panel-type workpiece 8a connected by a force-based connection to the workpiece pick-up device 7 parallel to the first direction R1 and additionally parallel to the second direction R2. While a movement only of the gripping unit 2 is necessary for a movement of the panel-type workpiece 8a parallel to the first direction R1, a movement of the panel-type workpiece 8a parallel to the second direction R2 additionally requires a movement of the guide element 9 of the lifting unit 3 and a movement of the workpiece pick-up device 7.

[0079] FIGS. 9 to 11 show a first preferred embodiment of a processing machine 12 according to the invention in a side view. The processing machine 12 is in the form of a CNC drilling machine and can be used, for example, for producing kitchen fronts. The processing machine 12 comprises a workpiece handling apparatus 1, consisting of a gripping unit 2 and a lifting unit 3 having guide elements 9 in the form of rollers, as well as a processing table 5 having a workpiece supporting plane 13, a processing unit 6 and a storage apparatus 11. The storage apparatus 11 is in the form of a scissor lift table, and the gripping unit 2 of the workpiece pick-up device 7 is, according to the invention, fixedly connected to the processing unit 6 of the processing machine 12.

[0080] FIG. 9 shows a first state, in which an uppermost panel-type workpiece 8a of a panel stack stored on the storage apparatus 11 has already been brought into a force-based and/or form-fitting connection with the workpiece pick-up device 7 of the gripping unit 2 and has been moved together with the gripping unit 2 parallel to the first direction R1. In this first state, the guide elements 9 of the lifting unit 3 are additionally in a position tangential to the surface of the panel-type workpiece 8a with which the panel-type workpiece 8a lies at least in part on the panel stack.

[0081] FIG. 10 shows a second state, in which the panel-type workpiece 8a, together with the gripping unit 2, has been moved further as compared to the state shown in FIG. 9 parallel to the first direction R1 and additionally parallel to the second direction R2. As a result of the movements, the panel-type workpiece 8a lies on the workpiece supporting plane 13 of the processing table 5, and the guide elements 9 of the lifting unit 3 are recessed in the processing table 5. In addition to the panel-type workpiece 8a, the processing unit 6 of the processing machine 12 and the gripping unit 2 fixedly connected to the processing unit 6 are also involved in the movement parallel to the first direction R1. In contrast, in addition to the panel-type workpiece 8a, the workpiece pick-up device 7 and the guide elements 9 of the lifting unit 3 are also involved in the movement parallel to the second direction R2.

[0082] FIG. 11 shows a processing machine 12 in the absence of panel-type workpieces. The state of the processing machine corresponds to FIG. 9.

[0083] FIGS. 12 and 13 show a second preferred embodiment of a processing machine 12 according to the invention in an isometric view. The difference with respect to the first embodiment shown in FIGS. 9 to 11 consists in that the guide elements 9 are not in the form of rollers but in the form of rails. The state shown in FIG. 12 corresponds to FIG. 9, the state shown in FIG. 13 corresponds to FIG. 10.

[0084] FIG. 14 shows the second preferred embodiment of a processing machine 12 shown in FIG. 12 and FIG. 13 in a plan view. In addition to the gripping unit 2, which is fixedly connected to the processing unit 6, the first boundary contour K1 and the second boundary contour K2 are also visible. The first boundary contour K1 is given by the vertical projection of the processing table 5 into the workpiece supporting plane 13, the second boundary contour K2 is given by the vertical projection of the guide elements 9 into the workpiece supporting plane 13. In the embodiment shown, the second boundary contour K2 is enclosed completely by the first boundary contour K1.

REFERENCE NUMERALS

[0085] 1 Workpiece handling apparatus [0086] 2 Gripping unit [0087] 3 Lifting unit [0088] 4 Processing machine [0089] 5 Processing table [0090] 6 Processing unit [0091] 7 Workpiece pick-up device [0092] 8 Panel-type workpiece [0093] 8a One of multiple panel-type workpieces [0094] 8b,c . . . Further panel-type workpieces [0095] 80 Processed panel-type workpiece [0096] 9 Guide element [0097] 10 Control unit [0098] 11 Storage apparatus [0099] 11a Second storage apparatus [0100] 12 Processing machine [0101] 13 Workpiece supporting plane [0102] v1 First displacement speed [0103] v2 Second displacement speed [0104] R1 First direction [0105] R2 Second direction [0106] R3 Third direction [0107] K1 First boundary contour [0108] K2 Second boundary contour