METHOD FOR THE TRANSPORT AND/OR HANDLING OF COMPONENTS

Abstract

A method transports and/or handles components, in particular sheet metal parts, and a production plant includes a manipulator arrangement having a first manipulator arm and at least one second manipulator, wherein the first manipulator and the at least one second manipulator are designed to pick up, transport, hold and/or deposit a component, at least one processing device for carrying out processing steps on the component, wherein the component is transferred from the first manipulator to the at least one second manipulator after a first processing cycle at a predetermined re-gripping time, the re-gripping time being between the first processing cycle and at least one second processing cycle, wherein the component at least in portions rests on the processing device during the re-gripping time and is supported in a load-dissipating manner solely by the processing device.

Claims

1-19. (canceled)

20: A method for transporting and/or handling components (4), in particular sheet metal parts, comprising a manipulator arrangement (2) with a first manipulator (5) and at least one second manipulator (6), wherein the first manipulator (5) and the at least one second manipulator (6) are de-signed to grip, to transport, to hold and/or to deposit a component (4), at least one processing device (3) for performing processing steps on the component (4), wherein, after a first processing cycle, a transfer of the component (4) from the first manipulator (5) to the at least one second manipulator (6) takes place at a predefined re-gripping time, wherein the re-gripping time takes place between the first processing cycle and at least one second processing cycle, and wherein, during the re-gripping time, the component (4) at least in some sections rests on the processing device and is supported in a load-dissipating manner solely by the processing device (3), wherein the component (4) is deposited by the first manipulator (5) at a re-gripping station (13), and that the component (4) is gripped from the re-gripping station (13) by the at least one second manipulator (6), wherein the re-gripping station (13) is formed as a handling device (21) at the processing device (3), wherein the processing device (3) comprises a waiting section (22) and a re-gripping section (23) for the handling device (21), and wherein the handling device (21) is moved out of the waiting section (22) into the re-gripping section (23) before the re-gripping time and moved out of the re-gripping section (23) into the waiting section (22) after the re-gripping time.

21: The method according to claim 20, wherein the component (4) comprises a first gripping surface (15) and a second gripping surface (16) different from the first gripping surface (15), wherein the component (4) is gripped by the first manipulator (5) on the first gripping surface (15) and by the at least one second manipulator (6) on the second gripping surface (16).

22: The method according to claim 21, wherein the component (4) is gripped on the first gripping surface (15), which is formed on the upper side of the component (4), and on the second gripping surface (16), which is formed on the bottom side of the component (4).

23: The method according to claim 20, wherein during the at least one second processing cycle, a second component (19) is gripped by the first manipulator (5).

24: The method according to claim 20, wherein during the first processing cycle on the second component (19), the first component (4) is deposited by the at least one second manipulator (6).

25: The method according to claim 20, wherein the component (4) at least in some sections rests on and is supported in a load-dissipating manner on at least one tool (17) of the processing device (3) while the component (4) is gripped by the at least one second manipulator (6).

26: The method according to claim 20, wherein the component (4) is formed by a sheet metal part, the at least one processing device (3) is formed by a bending machine, and the at least one tool (17) is formed by upper tools and lower tools of the bending machine, wherein the sheet metal part, during the gripping by the at least one second manipulator (6), is clamped between the upper tools and lower tools, and the sheet metal part, during the gripping by the at least one second manipulator (6), is not contacted or not impinged by the first manipulator (5).

27: The method according to claim 20, wherein the predetermined re-gripping time between the first manipulator (5) and the at least one second manipulator (6) takes place between a first bending operation for producing a first deformation in the component (4) and a second bending operation for producing a second deformation in the component (4), which second deformation extends in a mirror-inverted manner to the first deformation, in particular before an essentially Z-shaped cross-sectional extension is formed in the component (4).

28: The method according to claim 20, wherein the first manipulator (5) and the at least one second manipulator (6) are displaced along a common travel path (10) in the longitudinal direction (11).

29: The method according to claim 20, wherein the first manipulator (5) is displaced along a first travel path (10) in the longitudinal direction (11), and wherein the at least one second manipulator (6) is displaced along a second travel path (20), which second travel path (20) extends in parallel with the first travel path (10), in the longitudinal direction (11).

30: The method according to claim 20, wherein the at least one second processing cycle is carried out on a second processing device (24).

31: A production plant (1) for carrying out the method according to claim 20, comprising a manipulator arrangement (2) having a first manipulator (5) and at least one second manipulator (6); at least one processing device (3) for carrying out processing steps on a component (4), wherein a rest section (14) is provided on the processing device (3), in which rest section (14) the component (4) can be supported in a load-dissipating manner during a re-gripping time, wherein a re-gripping station (13) is formed in the rest section (14), by which re-gripping station (13) the component (4) can be supported in a load-dissipating manner during the re-gripping time, wherein the re-gripping station (13) is formed as a handling device (21) at the processing device (3), wherein the processing device (3) comprises a waiting section (22) and a re-gripping section (23) for the handling device (21), and wherein the handling de-vice (21) can be moved out of the waiting section (22) into the re-gripping section (23) and vice versa.

32: The production plant (1) according to claim 31, wherein a common travel path (10) for the first manipulator (5) and for the at least one second manipulator (6) is provided.

33: The production plant (1) according to claim 31, wherein a first travel path (10) for the first manipulator (5) and a second travel path (20) for the at least one second manipulator (6) are provided.

34: The production plant (1) according to claim 31, wherein a second processing device (24) is provided, on which at least a second processing cycle can be carried out.

Description

[0078] For the purpose of better understanding of the invention, it will be elucidated in more detail by means of the figures below.

[0079] These show in a respectively very simplified schematic representation:

[0080] FIG. 1 a production plant having a manipulator arrangement and a processing device, wherein a first processing cycle is carried out on a first component;

[0081] FIG. 2 the production plant having the manipulator arrangement and the processing device, wherein the first component is deposited by a first manipulator at a re-gripping station;

[0082] FIG. 3 the production plant having the manipulator arrangement and the processing device, wherein the first component is collected by a second manipulator at the regripping station;

[0083] FIG. 4 the production plant having the manipulator arrangement and the processing device, wherein a second component is gripped by the first manipulator, and a second processing cycle is carried out on the first component;

[0084] FIG. 5 the production plant having the manipulator arrangement and the processing device, wherein a first processing cycle is carried out on the second component, and the first component is deposited;

[0085] FIG. 6 an embodiment of a production plant having a manipulator arrangement and a processing device, wherein a first manipulator is displaced along a first travel path, and a second manipulator is displaced along a second travel path;

[0086] FIG. 7 a component having a first gripping surface and a second gripping surface in a lateral view;

[0087] FIG. 8 the component having multiple partial sections of the first gripping surface in a top view;

[0088] FIG. 9 a flowchart with multiple processing cycles on multiple components.

[0089] First of all, it is to be noted that in the different embodiments described, equal parts are provided with equal reference numbers and/or equal component designations, where the disclosures contained in the entire description may be analogously transferred to equal parts with equal reference numbers and/or equal component designations. Moreover, the specifications of location, such as at the top, at the bottom, at the side, chosen in the description refer to the directly described and depicted figure and in case of a change of position, these specifications of location are to be analogously transferred to the new position.

[0090] In FIG. 1, a production plant 1 having a manipulator arrangement 2 and a processing device 3 is shown, wherein a first processing cycle is carried out on a first component 4.

[0091] The manipulator arrangement 2 comprises a first manipulator 5 and a second manipulator 6 and/or at least one second manipulator 6, wherein the first manipulator 5 and the at least one second manipulator 6 is designed to grip, transport, hold and/or deposit the component 4. By way of example, FIG. 1 shows a press brake 7 as a processing device 3 for carrying out processing steps on the component 4. For gripping, transporting, holding and/or depositing the component 4, multiple vacuum suction cups 8 are provided both on the first manipulator 5 and on the second manipulator 6.

[0092] According to the representation in FIG. 1, a processing step of a first processing cycle on the first component 4 is underway. In this regard, the first processing cycle may comprise one or multiple processing steps, wherein the exemplary represented embodiment shows a defined sequence of bending steps. During the first processing cycle, the first component 4 is held by multiple vacuum suction cups 8 of the first manipulator 5, and/or the first component 4 is moved by the first manipulator 5 to different processing sections 9 of the press brake 7 in order to carry out a sequence of bending steps on the component 4.

[0093] In order to displace the first manipulator 5 and the second manipulator 6, a first travel path 10 is provided, along which the first manipulator 5 and the second manipulator 6 can be displaced in the longitudinal direction 11 towards the processing device 3 and/or press brake 7, in order to be able to move the component 4 to the different processing sections 9 of the processing device 3 and/or press brake 7. In the different processing sections 9 of the processing device 3 and/or press brake 7, which may be defined by bending tools of different designs and/or of different length, the individual processing steps and/or bending steps of the processing cycles are carried out.

[0094] In doing so, the first manipulator 5 and the second manipulator 6 use the same and/or a common travel path 10 with a rail arrangement 12. In an exemplary embodiment not shown in more detail, it is also conceivable that the first manipulator 5 and the second manipulator 6 are displaceable and/or movable along a defined region in the longitudinal direction 11 instead of along a rail arrangement 12.

[0095] FIG. 2 shows the production plant 1 having the manipulator arrangement 2 and the processing device 3, wherein the first component 4 is deposited by the first manipulator 5 at a re-gripping station 13, on which the component 4 is supported in a load-dissipating manner during a regripping time. In this regard, the re-gripping station 13 is formed in a feed section of the processing device 3 and/or in a rest section 14 of the production plant 1.

[0096] After a first processing cycle, with at least one processing step, thus, a transfer of the first component 4 from the first manipulator 5 to the at least one second manipulator 6 takes place at a predetermined re-gripping time. In this regard, the re-gripping time takes place between the first processing cycle and at least one second processing cycle, which again has at least one processing step and/or bending step.

[0097] In the course of re-gripping, the position of the component 4 can be changed. For example, the component 4 may be turned and/or rotated such that it assumes a spatial position required for a second processing cycle.

[0098] During the re-gripping time, the component 4 at least in some sections rests on the processing device 3 in the region of the rest section 14 and is supported in a load-dissipating manner solely by the processing device 3 and/or integral elements of the processing device 3.

[0099] In this regard, the first component 4 comprises a first gripping surface 15 and a second gripping surface 16, wherein the component 4 is gripped by the first manipulator 5 on the first gripping surface 15 and/or is deposited at the re-gripping station 13.

[0100] In an alternative embodiment, not shown in further detail, the rest section 14, in which the component 4 can be supported in a load-dissipating manner during a re-gripping time, may also be a region in the processing section 9, in which the component 4 is supported in a load-dissipating manner by means of a tool 17 of the processing section 3. In this regard, it is further conceivable that, by means of the bending tools 18 of a press brake 7, the component is supported and/or held, wherein an additional clamping by means of the bending tools 18 is also conceivable.

[0101] FIG. 3 shows the production plant 1 having the manipulator arrangement 2 and the processing device 3, wherein the first component 4 is gripped by the second manipulator 6 at the re-gripping station 13 and/or in the rest section 14. In this process, the first component 4 is gripped on the second gripping surface 16 by the second manipulator 6.

[0102] As an alternative thereto, it is also conceivable according to an embodiment that is not shown in further detail that the first component 4 at least on some sections rests on at least one tool 17 of the processing device 3 and is supported thereon in a load-dissipating manner, while the first component 4 is gripped by the at least one second manipulator 6.

[0103] FIG. 4 shows the production plant 1 having the manipulator arrangement 2 and the processing device 3, wherein a second component 19 is gripped by the first manipulator 5 while a second processing cycle is carried out on the first component 4. The second component 19 may, for example, be collected from a stack 26, on which components 4, 19 to be processed are stored.

[0104] During the second processing cycle, the first component 4 is held by the first manipulator 5 by means of the vacuum suction cups 8, and/or is moved by the first manipulator 5 along the travel path 10 in the longitudinal direction 11 to the different processing sections 9 of the processing device 3 and/or press brake 7.

[0105] FIG. 5 shows the production plant 1 having the manipulator arrangement 2 and the production plant 3, wherein a first processing cycle is carried out on the second component 19, while the first component 4 is deposited by the second manipulator 6. In this regard, the first component 4 may be placed on a stack 26 or a pallet again, and/or it is also conceivable that the first component 4 is transported to a further production plant 1 not shown in further detail.

[0106] FIG. 6 shows a further and possibly independent embodiment of a production plant 1, wherein again, equal reference numbers and/or component designations are used for equal parts as in FIGS. 1 to 5 above. In order to avoid unnecessary repetitions, it is pointed to/reference is made to the detailed description in FIGS. 1 to 5 above.

[0107] FIG. 6 shows an embodiment of a production plant 1 having a manipulator arrangement 2 and a processing device 3, wherein a first manipulator 5 is displaced along a first travel path 10, and a second manipulator 6 is displaced along a second travel path 20.

[0108] The first travel path 10 and the second travel path 20 may again each be rail arrangements 12, along which the first manipulator 5 and the second manipulator 6 can be displaced and/or can be moved in the longitudinal direction 11.

[0109] In an embodiment, which is not shown in further detail, the second travel path 20 may, in this regard, be arranged above the first travel path 10, wherein the second manipulator 6 is arranged so as to be suspended on the second travel path 20.

[0110] According to the representation in FIG. 6, a first processing cycle with multiple processing steps is carried out on a first component 4. The second manipulator 6 is in a waiting position. After the first component 4 has been deposited at a re-gripping station 13, the second manipulator 6 can be displaced on the second travel path 20 such that the second manipulator 6 can collect the first component 4 again from the re-gripping station 13 for carrying out a second processing cycle.

[0111] As an alternative or in addition thereto, the re-gripping station 13 may be formed as a handling device 21 on the processing device 3, wherein the processing device 3 comprises a waiting section 22 and a re-gripping section 23 for the handling device 21. In this regard, the handling device 21 is moved out of the waiting section 22 into the re-gripping section 23 before a re-gripping time, and is moved out of the re-gripping time 23 into the waiting section 22 after the re-gripping time.

[0112] In this regard, a handling device 21 may also be, for example, a bending aid for a press brake 7, by means of which components 4, 19 can also be supported in the course of a processing cycle.

[0113] According to an embodiment, which is not shown in further detail, the at least one second processing cycle may also be carried out on a second processing device 24. The first processing device 3 may again be a press brake 7, and the second processing device 24 may be a swivel bending machine or also a press brake 7.

[0114] FIG. 7 shows a component 4, 19 having a first gripping surface 15 and a second gripping surface 16 in a lateral view. In this regard, the component 4, 19 may be gripped, held, and transported on the first gripping surface 15 by a first manipulator 5 and on the second gripping surface 16 by a second manipulator 6.

[0115] FIG. 8 shows the component 4, 19 with multiple partial sections 25 of the first gripping surface 15 in a top view. In this regard, the component 4, 19 can be gripped in the partial sections 25 by means of vacuum suction cups 8 arranged on the first manipulator 5 and/or second manipulator 6.

[0116] FIG. 9 shows a flowchart with multiple processing cycles on multiple components 4, 19.

[0117] At a point in time t.sub.0, the first component 4 is gripped by a first manipulator 5. Subsequently, at a point in time t.sub.1, a first processing cycle with at least one processing step is carried out on a first component 4 on a first processing device 3. At a point in time t.sub.2, the first component 4 is deposited at a rest section 14 and/or a re-gripping station 13. At a point in time t.sub.3, the first component 4 is gripped from the rest section 14 and/or the re-gripping station 13 by a second manipulator 6.

[0118] At a point in time t.sub.4, a second component 19 is gripped by the first manipulator 5 for example from a stack 26, such as a stack 26 for starting materials in the form of sheet metal plates. At the same time, a second processing cycle with at least one processing step is carried out on the first component 4. While at a point in time t.sub.5, the first component 4 is deposited by the second manipulator 6 for example on a stack 26 for final and/or intermediate products made of sheet metal plates, a first processing cycle is carried out on the second component 19.

[0119] At a point in time t.sub.6, in further consequence, the second component 19 is deposited at the regripping station 13 and is supported in a load-dissipating manner by the processing device 3. At a point in time t.sub.7, the second component 19 is gripped from the re-gripping station 13 by the second manipulator 6, and at a point in time t.sub.8, a second processing cycle is carried out on the second component 19. At the same time, a third component 27 is gripped by the first manipulator 5. While at a point in time t.sub.9, a first processing cycle is carried out on the third component 27, the second component 19 is, for example, deposited on a stack 26 for final and/or intermediate products. At a point in time t.sub.10, in further consequence, the third component 27 is deposited at the re-gripping station 13. Next, at a point in time t.sub.11, the third component 27 is gripped by the re-gripping station 13. During a second processing cycle on the third component 27 at a point in time t.sub.12, a fourth component 28 is gripped, for example from a stack 26 for starting and/or raw materials, and at a point in time t.sub.13, a first processing cycle is carried out on the fourth component 28. At the same time, the third component 27 is deposited by the second manipulator 6.

[0120] The gripping, carrying out a first processing cycle, depositing at a re-gripping station 13, gripping from the re-gripping station 13, carrying out a second processing cycle, and depositing can be carried out as often and/or as long as desired subsequently on multiple components 4, 19, 27, 28, wherein the gripping and/or depositing of components 4, 19, 27, 28 is carried out parallel to main time to the individual processing cycles and/or processing steps.

[0121] The exemplary embodiments show possible embodiment variants, and it should be noted in this respect that the invention is not restricted to these particular illustrated embodiment variants of it, but that rather also various combinations of the individual embodiment variants are possible and that this possibility of variation owing to the technical teaching provided by the present invention lies within the ability of the person skilled in the art in this technical field.

[0122] The scope of protection is determined by the claims. Nevertheless, the description and drawings are to be used for construing the claims. Individual features or feature combinations from the different exemplary embodiments shown and described may represent independent inventive solutions. The object underlying the independent inventive solutions may be gathered from the description.

[0123] Finally, as a matter of form, it should be noted that for ease of understanding of the structure, elements are partially not depicted to scale and/or are enlarged and/or are reduced in size.

LIST OF REFERENCE NUMBERS

[0124] 1 Production plant [0125] 2 Manipulator arrangement [0126] 3 First processing device [0127] 4 First component [0128] 5 First manipulator [0129] 6 Second manipulator [0130] 7 Press brake [0131] 8 Vacuum suction cup [0132] 9 Processing section [0133] 10 First travel path [0134] 11 Longitudinal direction [0135] 12 Rail arrangement [0136] 13 Re-gripping station [0137] 14 Rest section [0138] 15 First gripping surface [0139] 16 Second gripping surface [0140] 17 Tool [0141] 18 Bending tool [0142] 19 Second component [0143] 20 Second travel path [0144] 21 Handling device [0145] 22 Waiting section [0146] 23 Re-gripping section [0147] 24 Second processing device [0148] 25 Partial section [0149] 26 Stack [0150] 27 Third component [0151] 28 Fourth component