Robot cell for loading and unloading single-station machining units in concurrent operation time

Abstract

Robot cell with a robot cell chamber for loading and unloading single-station machine tools and with a machine chamber, wherein at least one robot is arranged in the robot cell chamber and wherein at least two clamping points and at least one machining spindle of a single-station machine tool are arranged in the machine chamber, and so the clamping points for receiving workpieces in the machine chamber can be reached by the robot, wherein the robot cell chamber can be coupled to the machine chamber such that a machining chamber is formed in the state in which the robot cell chamber is coupled to the machine chamber, and a device for machining, wherein the device has a robot cell and a single-station machine tool.

Claims

1. A cell comprising: a robot cell chamber for loading and unloading single-station machining units; a machine space; a robot located in the robot cell chamber; clamping points for receiving workpieces in the machine space; a machining spindle of a single-station machining unit located in the machine space; wherein the clamping points can be reached by the robot, wherein the robot cell chamber is coupleable to the machine space in such a way that a machining chamber is formed in the coupled state of the robot cell chamber and the machine space.

2. The robot cell according to claim 1, wherein the robot cell is detachably coupleable to the single-station machining unit.

3. The robot cell according to claim 1, further comprising a coupling site that has a coupling site seal between the robot cell chamber and the machine space on the single-station machining unit.

4. The robot cell according to claim 1, wherein the single-station machining unit is loadable and unloadable by the robot in concurrent operation time, preferably in an automated manner.

5. The robot cell according to claim 1, wherein the clamping points for receiving the workpiece in the machine space are reachable by the robot when the machining spindle is idle and running.

6. The robot cell according to claim 1, wherein the robot cell has means for controlling the clamping points.

7. The robot cell according to claim 6, wherein the clamping points are independently controllable.

8. The robot cell according to claim 1, further comprising a clamping point shield located in the machining chamber and fixedly mounted on a machine table, on the robot, or on the machining spindle.

9. The robot cell according to according to claim 1, wherein the robot is directly or indirectly connected to a machine table.

10. The robot cell according to claim 1, wherein the robot is directly or indirectly connected to a cradle plate (19).

11. The robot cell according to claim 1, wherein the robot comprises multiple arms.

12. The robot cell according to claim 8, wherein the clamping point shield is holdable in a shielding position by the robot, and the loading and unloading of the clamping points is carried out by an additional robot.

13. The robot cell according to claim 1, wherein a robot shield located in the machining chamber.

14. The robot cell according to claim 1, wherein the machine table is movable at least along a first direction and a second direction, the first direction and the second direction being substantially perpendicular to one another.

15. The robot cell according to claim 1, wherein the single-station machining unit has an additional axis.

16. The robot cell according to claim 15, wherein the clamping points are mounted so that they are rotatable about the additional axis.

17. The robot cell according to claim 15, wherein the clamping points are arranged on cradle plates.

18. The robot cell according to claim 1, wherein movements of at least two of the robot, the machine table, and additional axis are at least partially synchronizable.

19. The robot cell according to according to claim 1, wherein the robot cell controls the robot as a function of the control of the clamping points.

20. The robot cell according to claim 18, wherein a movement of the robot may be tracked to a movement of the machine table, the additional axis, or both.

21-22. (canceled)

Description

[0037] The invention is explained in greater detail with reference to the figures, which show the following:

[0038] FIG. 1 shows a side view of one exemplary embodiment of a robot cell which is coupled to one exemplary embodiment of a single-station machining unit,

[0039] FIG. 2 shows a top view of a robot cell according to FIG. 1,

[0040] FIG. 3 shows a perspective view of a robot cell according to FIG. 1, with one exemplary embodiment of an additional axis and one exemplary embodiment of a horizontal machining spindle,

[0041] FIG. 4 shows a side view of one exemplary embodiment of an arrangement having an integral design of the robot cell and the single-station machining unit,

[0042] FIG. 5 shows a top view of an arrangement according to FIG. 4,

[0043] FIG. 6 shows a perspective view of an arrangement having an integral design of one exemplary embodiment of a robot and one exemplary embodiment of a machine table, the robot being situated on or connected to the machine table,

[0044] FIG. 7 shows a perspective view of an arrangement having an integral design, with a robot according to FIG. 6 and an additional axis according to FIG. 3, the robot being situated on or connected to the additional axis, and

[0045] FIG. 8 shows a perspective view of an arrangement with one exemplary embodiment of a clamping point shield on a robot.

[0046] FIG. 1 illustrates a side view of one exemplary embodiment of a robot cell 1 together with a single-station machining unit 2.

[0047] The robot cell 1 has a robot cell chamber 15 in which a robot 7 is situated. The robot 7 may be operated with appropriate hydraulic or pneumatic drive elements, thus making it possible to avoid electronic problems. The robot 7 is provided with a robot shield 4. The robot shield may be designed as a cover film, as used with foundry robots.

[0048] At least two clamping points 5 and 6 and at least one machining spindle 13 of a single-station machining unit 2 are situated in a machine space 14. The single-station machining unit 2 has the machining spindle 13 and a machine tool 12, for example a drill. The clamping points 5, 6 are situated on a machine table 3. The clamping points 5, 6 are reachable by a robot arm. Workpieces 16, 17 may be clamped to the clamping points 5, 6 so that the workpieces can be machined with the machine tool 12 (see FIG. 2). While machining is being performed at one of the clamping points 5, loading and unloading may be carried out at another clamping point 6. These clamping points 5, 6 are then loading and unloading positions. FIG. 2 shows a clamping point shield 9 which is fixedly installed on the table.

[0049] The tool holder is inserted into the machining spindle 13, which drives the tool as needed or supports it against torque or other occurring forces (see FIG. 3).

[0050] The advantage of the robot cell 1 is the capability for coupling and decoupling. Robot cells are typically designed in such a way that they are formed as closed systems, with an opening facing the loading side of the machine tool, and the working area of the robot reaching out from the actual cell into the machine area. As shown in FIG. 1, the robot cell 1 and the machine space 14 form a shared machining chamber via a coupling site seal 10 of a coupling site. This coupling results in a combination, i.e., no separation, of the machine space 14 and the robot cell chamber 15.

[0051] Robot cells may include supply or storage stations for workpieces 16, 17 or workpiece carriers. FIG. 2 shows storage locations 11 situated at the side of the robot 7. Storage location shields 8 protect the storage locations 11 from soiling due to entering media.

[0052] Single-station machining units 2 are preferably used when the units are equipped with a stationary work table. The machining spindle 13 is then moved together with other elements in the various axes X, Y, Z. Concurrent loading or unloading of further clamping points may be ensured by the stationary table, even during machining of a workpiece in multiple axes.

[0053] The robot cell 1 may also be used when the machine table 3 is not stationary, i.e., when machining axes X, Y are moved together with the machine table 3 (single- or multi-axial machining with the machine table). The loading and unloading of the clamping points 5, 6 in concurrent operation time is ensured in that a machine controller enables the loading and unloading for appropriate program segments, without interfering movements.

[0054] FIG. 3 shows an additional axis 18. On this additional axis 18, the workpieces 16, 17 are clamped in the clamping points 5, 6 on a cradle plate 19. A very large number of clamping points 5, 6 may be mounted on this additional axis 18. By fitting this additional axis 18 or the cradle plate 19 with clamping points 5, 6 from at least one side, but more advantageously from at least two sides, as illustrated in FIG. 3, it is possible for loading and unloading to take place on the side opposite from the machining spindle 13, or at some other suitable angle with respect to the spindle. This results in a clamping point shield due to the cradle plate 19, and falling of cutting chips by gravity, which makes it easier to protect the clamping points 5, 6 from soiling.

[0055] With the additional axis 18, the robot cell 1 may be used even when the machine table 3 is not stationary, i.e., when machining axes are moved together with the machine table 3 (single- or multi-axial machining with the machine table). The loading and unloading of the clamping points 5, 6 in concurrent operation time is thus ensured, in that the machine controller relays the corresponding axis movements of the machine table 3 and the additional axis 18 to the robot 7, which partially follows the movement. Of the adjusted positions, the robot controller makes use only of the insertion and removal points, and moves toward these.

[0056] To keep from having to follow the possibly complex movements which the machine table 3 and the additional axis 18 carry out due to the machining program, one or more axes of the robot 7 may be switched into an elasticity mode (or resiliency mode). This mode imparts a suspension function to one or more axes. With this functionality, the robot together with the grasped part is pulled or pushed to follow the movements of the machine table 3 and the additional axis 18. There is no need to program complex movements, and a synchronization function of the robot movements with the movements of the machine table 3 and of the additional axis 18 is not necessary.

[0057] FIGS. 4 and 5 show an integral design of the robot cell 1 and the single-station machining unit 2. In such an arrangement, the robot cell 1 and the single-station machining unit 2 have an integral design.

[0058] FIG. 6 shows a design of the robot 7 and the single-station machining unit 2 in which the robot 7 is fastened to the machine table 3. The relative movements between the robot 7 or its base holder and the clamping points are thus eliminated. This results in much simpler programming, since the synchronization or the flexibility switching of the robot is dispensed with. The robot base holder is therefore mentioned, since the robot 7 is still able to undergo relative movements with its axes, and the eliminated relative movement concerns only a stationary robot 7 or the base holder of a robot 7 moving in various axes.

[0059] With such a design according to FIG. 6, a robot 7 is described which is connected to the machine table 3 or the machining spindle 13. Thus, as described above, there is no movement of the robot base holder relative to the clamping points 5, 6. In order for the robot 7 to now pick up workpieces for machining or to deposit them at a storage location 11 after machining is complete, for a stationary table there is no need to take special measures. There are various options for a moving table. Firstly, a short machine stoppage may be utilized for the robot 11 [sic; 7] to pick up and deposit workpieces at the storage location 11, for example when drilling motions are carried out strictly in the Z direction and no X and Y movements are carried out. Secondly, the robot movements may be synchronized with the relative movement between the robot 7 and the storage location 11. Thirdly, the robot 7 may track the movements of the storage location 11.

[0060] FIG. 7 shows an integral design of the robot 7 and the single-station machining unit 2, the robot 7 being situated on the additional axis 18 or connected thereto. Thus, the robot 7 is connected not directly, but instead, indirectly to the machine table 3, i.e., via an additional element. This design may result in a compact construction.

[0061] FIG. 8 shows a perspective view of an arrangement of a robot 7 and the machine table 3, with the clamping point shield 9 situated on the robot 7. Such an arrangement of the clamping point shield 9 may be used for improved protection of the robot 7 from auxiliary machining materials (media such as oil or emulsion) and cutting chips from the machining process.

LIST OF REFERENCE NUMERALS

[0062] 1 Robot cell [0063] 2 Single-station machining unit [0064] 3 Machine table [0065] 4 Robot shield [0066] 5 Clamping point [0067] 6 Clamping point [0068] 7 Robot [0069] 8 Storage location shield [0070] 9 Clamping point shield [0071] 10 Coupling site seal [0072] 11 Storage location [0073] 12 Machine tool [0074] 13 Machining spindle [0075] 14 Machine space [0076] 15 Robot cell chamber [0077] 16 Workpiece [0078] 17 Workpiece [0079] 18 Additional axis [0080] 19 Cradle plate