• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to an automated vacuum gripper, a feed unit and a method for transporting flat components (3). The vacuum gripper (1) comprises a support part (5), at least one support part element (7), a plurality of first suction devices (4 ') which are arranged on the at least one support part element (7) and define a first suction plane; at least one bearing arrangement (28) and at least one adjusting arrangement (29), the at least one supporting part element (7) being mounted on the supporting part (5) so as to be pivotable about the at least one bearing arrangement (28) by means of the at least one adjusting arrangement (29). The plurality of second suction cups (4) is arranged on the support part (5) and defines a second suction plane (19). The at least one supporting part element (7) with its first suction plane defined by the plurality of first suction cups (4 ') can be pivoted from a standby position oriented at an angle with respect to the second suction plane into a working position congruent with the second suction plane and vice versa.
    公开号:AT521771A4
    申请号:T50908/2018
    申请日:2018-10-19
    公开日:2020-05-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh & Co Kg；
    IPC主号:
    专利说明:

    stored on the support member.
    Workpiece or component transport is often fully automated in modern machining centers. In order to avoid damage to the component surface or to be able to grip a large number of identical components, the use of vacuum grippers has become widely established. Especially for the targeted manipulation of sheet metal parts, which are fed to a bending machine, positioned in it and transported by it in the deformed state, the use of vacuum grippers offers clear advantages over conventional pliers
    grab and the like.
    The person skilled in the art is able to hold individual components or workpieces by means of a plurality of suction cups on a common gripper head
    Generic vacuum gripper known various approaches.
    For example, US 2015/0147141 A1 presents a method in which a gripper head with a plurality of suction cups which are assigned to a first and a second vacuum circuit and are used to remove workpieces
    to grab and transport a container. The gripper head in
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    inserted or missing component is not possible.
    Likewise, a number of devices for picking up, temporarily fixing and transporting components of different sizes are known to the person skilled in the art, only those suction cups of a gripper head being active, that is to say vacuumed, which correspond to the shape of the component. EP 0657673 B1 is representative of this, in which a gripper head with a plurality of suction cups is presented, the suction cups being grouped into individual groups which can be controlled as required. EP 0657673 B1 discloses a group of fixed and two groups of height-adjustable suction cups, the height-adjustable suction cups being able to be switched actively or without function depending on the determined size of a component. The fixed and height-adjustable groups are assigned to different, but common vacuum circuits with separate lines to a common pump. Due to the arrangement of the different suction cups in groups or vacuum circuits, the “shape” of a flat component can be modeled as required by controlling the suction cups, but a local failure or a leak on a suction cup can still occur during
    lead to slipping or even loss of the component.
    Another challenge for safe vacuum grippers is the increasing processing speeds, which also increase the
    make port and positioning speed necessary. The centrifugal forces on the
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    and all safety precautions are required.
    Furthermore, vacuum grippers are known which consist of a rigid support part and at least one support part element, a plurality of suction cups being arranged on the at least one support part element. EP 2476637 B1 can be mentioned as an example of this.
    Also known from the prior art are feed units for flat components which have a frame-like support structure on which a conveyor line is arranged. DE 102016110542 A1 also has one or more
    Gripping devices.
    The object of the present invention was to overcome the disadvantages of the prior art and to provide an apparatus and a method by means of which a component can be gripped and transported simply and safely by applying a vacuum, components with different ones also being able to be transported
    Component dimensions are to be transported reliably.
    This task is performed by an automated vacuum gripper, a feeder
    unit and a method according to the claims.
    The automated vacuum gripper according to the invention for components or workpieces, in particular sheet metal parts, comprises on at least one side of a support part of the vacuum gripper a support element which, with its plurality of
    first suction cups defined first suction level of one, with respect to the second
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    tion and vice versa about which at least one bearing arrangement is pivotable.
    A suction level is de-
    finishes.
    Such a measure can significantly increase the versatility of the automated vacuum gripper for different component sizes. The at least one support part element can be arranged on the side of the support part and, if required, that is to say in the case of a larger number of suction cups with larger component dimensions, can simply be “folded down”. The supporting part elements can thus have additional suction cups, and the individual suction cups can be assigned and / or controlled to a first and / or second vacuum circuit. At the same time, the suction devices arranged on the supporting part elements can be divided into separately controllable additional groups in order to enable simple control. Likewise, the support part elements can preferably be connected to the support part via mechanical and / or pneumatic drives, thereby promoting automated operation. This enables an active or control-controlled adjustment from a standby position to a
    suction position.
    The standby position is defined by a position that is angled or angled with respect to the working position, it being an angle greater than 0 in which the first suction elements of the supporting part element do not engage
    with one component.
    The vacuum gripper according to the invention is therefore excellently suitable for automated use, with the method according to the invention for transporting the components, in particular sheet metal parts or metal plates, carrying out at least the following process steps:
    - Providing a feed unit according to at least one of the claims;
    - Moving the at least one support part element from the plurality of
    first suction cups defined first suction level based on a
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    - Picking up a component using the vacuum gripper;
    - Moving conveyor elements of the conveyor line from a memory; - Pickup of the component by conveyor elements of the conveyor track;
    - releasing the vacuum gripper from the component;
    - Transport of the component on the conveyor line to a bending system;
    - Transfer of the component to the bending system.
    Due to the flexible adaptability of the vacuum gripper to different component sizes, even very large sheet metal parts or metal plates can be safely picked up and transported with the same gripper. Due to the possibility of being able to simply fold away side parts of the vacuum gripper that are not in use and thus save space, it is also possible with the vacuum gripper according to the invention to handle components in tight spaces or to selectively lift components from component stacks positioned close to one another. The components of each component stack of the component stack arrangement can have different component sizes, the vacuum gripper attaching to the respective
    can be adapted relatively easily to component sizes.
    Furthermore, it can be expedient if the first suckers of the supporting part element have the same dimension with respect to one another with respect to height and / or diameter. This can ensure that the entire area,
    on which the suction cups of the support element are engaged,
    moderately distributed suction is applied.
    It is also conceivable for suction cups of different dimensions to be assigned to the individual different support part elements assigned to a support part in terms of height and / or diameter. In the event that a heavy component is to be picked up, a support element with larger suction dimensions can be used, in particular folded into a working position, around the
    Hold the component securely or pick it up with increased suction power.
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    Include components of non-planar geometries.
    Furthermore, it can be provided that the second suction cups of the support part have a different dimension with respect to one another in terms of height and / or diameter. With this construction, it can in turn be ensured that a component to be picked up is held securely in the center of the component by suction cups of larger dimensions, with which a higher suction force can be applied. Another advantage that can be mentioned here is that an application of a higher suction force in the area of the center of the component with respect to the longitudinal axis of the component
    lateral tilting of the component during lifting can be prevented.
    In addition, it can be provided that the first suction devices are connected to a first vacuum circuit and that the second suction devices are connected to a second vacuum circuit. Redundancy can advantageously be created by the provision of separate circles, so that in the event of a vacuum circuit failure, the suction devices which are assigned to the further vacuum circuit can continue to hold the component. With this construction, two different vacuum circuits in a vacuum circuit can also be used to apply a higher vacuum to a partial area of the component, which in turn also means that
    rere components can be held securely.
    An embodiment is also advantageous, according to which it can be provided that the actuating arrangement comprises a mechanical and / or pneumatic actuating drive, as a result of which automated operation is favored. One or more supporting part elements can thus, if required, simply and quickly, depending on the size of the component to be picked up or depending on the available space
    be brought to a working position.
    According to a further development, it is possible for the supporting part element in turn to comprise a plurality of individual supporting part elements which are connected to one another in an articulated manner.
    On the one hand, this allows flexible adaptability to different ones
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    vacuum cleaners are transported.
    The individual supporting element elements, which are articulated to one another, can in turn
    be provided with mechanical and / or pneumatic drives.
    Furthermore, it can be expedient if a supporting part element is provided on the supporting part on opposite sides in each case. These can either be folded down individually or together into one working position in order to
    to enable chere intervention over the entire width of the component.
    Furthermore, the vacuum gripper according to the invention can be assigned to a feed unit for in particular flat components, such as sheet metal parts or metal plates, to a bending machine of a bending system, which feed unit comprises the following structural features:
    - a frame-like support structure;
    - A portal-like guide structure assigned to the frame-like support structure for a vacuum gripper;
    - A conveyor line, which runs in the side parts of the frame-like support structure;
    the conveying elements forming the conveying path opposite a storage
    are retractable and extendable.
    Advantageously, the structure mentioned allows a component picked up by the vacuum gripper to be placed on the conveyor line and transported on to the bending system. The desired orientation of the component for the bending process can be achieved by adding an additional
    ch stop element is provided.
    As a result of the structure mentioned, according to which the conveyor elements forming the conveyor section can be moved in and out relative to a storage unit, the location for the components can be arranged below the conveyor section
    be. The components can be stored on pallets in the form of component stacks,
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    be taken.
    Individual conveying elements or the conveying elements can be
    elements of the entire conveyor line can be moved in and out.
    With the construction of the conveyor line according to the invention and the storage of component stacks under the conveyor line, the conveyor line can also be used in tight spaces, since the typically unused space
    can be used under the conveyor line.
    Furthermore, it can be provided that the portal-like guide structure for a vacuum gripper has a, preferably multi-axis, movable support arm, on which the vacuum gripper is arranged. The movable support arm enables the vacuum gripper to be moved to different component stacks and the components of a specific component stack directly from the storage location under the conveyor
    to record route.
    According to a special design, it is possible for the vacuum gripper to be articulated on the support arm about a horizontally extending joint axis. When picking up a component, the vacuum gripper can be brought into an angular position together with the component located thereon due to gravity or gravity. Advantageously, the vacuum gripper is brought into engagement with the component only in a partial area, the component being brought into an angular position when it is lifted over the articulated vacuum gripper, in which individual conveying elements of the conveying path undercut the component.
    ren and can support load.
    The individual conveying elements can be individual slats,
    which can be rigid or flexible. The slats can
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    keep parts apart during transport.
    According to an advantageous development, it can be provided that a device for measuring the thickness of a flat component is provided on the side or end face of the support part and / or support part element opposite the second and / or first suction cups. A thickness measurement during the recording of a component can be used to check whether a component with the component thickness necessary for further processing on a processing machine has been recorded. Furthermore, with the aid of the device for thickness measurement mentioned, it can be checked whether several mutually adhering components have been recorded as a result of errors. Depending on the process, lubrication films can form between individual metal plates, which can cause the metal plates to stick together. The device according to the invention is therefore outstandingly suitable for the process-reliable separation of
    Components from a component stack.
    The thickness measuring device can be electromechanical, inductive, ca
    capacitive and / or optical sensors can be formed.
    In particular, it can be advantageous if a pressing device for a flat component is provided on the side of the support part and / or support part element opposite the second and / or first suction devices. In this way, the safety during transport or lifting of a component can be additionally increased by applying a holding force to the component in addition to the suction devices with the aid of the pressing device. In this case, only a small pressing force can be applied, for example simply by applying the pressing device, in order, for example, to prevent lateral tilting, or to ensure that one or more suction devices opposite the pressing device
    fully attack the component.
    Furthermore, it can be provided that on the side of the supporting part and / or supporting part element opposite the second and / or first suction devices, a com-
    Binary pressure and thickness measuring device provided for a flat component
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    is. This can be used to measure the thickness of the component during pressing
    a component can be carried out.
    In addition, it can be provided that the device for thickness measurement comprises an angled measuring finger, which is provided for contacting a flat component to be measured. This can be arranged pivotably or articulated on one side of the vacuum gripper according to the invention and, if necessary, folded down and brought into engagement with the component. The component thickness can be measured using the angled measuring finger by knowing the relationship between the angular position of the measuring finger and the component thickness. Depending on the position of the measuring finger, the thickness of the
    Component are derived.
    Also advantageous is an embodiment according to which it can be provided that the pressing device is designed for the controlled activation and deactivation of a pressing force with respect to the measuring finger and for increasing and reducing a holding force of the vacuum gripper with respect to a flat component. With the aid of the measuring finger according to the invention, a controlled pressing force can thus be applied to the component if desired
    to increase process reliability during the lifting process.
    According to a further development, it is possible for the conveying elements of the conveying path to be suitable for moving under a flat component from a position that is at least partially or unilaterally raised by means of the vacuum gripper and for supporting it in a load-supporting manner. The vacuum gripper, which is articulated on the support arm about a horizontally extending hinge axis, can be brought into an angular position when gripping a component together with the component thereon. In the construction according to the invention, it is therefore possible to dispense with engaging a vacuum gripper over the entire surface of a component to be handled. In an at least partially or unilaterally raised position of the component, it can already be transferred to the conveyor line by releasing loads from individual conveyor elements.
    is supported.
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    In addition, with only partial engagement of the vacuum gripper with respect to the entire component surface, there is a lower holding force compared to the engagement of one
    Vacuum gripper over the entire component area, necessary.
    By placing a component in an angular position opposite the conveyor line, a process-safe and gentle transfer to a conveyor line can be ensured by wedging or spreading the component due to the deflection of the component during transfer.
    can be changed.
    The feed unit according to the invention is therefore particularly suitable for automated use, the method according to the invention for transporting the components, in particular sheet metal parts, carrying out at least the following process steps:
    - Providing a feed unit according to at least one of the claims;
    - Moving the at least one support part element from the plurality of first suction cups defined first suction plane from a standby position oriented at an angle with respect to the second suction plane into a working position congruent with the second suction plane;
    - Picking up a component using the vacuum gripper;
    - Moving conveyor elements of the conveyor line from a memory;
    - Pickup of the component by conveyor elements of the conveyor track;
    - releasing the vacuum gripper from the component;
    - Transport of the component on the conveyor line to a bending system;
    - Transfer of the component to the bending system.
    In this way, safe and fast component transport to a bending system can be ensured, wherein components are advantageously transferred to the bending system in the correct orientation necessary for further processing. If, after picking up a component from a stack, it is desired to move the component to an alternating spatial position, the following steps can be provided:
    - Rotating the component around a horizontal defined by the component
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    Level, this rotation taking place with the support arm on which the vacuum gripper is articulated;
    - Alignment of the component located on the conveyor line by moving a stop element which is located on one side of the support structure
    can, in the direction of the machine x-axis.
    In addition, provision can be made for the component thickness to be measured after the component has been picked up from a component stack, in order to be able to ensure that on the one hand a component having a thickness desired for further processing and on the other hand only a single one have been picked up
    Component was added.
    Furthermore, it can be provided that after picking up the component from a component stack, a pressing device is attached to the underside of the component.
    with which a component can be additionally secured during transport.
    According to a special embodiment, it is possible for the conveying elements of the conveying path to drive under a flat component, from a position that is at least partially or unilaterally raised by means of the vacuum gripper, and to support it in a load-supporting manner. It should be mentioned as particularly advantageous here that the component to be picked up bends primarily along a longitudinal axis of the component and this is brought into a flat, planar position by successively driving it under with the conveying elements.
    allows transport on the conveyor line.
    With this method step it can also be prevented that, when a component is transferred from a vacuum gripper to a conveying path due to undesired deflection of the component, the component wedges or spreads when it is put down. In this way it can be ensured that a gentle and process-reliable handover and subsequently a quick and safe onward transport
    of the component.
    In the method according to the invention, it is not absolutely necessary
    that the component is completely lifted off the component stack. Favored
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    This is in turn due to the fact that the vacuum gripper can be articulated on the support arm about a horizontally running hinge axis, in order to be able to spend a component in an inclined position actively or due to gravity or gravity. It may therefore be sufficient to raise a partial area of the component above the horizontal plane defined by the conveying path, the component being able to remain supported on the component stack in a further partial area. The component can then be moved under and completely picked up by the conveying elements, while the vacuum gripper initially remains in the position described and subsequently, if necessary, on
    the conveyor level of the conveyor line can be lowered.
    It is also advantageous that the deflection along the component width can be minimized as far as possible or completely prevented by the adjustable vacuum gripper, which reduces the process-safe and gentle underrunning of the
    Component with the conveyor elements can also favor.
    For a better understanding of the invention, this will be explained in the following
    Figures explained in more detail. Each show in a highly simplified, schematic representation:
    1 is a schematic representation of a possible arrangement of a machining
    processing center;
    2 shows a schematic representation of a possible embodiment of a vacuum gripper; Fig. 3 is a schematic representation of the wiring / functional principle
    of the first and second vacuum circuit, which different sauces
    like (a) or the same suction cups (b) are assigned;
    Fig. 4 with a possible embodiment of a vacuum gripper with support
    adjustable suction cups;
    Fig. 5 shows a possible embodiment of a vacuum gripper with supporting part and
    Supporting part elements;
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    Fig. 6 shows a possible embodiment of a vacuum gripper with support and
    Support part elements in a standby position;
    7 shows a possible embodiment of a vacuum gripper with support part and support part elements and suction cups of different dimensions, in which
    cher the supporting part elements occupy the working position; 8 shows a schematic illustration of a feed unit;
    9 shows a possible embodiment of a vacuum gripper with an articulated mounting on a support arm and a pressure or sensor insert.
    direction for thickness measurement;
    10 a flat component in a partially or unilaterally raised position
    tion, for transfer to a conveyor line:
    11 shows a possible embodiment of a feed unit in combination with
    a machining center.
    To begin with, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, and the disclosures contained in the entire description can be applied analogously to the same parts with the same reference numerals or the same component names. The location information selected in the description, e.g. above, below, laterally etc. related to the figure described and illustrated immediately and are these
    to transfer information in the event of a change of position to the new position.
    1 shows a schematic representation of a possible machining center, in which, in addition to a machine tool 2, an automated vacuum gripper 1 can be seen. The vacuum gripper 1 serves components 3 from a pick-up location 25 quickly and safely to a processing machine 2 and / or
    to be transported to a storage space 26 for machined components 3a.
    As from FIG. 1, in particular in conjunction with FIGS. 2 and 4 and 5,
    can be seen, the vacuum gripper 1 as a multi-axis movable manipulator or
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    Robot trained. A movable support part 5 is arranged on the movable support arm 6 and has a plurality of suction cups 4 for contacting the component 3. The processing area 22 or the movement area of the vacuum gripper are shown together for the sake of simplicity by means of a hatched area, although this area is to be understood as a three-dimensional space. This processing area 22 can accordingly be monitored three-dimensionally by an environmental monitor 21, whereby this environmental monitor 21 is preferably arranged at a higher point, such as of the processing machine 2. Alternatively, however, such an environmental monitoring 21 can also be arranged on a hall ceiling or the vacuum gripper 1 itself. Not shown in FIG. 1 are light barriers or light fences familiar to the person skilled in the art which can be used independently as environmental monitoring 21 or also in connection with the three-dimensional environmental monitoring 21 described above. An additional subdivision of the processing area 22 into a warning
    rich and a more internal security area is also possible.
    The exemplary arrangement of a system controller 14 on the processing machine 2 can also be seen in FIG. 1 in the form of a display. The connection to the vacuum gripper and any other components or elements of the machining center can be wired or wireless via e.g. WiFi or Bluetooth and is schematically indicated by a dashed line.
    1 shows a schematic arrangement of elements of an optical and / or acoustic warning device 20 on the processing machine 2. Additional or alternative arrangements, such as on the vacuum gripper 1 and in particular in the form of optical warning devices 20 on the support part
    not shown, but easily understandable for the expert.
    FIG. 2 shows a schematic illustration of a possible embodiment of a support part 5 with a plurality of suction cups 4 arranged thereon. As previously explained, the supporting part 5 is movable on the movable part
    Support arm 6 attached and a compressed air supply 15 schematically indicated. The
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    Compressed air supply 15 can be designed to supply the first 8 and second vacuum generator 10, as shown schematically by the dashed line. The lines required for this are not shown. The dashed lines also indicate the possibility of connecting the compressed air supply 15 to individual or even all suction devices 4 in order to e.g. a controlled compressed air-assisted interruption of the vacuum on the suction cups 4
    break or even blow off the component 3 held.
    A possible advantageous arrangement of the two vacuum generators 8, 10 on the supporting part 5 can also be seen from FIG. 2. A vacuum tank 18 is connected to the second vacuum generator 10, which serves for the redundant and rapid securing of a vacuum if necessary. The formation of a first and second vacuum circuit 9, 11 is only indicated schematically by dotted or dash-dotted lines, the second vacuum circuit 11 (dash-dashed
    dotted lines) must be connected to the vacuum tank 18.
    The component 3, which is shown as an example in FIG. 2 as a pre-bent sheet metal part with recesses 24, is held by the suction cups 4, which is assigned to a first group 12 of suction cups 4. In the selected embodiment, the possibility is to be illustrated of also contacting a second group 13 of suction cups 4 with the component 3, although during normal operation thereon
    Suction cups 4 no vacuum is present.
    In addition, the position of two second sensor devices 17 on the supporting part 5 can be seen in FIG. 2. This exemplary arrangement shows that the second sensor devices 17 designed as optical sensors can detect any relative movement of the component 3 relative to the sensor devices 17 and thus also relative to the support part 5 relatively easily. By way of example, a plurality of first sensor devices 16 are indicated as dashed elements, which can be arranged in the form of pressure sensors or pressure measuring cells, preferably in the line network or also directly on the suction cups 4 of the first and / or second vacuum circuit 9, 11. Monitoring by the first and second
    Sensor devices 16, 17 take place continuously from the inclusion of component 3
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    up to a deposit within the processing machine 2 or also at the storage place 26.
    In the event of an interruption or even a predeterminable vacuum loss in the first vacuum circuit 9, the system controller 14 can trigger an alarm which causes at least one switching element (not shown) to activate the second vacuum circuit 11. Likewise, the alarm can be triggered additionally or independently if a relative movement of the
    Component 3 is detected by the at least one second sensor device 17.
    From FIG. 2 it can be seen particularly well that the spatial proximity of the vacuum tank 18 favors the application of a vacuum to the second vacuum circuit 11, if necessary, because of the short conduction paths. Likewise, it can be seen from FIG. 2, particularly when viewed in conjunction with FIG. 1, that when an alarm is triggered, the component 3 can be slowed down in the movement by means of the support part 5 or support arm 6 and / or lowered in the vertical direction by in the case of a Loss of the component Damage to operators and / or systems
    avoid.
    FIG. 3 serves to illustrate the connection principle of the redundant design of the second vacuum circuit 11. FIGS. 3a and 3b show exemplary representations of possible connection patterns of a plurality of suction cups 4 arranged in an array in a first and second vacuum circuit 9, 11. The suction cups 4 which are assigned to the first vacuum circuit 9 or the first group 12 of suction cups 4 are identified by a point within the suction cup 4. Those suction cups 4 which are assigned to the second group 13 and / or the second vacuum circuit 11 are characterized by a second dashed ring around the respective suction cup 4. The suction cups 4 are only indicated schematically in a top view without a supporting part 5 or vacuum generator 8, 10, a component 3 whose surface 23 can be seen in the image plane
    serves as an ideal flat surface as suction plane 19 for the suction cups 4.
    3a shows the possibility of a first group 12 of suction cups 4
    summarize in a first vacuum circuit 9. The arrangement shown
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    assigning every second suction device 4 to the first vacuum circuit 9 only reflects one of many possible arrangements. The first group 12 of suction cups 4 serves primarily to receive and transport a component 3, while it can be seen from the top view that the second group 13 of suction cups 4 are in contact with the component 3 on the suction plane 19, but not in normal operation are active. In the event of an alarm, the second vacuum circuit 11 is activated as described above and the component 3 can be held at least for a short time. The lines or the line network, which in each case are used to supply the first and second vacuum circuits 9, 11 in FIG. 3a separately, are not shown
    required are.
    A possible alternative arrangement or interconnection is indicated in FIG. 3b by means of a line network that can be used jointly for the first and second vacuum circuits 9, 11. The first group 12 of suction devices 4 can thus be assigned to the first and second vacuum circuits 9, 11 at the same time, only the first vacuum circuit 9, ie the vacuum supply by means of the first vacuum generator 8, being active in normal operation. In an emergency or in the event of an alarm, the line network of the first vacuum circuit 9 can be used by switching on or switching over to the second vacuum circuit 11, the vacuum at the suction devices 4 being activated by the
    Vacuum tank 18 can be maintained at least for a short time.
    A possible embodiment for a vacuum gripper 1 with a supporting part 5, which has adjustable suction cups 4, is sketched as an example in FIG. 4. A plurality of suction cups 4 can be seen here, which are adjustable in at least one direction of the suction plane 19, that is to say essentially parallel to a surface 23 of the component to be contacted. Positions in which the suction cups 4 would engage in a recess 24 or an opening of the component 3 would be shown in dashed lines, which is why the suction cups 4 are adjusted in the selected illustration such that all suction cups 4 are in contact with the component 3. The suction cups 4 can either be separately adjustable, or as in FIG
    exemplary representation by means of adjustable holding elements 27.
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    The suction device 4 and / or the holding elements 27 can be realized by means of electrical and / or pneumatic drives (not shown in more detail) and can be controlled by the system.
    gen control 14 are controlled.
    It is also possible for the suction cups 4 to be height-adjustable and / or pivotally fastened relative to the supporting part 5 and / or a holding element 27. Such an embodiment is not shown, since the teaching should be sufficient for a person skilled in the art that this measure roughness and / or
    which can compensate for a distortion of the component.
    In addition, or also as an independent embodiment, it can be advantageous if the support part 5 of the vacuum gripper 1 has one or more support part elements 7 which are pivotally or rotatably attached to the support part 5. A possible embodiment of this type is shown by way of example in FIG. 5, in which two support part elements 7 are pivoted upwards in the vertical direction. The supporting part elements 7 can be moved by means of their own electrical and / or pneumatic drives. By means of information stored in the system control 14 regarding the dimensions and / or geometry of the components 3 to be transported, the supporting part elements 7 can be used to enlarge or reduce the available suction level 19 if necessary. The supporting part elements 7 can also have adjustable holding elements 27 and / or adjustable suction cups 4. The control and assignment of the suction cups 4 to a first and / or second vacuum circuit 9, 11 can be designed analogously to the previously mentioned examples. As can be seen from FIG. 5, this measure can be used for simple, automated adaptation of the available number of suction cups 4 or the space
    need of the support member 5 can be used.
    The vacuum grippers 1 shown in FIGS. 1 and 2, as well as FIGS. 4 and 5, can have one or more second sensor devices 17, not shown, which are designed as optical sensors. It is easily conceivable for a person skilled in the art to arrange such sensors and in particular their light sources also within a suction device 4, as is indicated by FIGS. 2, 4 and 5. On a separate, detailed presentation of the first and second sen-
    sor devices 16, 17 was dispensed with in the context of these statements, since it
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    according to the above information, the specialist is responsible for suitable positions and / or
    select the sensors and arrange them as required.
    6 shows a vacuum gripper 1 for flat components 3 in a standby position 30. The underside of a plurality of first suction devices 4 ′, which are attached to a supporting part element 7, forms a first suction plane 19 °, which is in a second suction plane 19 angular position. The second suction level 19 is through the underside of the on a support member 5
    Chen second suction cup 4 defined.
    It can be seen from FIG. 6 that a particularly space-saving arrangement is achieved in a standby position 30 when the support part elements 7 are in a 90 ° position with respect to the support part 5. The wing-like support element elements 7 are opened and closed by a bearing arrangement 28 with the aid of electrical and / or pneumatic drives. The exemplary actuating arrangement 29 shown in FIG. 6 is an actuating cylinder with which the
    Movement around the bearing assembly 28 is realized.
    The vacuum gripper 1 is assigned via a support arm 6 to a portal-like guide structure 36, on which the vacuum gripper 1 in the x-direction of the
    control unit can be moved in a controlled manner.
    FIG. 7 shows a detailed view of the underside of the vacuum gripper 1 in a working position 31. The supporting part elements 7 arranged on the supporting part 5 on two opposite sides have been brought into said working position 31 via the bearing arrangement 28. In this position, it is possible to grip components 3 with a greater width than the support part 5 over the entire component width. The exemplary setting arrangement 29 for the extension and retraction of the supporting part elements 7 can be seen in the form of extended working cylinders.
    In order to further increase the flexibility of the vacuum gripper 1 with regard to the component width to be handled, in an advantageous embodiment the carrying
    partial elements 7 comprise a plurality of individual supporting part elements 7 °, which are shown in FIG. 7
    N2018 / 23300-AT-00
    are indicated schematically. The adjustment of the individual support element 7 'is advantageously carried out again with its own electrical and / or pneumatic drives, with pivoting about a position not shown in detail.
    geranordnung between the supporting part individual elements 7 '.
    7 also shows that the first and / or second suction cups 4, 4 'can have a different dimension with respect to the suction cup diameter. In the embodiment variant shown, the second suction cups 4 on the support part 5 have different diameters, for example, also heavy ones
    To be able to handle components safely.
    In a departure from the variant shown in FIG. 7, the suction cups 4 'on the support part elements 7 can also have a dimension alternating with the suction cups 4 arranged on the support part 5, the suction cups 4 on the support part 5 having the same dimension
    Are diameters.
    In addition to the diameter, the suction cups 4, 4 'can also be of different heights with respect to their suction or effective direction. This is in the
    Figures not shown, however.
    8 shows a feed unit 32 to a bending system 33, on which the vacuum gripper 1 according to the invention is arranged. The vacuum gripper is arranged on a support arm 6 on a portal-like guide structure 36 which is on
    a support structure 35 supports.
    The side parts 39 of the support structure 35 are suitable for guiding conveyor elements 38 of a conveyor section 37. Individual or all conveying elements 38 can, in order to release a receiving location 25 below the conveying path 37, into a storage
    be moved 40.
    If all or individual conveying elements 38 are moved into the memory 40, a vacuum gripper 1 can pick up components 3 which lie on component stacks 45. The component stack 45 is stored at a receiving location 25, which is located below the support structure 35, in which the conveyor path 37 is guided in the side parts 39.
    N2018 / 23300-AT-00
    As can be seen from FIG. 9, the vacuum gripper 1 is preferred in a preferred embodiment about a horizontally extending hinge axis 41
    multi-axis movable support arm 6 mounted.
    As can be seen from an overview of FIGS. 6 to 9, a component 3 is picked up by the vacuum gripper 1 and then transferred to a conveyor line 37 in the following manner:
    - Release of a pick-up location 25 for component stacks 45 below a conveyor line 37, by moving all or individual conveyor elements 38 of the conveyor line 37 into a memory 40 which is arranged on an end face of a support structure 35;
    - Method of the vacuum gripper 1 to a selected component stack 45 by means of the portal-like guide structure 36, which component stack 45 comprises components 3 with dimensions necessary for further processing;
    - Adjustment of the vacuum gripper 1 into the working width necessary for gripping the components 3 into a working position 31, by pivoting the supporting part elements 7 around a bearing arrangement 28 with the aid of an actuating arrangement 28, the vacuum gripper 1 only partially, preferably in a front area, in relation to the longitudinal axis of the component, intervenes;
    - Applying vacuum to the suction cups (4, 4 ') in order to pick up the component 3 and one-sided or tilted lifting of the component 3 by moving the vacuum gripper 1 in the y-direction of the feed unit 32, the vacuum gripper 1 about the hinge axis 41 Support arm 6 is pivoted;
    - Gradually moving under the component 3 located in an angular position, above the support structure 35, by the conveying elements 38 of the conveying path 37 by moving the conveying elements 38 out of the store 40;
    - Switching off the vacuum on the vacuum gripper 1 when the component 3 is completely undershot by the conveying elements 38 of the conveying path 37 and transferring the component 3 to the conveying path 37 for further transport of the component 3.
    N2018 / 23300-AT-00
    The information as to which component dimensions are necessary for processing on a bending machine 34, as well as the method and adjustment of a vacuum gripper 1 based thereon, is provided by an electronic
    control.
    It is also possible to provide a stop element (not shown in more detail) on the side of the support structure 35, with which a component 3, which has been transferred to the conveyor section 37, can be aligned or oriented according to plan. A stop element, which is designed as a guide bar, can
    are preferably moved in a controlled manner along the x-axis of the feed unit 32.
    In addition, an optional thickness measuring device 42 and / or pressing device 43 is shown in FIG. 9, which in a preferred embodiment has a measuring finger
    44 includes.
    In order to ensure that the vacuum gripper 1 has received a component 3 with a thickness necessary for the width processing, the thickness can either be measured using a thickness measuring device 42 measuring the end face of the component 3,
    or checked with the already mentioned measuring finger 44.
    When using a preferably angled measuring finger 44, the thickness of the component 3 is determined via the angular position of the measuring finger 44 relative to its rotary bearing, in that the relationship between the component thickness and the angular position of the measuring finger 44 is known and is stored in the controller, which is not described in any more detail. The measurement of the component thickness can also ensure that only a single component 3 is removed from the vacuum gripper 1
    has been recorded.
    The measuring finger 44 can be used simultaneously as a pressing device 43 by an additional pressing or by the angled measuring finger 44. Holding force is applied to component 3. This pressing or holding force can be selected so that it is merely a matter of placing the measuring finger 44 on the part 3 and thus an excessive tilting of the component 3
    the suction cups 4, 4 'is prevented.
    24/49 N2018 / 23300-AT-00
    FIG. 10 shows a component 3 which is raised on one side by the vacuum gripper 1 and which is in a position which is partially raised by tilting the vacuum gripper 1 on the support arm 6 about the hinge axis 41. Component 3 can additionally be secured by measuring finger 44. It can be clearly seen from FIG. 10 that the vacuum gripper 1 on a lateral end or partial
    range of component 3 attacks to lift it.
    Finally, an overall system comprising a feed unit 32 and a bending system 33 is shown in FIG. 11. The feed unit 32 is in turn formed by a support structure 35, in which conveying elements 38 of a conveying path 37 can be moved relative to the side parts 39. The components 3 are located below the conveyor path 37 at a receiving location 25, which can be transferred from the vacuum gripper 1, which is arranged on a portal-like guide structure 36 via a support arm 6, to the conveyor path 37 and for
    plant 33 can be transported further.
    In the area of the bending system 33, a component 3 is transferred again from the conveyor line 37 to the bending system 33, where the component is processed
    3 takes place in a bending machine 34.
    The representations in FIGS. 1 to 11 represent possible design variants, it being noted at this point that the invention is not restricted to the specially illustrated design variants thereof, but rather also one or more combinations of the individual design variants.
    are not possible. For the sake of brevity, a separate presentation is omitted.
    tet and refer to the general description.
    The scope of protection is determined by the claims. However, the description and drawings are to be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions. The independent inventive solutions
    basic task can be found in the description.
    N2018 / 23300-AT-00
    All information on value ranges in the present description should be understood to include any and all sub-areas, e.g. the information 1 to 10 is to be understood in such a way that all sub-areas starting from the lower limit 1 and the upper limit 10 are included, i.e. all sub-areas begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.
    For the sake of order, it should finally be pointed out that for a better understanding of the structure, elements are sometimes to scale and / or enlarged
    and / or reduced in size.
    N2018 / 23300-AT-00
    Reference symbol list
    1 vacuum gripper 26 storage space
    2 processing machine 27 holding element
    3 Component 28 bearing arrangement
    4 ‘first suction cup 29 actuator arrangement
    4 second suction cups 30 _ standby position
    5 support part 31 working position
    6 support arm 32 feed unit
    7 ° support element 33 Bending system
    7 support element 34 bending machine
    8 first vacuum generator 35 support structure
    9 first vacuum circuit 36 portal-like guide structure 10 second vacuum generator 37 F6 conveyor line
    11 second vacuum circuit 38 conveying element
    12 first group 39 side part
    13 second group 40 memories
    14 System control 41 Articulated axis
    15 compressed air supply 42 thickness measuring device 16 first sensor device 43 pressing device
    17 second sensor device 44 measuring finger
    18 vacuum tank 45 component stack
    19 ° first suction level
    19 second suction level
    20 optical and / or acoustic warning device
    21 Environmental monitoring
    22 Movement / machining area
    23 surface
    24 recess
    25 location
    N2018 / 23300-AT-00
    权利要求:
    Claims (21)
    [1]
    1. Vacuum gripper (1) for flat components (3), comprising
    - A support member (5);
    - At least one support element (7);
    a plurality of first suction cups (4 °), which plurality of first suction cups (4 ') are arranged on the at least one support part element (7) and define a first suction plane (19 °),
    - at least one bearing arrangement (28);
    - at least one actuating arrangement (29);
    the at least one support part element (7) is pivotably mounted on the support part (5) by means of the at least one actuating arrangement (29) about the at least one bearing arrangement (28),
    characterized,
    - That a plurality of second suction cups (4) are arranged on the support part (5) and
    - That the plurality of second suction cups (4) define a second suction plane (19) and
    - That the at least one supporting part element (7) with its first suction plane (19 °) defined by the plurality of first suction devices (4 °) from a standby position (30) which is angled with respect to the second suction plane (19) into a position relative to the second suction plane (19) congruent working position (31) and vice versa around the at least one bearing arrangement (28)
    is pivotable.
    [2]
    2. Vacuum gripper (1) according to claim 1, characterized in that the first suction cup (4 °) of the support member (7) to each other the same dimension, in
    Have reference to height and / or diameter.
    [3]
    3. Vacuum gripper (1) according to claim 1 or 2, characterized in that the second suction cups (4) of the supporting part (5) are different from one another.
    dimension, in terms of height and / or diameter.
    N2018 / 23300-AT-00
    [4]
    4. Vacuum gripper (1) according to one of the preceding claims, characterized in that the first suction cups (4 ') are connected to a first vacuum circuit (9) and that the second suction cups (4) to a second
    Vacuum circuit (11) are connected.
    [5]
    5. Vacuum gripper (1) according to one of the preceding claims, characterized in that the actuating arrangement (29) has a mechanical
    and / or pneumatic actuator.
    [6]
    6. Vacuum gripper (1) according to one of the preceding claims, characterized in that the supporting part element (7) is articulated several together.
    the connected individual support element (7 ') comprises.
    [7]
    7. Vacuum gripper (1) according to one of the preceding claims, characterized in that on the support part (5) on opposite one another
    A supporting part element (7) is provided on each side.
    [8]
    8. Feed unit (32) for in particular flat components (3), such as sheet metal parts or metal plates, to a bending machine (34) of a bending system (33)
    - A frame-like support structure (35);
    - A portal-like guide structure (36) assigned to the frame-like support structure (35) for a vacuum gripper (1);
    - A conveyor line (37) which runs in the side parts (39) of the frame-like support structure (35);
    characterized,
    - That the vacuum gripper (1) is designed according to one of claims 1 to 7 and
    - That the conveyor elements (38) forming the conveyor section (37)
    are retractable and extendable relative to a storage unit (40).
    N2018 / 23300-AT-00
    [9]
    9. Feed unit (32) according to claim 8, characterized in that the portal-like guide structure (36) for a vacuum gripper (1) has a, preferably multi-axis, movable support arm (6) on which the vacuum gripper
    (1) is arranged.
    [10]
    10. Feed unit (32) according to claim 8 or 9, characterized in that the vacuum gripper (1) on the support arm (6) around a horizontal
    Joint axis (41) is articulated.
    [11]
    11. Feed unit (32) according to one of claims 8 to 10, characterized in that on the side of the second and / or first suction cups (4 ', 4) opposite or end face of the support part (5) and / or support part element (7) Device for measuring the thickness (42) of a flat component
    is seen.
    [12]
    12. Feed unit (32) according to one of claims 8 to 11, characterized in that on the side of the support part (5) and / or support part element (7) opposite the second and / or first suction devices (4 ', 4)
    pressing device (43) is provided for a flat component (3).
    [13]
    13. Feed unit (32) according to one of claims 8 to 10, characterized in that a combined pressure on the second and / or first suction cups (4 ', 4) opposite side of the support part (5) and / or support part element (7) and thickness measuring device (42, 43) for a flat component
    is seen.
    [14]
    14. Feed unit (32) according to claim 11 or 13, characterized in that the device for thickness measurement (42) comprises an angled measuring finger (44) which is used to bear against a flat construction to be measured.
    part (3) is provided.
    N2018 / 23300-AT-00
    [15]
    15. Feed unit (32) according to claim 14, characterized in that the pressing device (43) is designed for controlled activation and deactivation of a pressing force with respect to the measuring finger (44) and for increasing and reducing a holding force of the vacuum gripper (1) with respect to a flat one
    Component is provided.
    [16]
    16. Feed unit (32) according to one of claims 8 to 15, characterized in that the conveying elements (38) of the conveying path (37) are suitable for a flat component (3) from an at least partially or unilaterally raised by means of the vacuum gripper (1) Position underneath and load-supporting
    to record.
    [17]
    17. A method for transporting flat components (3), such as sheet metal parts or metal plates, to a bending machine (34) of a bending system (33), comprising the following steps:
    - Providing a feed unit (32) according to one of claims 9 to 16;
    - Moving the at least one supporting part element (7) from the plurality of first suction devices (4) defined first suction level (19 °), starting from a standby position (30) oriented at an angle with respect to the second suction level (19) into a standby position (30) with respect to the second suction level (19) congruent working position;
    - Picking up (31) a component (3) by means of the vacuum gripper (1);
    - Moving conveyor elements (38) of the conveyor section (37) from a memory (40);
    - Picking up the component (3) by conveyor elements (38) of the conveyor track;
    - releasing the vacuum gripper (1) from the component (3);
    - Transporting the component (3) on the conveyor line (37) to the bending system (33);
    - Transfer of the component to the bending system (33).
    N2018 / 23300-AT-00
    [18]
    18. The method for transporting flat components (3) according to claim 17, characterized in that after picking up the component (3) by one
    Component stack (45) a measurement of the component thickness is carried out.
    [19]
    19. The method for transporting flat components (3) according to claim 17 or 18, characterized in that after picking up the component (3) from a component stack (45) a pressing device (43) on the underside of the
    Component (3) attacks.
    [20]
    20. The method for transporting flat components (3) according to one of claims 17 to 19, characterized in that the conveying elements (38) of the conveyor section (37) are a flat component (3), at least partially, from a vacuum gripper (1) or one-sided raised position, under
    drive and load support.
    [21]
    21. A method for transporting flat components (3) according to one of claims 17 to 20 comprising the following steps:
    - Release of a location (25) for component stacks (45) below a conveyor line (37), by moving all or individual conveyor elements (38) of the conveyor line (37) into a memory (40) which is arranged on an end face of a support structure (35) is;
    - Method of the vacuum gripper (1) to form a component stack (45) by means of the portal-like guide structure (36), which component stack (45) comprises components (3) with dimensions necessary for further processing;
    - Adjustment of the vacuum gripper (1) into the working width required for gripping the components (3) into a working position (31), by pivoting the supporting part elements (7) around a bearing arrangement (28) with the aid of an actuating arrangement (28), the vacuum gripper (1 ) engages only partially, preferably in a front area related to the longitudinal axis of the component;
    - Applying vacuum to the suction cups (4, 4 ') in order to apply the component (3)
    access and lift the component (3) by moving the vacuum gripper
    N2018 / 23300-AT-00
    (1) in the y-direction of the feed unit (32), the vacuum gripper (1) being pivoted about the hinge axis (41) on the support arm (6);
    - The component (3), which is in an angular position, above the supporting structure (35), is passed underneath successively by the conveying elements (38) of the conveying path (37) by extending the conveying elements (38) out of the store (40);
    - Turning off the vacuum on the vacuum gripper (1) when the component (3) is completely passed by the conveyor elements (38) of the conveyor section (37) and transferring the component (3) to the conveyor section (37) for further transport of the component (3) .
    N2018 / 23300-AT-00
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    EP19816495.6A| EP3853159A2|2018-09-20|2019-09-16|Vacuum gripper, feed unit, and method for conveying flat components|
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