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公开(公告)号：EP2879816B1
公开(公告)日：2020-11-25
申请号：EP12743975.0
申请日：2012-08-06
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公开(公告)号：EP2879816A1
公开(公告)日：2015-06-10
申请号：EP12743975.0
申请日：2012-08-06
CPC分类号： B21D45/003 , B21D28/10 , B21D45/04 , B23K26/083 , B23K26/0838 , B23K26/38 , B23Q7/046 , B25J9/0096
摘要： The invention relates to a method for removing a workpiece part (36), formed by cutting machining on a sheet-like workpiece (12) resting on a workpiece mount (16) of a machine tool (11), from a residual workpiece (37), in which the workpiece (12) is fixed for machining by means of a holding device (17) and is displaceable in at least one X or Y direction in an X/Y plane of the workpiece (12), in which, prior to or after the workpiece part (36) is cut out of the residual workpiece (37), a handling device (26) is positioned with respect to the workpiece by means of a gripper device (27), in which the gripper device (27) is activated and the workpiece part (36) is grasped in its position resting on the workpiece mount (16), wherein, if catching of the workpiece part (36) with the residual workpiece (37) is detected by means of an unloading monitoring device (44), at least one detachment strategy is initiated, in which at least one travelling movement of the holding device (17), the gripper device (27) or the holding device (17) and the gripper device (37) relative to one another with a predefined path, with at least one movement component in an X/Y plane, is actuated. The invention furthermore relates to a machine tool for carrying out the method.
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