Retaining device, machining device and method

A machining device for a multipart workpiece, the machining device comprising:

• a multi-axis industrial robot;
• a machining tool that is guided by the industrial robot;
• and
• a retaining device for the workpiece, the retaining device comprising:
• a clamping tool;
• a workpiece mount configured to retain a plurality of workpiece parts movably in a clamping direction of the clamping tool and to position the plurality of workpiece parts parallel to and adjacent to one another with longitudinal edges of the plurality of workpiece parts disposed adjacent to one another as adjacent longitudinal edges, wherein the workpiece mount comprises a plurality of controllable fixing elements configured as suction units, electromagnets or electrostatic retainers, and a support device for supporting the plurality of workpiece parts;
• and
• a multi-axis guiding device configured to guide the clamping tool on the retained plurality of workpiece parts along the machining path, which machining path follows the adjacent longitudinal edges and configured to independently move the clamping tool relative to the retained plurality workpiece parts during machining, wherein
• the clamping tool is configured for positive locking gripping of the plurality of workpiece parts as the clamping tool is moved relative to the retained plurality of workpiece parts, which plurality of workpiece parts are arranged parallel to and next to one another, and
• the clamping tool is configured to exert a clamping force on the plurality of workpiece parts in the clamping direction of the clamping tool to press together the adjacent longitudinal edges of the plurality of workpiece parts for clamping the plurality of workpiece parts together at the adjacent longitudinal edges to form a butt joint of the adjacent longitudinal edges.

A method for machining a plurality of workpiece parts, the method comprising:

• providing a machining device comprising:
• a multi-axis industrial robot;
• a machining tool that is guided by the industrial robot;
• and a retaining device comprising:
• a clamping tool;
• a workpiece mount configured to retain the plurality of workpiece parts movably in a clamping direction of the clamping tool and to position the plurality of workpiece parts parallel to and adjacent to one another with longitudinal edges of the plurality of workpiece parts disposed adjacent to one another as adjacent longitudinal edges wherein the workpiece mount comprises a plurality of controllable fixing elements configured as suction units, electromagnets or electrostatic retainers, and a support device for supporting the plurality of workpiece parts;
• and a multi-axis guiding device configured to guide the clamping tool on the retained plurality of workpiece parts along the machining path, which machining path follows the adjacent longitudinal edges and configured to independently move the clamping tool relative to the retained plurality workpiece parts during machining, wherein the clamping tool is configured for positive locking gripping of the plurality of workpiece parts as the clamping tool is moved relative to the retained plurality of workpiece parts, which plurality of workpiece parts are arranged parallel to and next to one another, and the clamping tool is configured to exert a clamping force on the plurality of workpiece parts in the clamping direction of the clamping tool to press together the adjacent longitudinal edges of the plurality of workpiece parts for clamping the plurality of workpiece parts together at the adjacent longitudinal edges to form a butt joint of the adjacent longitudinal edges;
• machining the plurality of workpiece parts by an industrial robot, comprising a machining tool, along a machining path;
• retaining the plurality of workpiece parts by the retaining device including clamping the workpiece parts with the clamping tool of the retaining device on the machining path;
• and
• moving the clamping tool independently relative to the workpiece by means of the multi-axis guiding device during the machining wherein the clamping tool positive-lockingly grips the plurality of workpiece parts, which plurality of workpiece parts are arranged parallel to and next to one another, and are clamped together in a butt joint at adjacent longitudinal edges.