Production equipment with parallel or series handling paths

(42) Date of commencement of the patent: 15. 7.1994 (45) Date of issue: 27. 2.1995 (56) Documentation:

(73)

Patentee:

CD

CH-PS 656338 DE-OS 3502868 DE-OS 3502820 DE-OS 3447219 DE-OS 3411452 DE-OS 3409843 DE-OS 3304091 DE-OS 3222657 DE-PS 2756422 EP-AS 0238838 JP-A 61-142033 (54) MANUFACTURING SYSTEM PARALLEL AND BY-SIDE CONVEYORS (57) The invention relates to a production plant (1) for the assembly and / or or machining components consisting of several individual parts (4) (3). In this, the items (4) and or or the components (3) arranged on Paietteneinsätzen (6) and or or added and / or or edited. The pallet inserts (6) are arranged interchangeably on the chassis (2). The trolleys (2) are guided along the conveyor track of a conveyor. The conveyor track has sections parallel to a main conveying path (18) arranged parallel conveying paths (19), the upper Querföiderwege (21) are connected to the main conveying path (18). The parallel conveying path (19) is assigned a parallel adjacent to this Nebenförderweg (20) immediately adjacent. This is preferably upper rotatable transfer stations with the cross conveyor or Paralielförderweg (21 or 19) and / or or the main conveying path (18).

STOPS WALTER

A-4800 ATTNANG-PUCHHEIM, UPPER AUSTRIA (AT).

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AT 398 923

MBeeraaia

AT 398 923 Β

The invention relates to a production plant for assembly and or or machining components consisting of several individual parts, in which the individual parts and / or or components arranged on pallet inserts and / or or added and / or or machined, which are arranged on chassis, in particular interchangeable, which are guided along the conveying path of a conveyor, in which the conveyor track partially parallel to a main conveying path extending parallel conveying paths, which are connected via transverse conveying paths with the main conveyor.

In such systems is basically a distinction between so-called loosely linked and rigidly linked systems. In the loosely linked systems, the workpiece carriers or their chassis moved completely independently of each other along the system and it is almost unaffected activity in the other workstations over a period of time in case of failure of a device in a single workstation. In the rigidly linked systems, the workpiece carriers are motion-connected with each other, so that in case of disturbances in the area of ​​a workstation all workpiece carriers and all workstations are blocked. Each of the two types of equipment has its own field of application, whereby the rigidly linked systems are used where only a few workstations are interlinked, since the overall efficiency results from a multiplication of the efficiency of the individual workstations. The loosely coupled systems are mostly used for the linking of a plurality of workstations, for example, up to 40 workstations and more, because there the degree of utilization is a mixed value of the individual failure and is not composed of a multiplication of the utilization levels in the individual stations.

There are already many different systems with loose linking - for example, according to DE-OS 35 02 868, DE-OS 35 02 820, DE-OS 34 11 452, DE-OS 33 04 091, DE-PS 27 56 422 of the same applicant known become the chaining of a variety of workstations have proven in practice. The workpiece carriers or their trolleys are each guided independently on height and side guide tracks, which is ensured by a corresponding use of, pressed on the side surfaces of the workpiece carrier conveyor rollers, a backlash side and height guide the workpiece carrier. As a result, an exact positioning of the workpiece carrier in cooperation with the drive device is achieved over the entire course of such a system.

Furthermore, it is known - according to DE-OS 34 09 843 of the same applicant to bring the items at the earliest possible time in a predetermined order, which until their installation in a working or Processing station to be maintained. The individual parts are stored separately in one-part shots and in a working or Processing station brought into a reference position to a likewise movable independently with a chassis mounting workpiece carrier, whereupon the items removed from the item holder and on the mounting workpiece carrier or be added to a designated assembly site or edited. For equipping the individual parts with the individual parts is one of the working or Processing stations, optionally provided with the interposition of storage facilities separate workspace. This method and the device intended for carrying out the method, have in practice with fully automatic running processing or Assembly processes are best preserved, the combination of manual and However, fully automatic joining processes within a common system is difficult to realize in this method and this device.

According to a further embodiment - according to DE-OS 32 22 657 - an automatic assembly machine with parallel conveyor tracks is known, which are connected to each other via transverse conveyor tracks. About a so-called distributor, the adjacent conveyor tracks are optionally loaded with workpiece carriers and spent from there by lifting the mounting pallets with the items arranged thereon in the respective assembly stations. The design of these distributors does not allow so much flexibility in the distribution or Implementation of the individual workpiece carriers and leads to higher machine costs, especially for longer cross conveyor paths.

The present invention has for its object to provide a manufacturing plant of the type mentioned, with a flexible adaptation to be assembled in smaller quantities components to be created both in terms of the required items as well as the required tools, which also cost as possible and to be producible with a high degree of reusability.

This object of the invention is achieved in that the parallel conveying path is associated with a running parallel to this Nebenförderweg immediately adjacent, preferably via rotatable node stations with the Querförder- or Parallel conveying path and / or or the main funding route. The arrangement of the parallel and this directly sidelined Nebenförderweges now creates the possibility in the manipulation or Working area of ​​an operator several workpiece carriers or Pallet inserts for manipulating parts or to carry out Fügeope2

AT 398 923 Β rations, but at the same time also the possibility of gripping containers, in which items for assembly or be prepared for manipulation to position for the operator in the respective manipulation area and at the same time swap quickly. This creates the possibility in a surprisingly simple way, the operator to supply the respective required correct items for the individual assembly operations and, where appropriate, set the numbers exactly, so that incorrect assembly, especially for components with low volumes and different items avoided and also a large variety of types error-free edited or can be mounted.

According to a further embodiment, it is provided that on the side facing away from an operator side of a parallel conveying path of the Nebenförderweg is arranged and this Nebenförderweg preferably between this and the main conveying a Speicherförderweg is assigned, whereby the chassis with the pallet, on which the manipulation and or or joining operations is closer to the operator than the Nebenförderweg on which the parts to be processed provided or the gripping containers are positioned.

It is also advantageous if the transverse and / or or secondary and / or or parallel conveying routes are connected to provisioning conveyor routes, since in the delivery conveyor routes chassis with superstructures or Pallet inserts or gripping containers in a simple manner or can be used, for example, only for a short period of time or for very special Arbeitsmanipuiationen or to retool the workplace or the arranged in the field of work handling devices or processing devices are needed.

Further, it is also possible that the Bereitstellungsförderweg is connected via the main conveying path with the parallel conveying path, whereby central Bereitstellungsförderweg can be arranged so that the parked therein trolleys with the container or pallet inserts, tools or the like. Different parallel conveyor paths arranged thereon can be easily fed.

But it is also advantageous if a central Bereitstellungsförderweg is provided for a plurality of conveying paths, since then the required in each assembly machine chassis with different tools, measuring devices and the like. Can be centrally parked.

According to another embodiment, it is provided that a Rückförderweg is arranged between the parallel conveying path and the main conveying path, whereby the alternately required trolleys with the containers or pallet inserts arranged thereon can be exchanged very quickly and can be cached in the immediate vicinity of the application area.

It is also possible that the storage conveyor and / or the Rückförderweg simultaneously forms the Bereitstellungsförderweg, whereby the storage or Rückförderweg can be used simultaneously as Bereitstellungsförderweg.

But it is also advantageous if the parallel conveying path and the secondary conveying path are directly adjacent to each other with the interposition of the safety device and the storage conveyor or the Rückförderweg of these is arranged distanced, since thereby the movement of trolleys with the existing structures in the storage conveyor or Return path without danger to the operator can also take place when the safety devices released or are removed and done the manual workflow in the parallel conveying path and this side by side Nebenförderweg.

Finally, it is provided according to another embodiment, that a parallel conveying path and at least one secondary conveying path are arranged directly adjacent to each other and parallel to each other and that a transversely to the conveying direction spanning handling device is arranged, whereby the manipulation times during the transfer of individual parts or when performing work operations in which the on the two conveyor paths arranged side by side suspensions or the structures arranged thereon are involved, can be kept very short.

For a better understanding of the invention, this will be explained in more detail below with reference to the embodiments illustrated in the drawings:

Show it:

Figure 1 is a composite of several road sections in a rectangular shape manufacturing plant according to the invention differently shaped feed devices in plan view and simplified schematic representation.

2 shows a part of a production plant in the area of ​​a manual workstation with the landing gears arranged in this area and the pallet inserts and gripping containers arranged thereon in a diagrammatic, greatly simplified schematic representation;

3 shows a part of a production plant in the region of an assembly cell in perspective, greatly simplified schematic representation;

Fig. 4 shows a part of the manufacturing plant in the field of a mounting cell with the einzenen

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Suspensions associated drives and positioning devices and the handling device in perspective, greatly simplified representation;

Figure 5 is a arranged on a chassis, formed by a gripping container container in side view, partially in section, in a simplified schematic representation.

6 shows the gripping container according to Figure 5 in plan view.

7 shows a part of a pallet insert in plan view;

8 shows the pallet insert according to FIG. 7, according to the lines VIII-VIII in FIG.

Fig. 9 the pallet insert cut, according to the lines IX-IX in Figure 7;

Fig. 10 the pallet insert cut, according to the lines XX in Figure 7;

11 shows a gripper arrangement of a handling device with interchangeable gripper inserts partially cut away in side view;

FIG. 12 shows the gripper device according to FIG. 11 in half section when depositing a gripper insert in a pallet insert or a conversion pallet in a side view, partly in section; FIG.

13 shows the gripper device cut in plan view, according to the lines XIII-XIII in FIG.

Fig. 14 shows another embodiment of a Wexseivorrichtung for gripper inserts of the gripper device in side view, cut;

FIG. 15 shows the gripper device according to FIG. 14 in plan view; FIG.

16 shows a further embodiment of a changing device for the gripper inserts of the gripper device in side view, cut;

Fig. 17, the gripper device according to Fig.16 in plan view.

1 shows a manufacturing plant 1, which is for processing or Assembling mounted on chassis 2 components 3 is used. These components 3 are made of a variety of items 4, in containers 5 and Pallet inserts 6 are provided for assembly, assembled. Such a manufacturing plant may include, for example, a workstation 7 and a workstation 8. In the workstation 7, the manipulation, joining and machining operations are performed by an operator 9, while the workstation 8 as a so-called CNC module, so a fully automatic assembly or Processing station, is formed. To move the chassis 2 or The container 5 or the pallet inserts 6 are preferably used similar trolleys 10, which along, formed by individual roadway sections 11,12 height and side guideways 13 and 14 by means of feed devices 15 independently of each other, so by means of so-called loose concatenation, can be moved from one workstation 7 to the other workstation 8.

The individual roadway sections 11,12 are on transport stations 16 and Node stations 17 arranged. From the arbitrary juxtaposition of transport stations 16 and Node stations 17, which also as transport or Node module can be called, since they advantageously have similar dimensions or can be coupled with each other in any position, the required for assembling such a manufacturing plant 1 main conveyor paths 18 and Parallel conveying paths 19 or secondary conveying paths 20 are formed. For connecting these main conveying paths 18, parallel conveying paths 19 and secondary conveying paths 20, transverse conveying paths 21 can be provided. In addition, also return conveyor paths 22 and storage conveyor paths 23 may be provided to allow a multiple pass of the same chassis 2 through a main conveyor 18 and a parallel conveying path 19 to allow past an operator 9.

For this transport or node stations 16 and 17 or transport stations 24,25 in the workstation 8 now differently configured feed devices 15 and 26 or 27 can be arranged.

FIG. 2 shows a part of a production plant 1 with a main conveying path 18, a parallel conveying path 19, a secondary conveying path 20 and a return conveying path 22. The parallel conveying path 19, the secondary conveying path 20 and the return conveying path 22 are each connected to the main conveying path 18 via node stations 17, which also form components of transverse conveying paths 21 and between which, as shown, a transporting station 16 can also be arranged. The main conveying path 18 is also connected to the parallel conveying paths 19 via node stations 17. The individual transport stations 16 and Node stations 17 may, as the sake of clarity only schematically indicated at one point, be supported by support elements 28 on a footprint 29, for example, the floor of a production hall.

The parallel conveying path 19 forms a manual workstation 30 on which, as shown in FIG. 1, an operator 9 carries out handling or joining work.

For this purpose, transport stations 31 may have a lower height 32 than the transport stations 16 to give the operator 9 a greater legroom. In the secondary conveying path 20 are on chassis 2, which are movable along the vertical and lateral guideway 13,14, container 5,

AT 398 923 Β, for example, gripping container arranged. In these Greifbehäitern are items 4, which are on pallet inserts 6 or 33 applied or be joined. Each of these pallet inserts 6 or 33 is arranged on a separate chassis 2. But it is also possible, in each case a plurality of such pallet inserts 6 or 33 to arrange on a common chassis 2. The trolleys 2, both the container 5 and the pallet inserts 6 and 33 are formed similar and are moved forward by means of the feed devices 15 along the side and height guide tracks 14 and 13 and stopped in the desired positions along the same or positioned.

For actuation of the feed devices 15 in the area of ​​the parallel conveying path 19, for example, own push-buttons 34 can be provided for two-hand operation, so that in the process of the individual carriages 2 with the pallet inserts 6,33 arranged thereon injuries to the operator are avoided. The gripping containers are - as will be explained later in detail - provided with gripping cups 35 to allow ergonomic removal and gripping of the items 4. As further shown, it is also possible that pallet inserts 6 or 33 empty or equipped with items 4 can be spent with a trolley 36 in the area of ​​the parallel conveying path 19, 'so that the operator this pallet inserts 6 or 33 settle on the trolley 36 or can be taken from this. The trolley 36 can also self-propelled with its own drive motor 37 and steerable wheels 38 and a query head 39 for controlling the steerable wheels 38 and the drive motor 37 may be provided by taking over the signals from an example embedded in the roadway conductor 40. Among other things, it is also possible to keep empty pallet inserts 6 in stock on the transport carriage 36 in order to equip them in the region of the parallel conveying path 19 with individual parts 4, while the pallet inserts 33 with finished components 3 on the transport carriage 36 for further processing or Packaging can be discontinued.

While now necessary for the individual components to be assembled 3 pallet inserts 6 can be adapted by using, for example, the trolley 36 in a simple manner to different components 3, it is also possible by the arrangement of the Nebenförderweges 20, the container 5 or to replace the gripping container with the gripping cups 35 in a type change by means of their chassis 2. For this purpose, it is possible, in a return path 22, which can also serve as a storage conveyor, for example, to hold further containers 5 on chassis 2, which can be exchanged for a type change against the container 5 located in the secondary conveying path 20. Of course, it is also possible that instead of the two containers 5 shown in Nebenförderweg 20 in a type change and several containers 5 or only a single container 5 can be turned off. Furthermore, it is also possible to bring in a change of type, the container 5 with each required items 4 from a central feed station or feed on a separate trolley 36, the container 5 with the newly processed items 4, while the no longer required container 5 with the Dolly 36 can be removed. In order to provide comprehensive information to the operator about the operations to be performed and possibly about their work performance and to give the operator the opportunity to communicate with their supervisor, without having to leave the workplace, is in the field of Parallelbzw. Nebenförderweges 19,20 a display or Operating unit 41 is arranged, which may be composed of a display panel 42 and a control panel 43. On the display panel 42, a plurality of liquid crystal displays or even a screen may be arranged on the plain to be carried out by the operator operations or optionally via a help button additional operator instructions can be retrieved or the remaining quantities or the still to be produced quantities are displayed. On the control panel 43, the required for the type change operations can be started or additional information from the supervisor or the higher-level central computer. Is it further necessary that the operator for the manipulation and joining operations is equipped with appropriate auxiliary tools or If the workstation device is to be modified in the case of various components to be assembled, then it is further possible to provide a ready-to-feed conveyor 44 via which further undercarriages 2, for example, with the necessary conversion parts or Tools can be fitted, can be supplied to the parallel conveying path 19, wherein this Bereitsteliungsförderweg 44 can also be used to exchange individual suspensions 2 Chassis 2 with fixed bodies against those with also fixed, but different structures to replace.

In order in conjunction with the display and control unit 41 and a higher-level control device 45, which may be connected via lines with the individual display and control units 41, also to allow management of the individual chassis 2, the landing gears and or or the container 5 or the pallet inserts 6 or 33 be provided with coding elements 46,47 and 48, in the range of along the individual lane sections 11 and 12 the individual transport stations 16 and Knotensta5

AT 398 923 Β tion 17 by means of coding devices 49, of which only one was shown schematically, can be queried. For this coding device 49 or the coding elements 46 to 48, the devices known from the prior art can be used using magnetic cards, bar codes or any other type of information carrier.

Likewise, the formation of the height and side guideways 13,14 and the feed device and the formation of the chassis 2 is arbitrary. Preferably, however, feed devices 15 can be used, as have been described, inter alia, in DE-OS 27 56 422, DE-OS 33 04 091 and DE-OS 34 11 452. Likewise, it is also possible to use the feed device 15 described below both in the node stations 17 and the transport stations 16.

Furthermore, it is also possible that, as will be described in detail below, the container 5 and the forming this gripping container interchangeable are placed on the chassis 2. This makes it possible that in a separate run these existing in the secondary conveyor 20 containers 5 are spent in the area of ​​the parallel conveying path 19, so that they can be replaced by the operator against containers with other items 4.

In Figure 3, an arrangement of different road sections, consisting of transport stations and node stations 17 is shown, for example, a so-called CNC module, so a ComputerNummerical-controlled module or a CAA, a computer-assisted assembling module. Individual transport stations 16 with two node stations 17 form a main conveying path 18. A parallel conveying path 19 and a secondary conveying path 20 as well as a delivery conveying path 44 are connected to this via transverse conveying paths 21. Each of these conveying paths 19, 20 and 44 is connected to the main conveying path 18 via node stations 17 of the transverse conveying paths 21. The parallel conveying path 19, the secondary conveying path 20 and the delivery conveying path 44 are spanned by a handling device 50, which may have, for example, a slide 51. On the carriage 51 two gripper devices 52 are arranged with gripper fingers 53,54 in the present embodiment. But it is also possible that only one gripper device 52 is disposed on this carriage 51.

Furthermore, it is possible that the carriage 51 relative to a horizontal guide track 55 vertically according to a double arrow 56 is adjustable. But it is also also possible that the horizontal guide track 55 in total with respect to the parallel conveying path 19 and the Nebenförderweg 20 and Bereitsteilungsförderweg 44 according to the double arrow 56 is adjustable. While now a positioning of the chassis 2 takes place in the parallel conveying path 19 and in the Nebenförderweg 20 and in the Bereitstellungsförderweg 44 by means of the feed devices 15, the conversion of individual parts 4 or Components 3 in the direction of the double arrow 56 or a double arrow 57 made by means of the handling device 50. Thus, while with the handling device 50, for example, an item 4 was removed from a pallet 6 and spent in the range of a pallet insert 58 with mounting seats 59, the next to be removed item in the transport direction - arrow 60 - are positioned by a method of the chassis 2 ,

Of course, it is also possible to carry out a movement of the running gears 2 in the direction opposite to the direction of travel indicated by the arrow 60, in order to enable flexible positioning relative to the handling device 50. The pallet insert 58 can also be provided with receptacles 61 for incorrectly mounted components 62. Finally, a pallet insert 63, which has receptacles 64 for interchangeable tools 65, can be arranged on the landing gear 2 located in the delivery conveyor 44. Furthermore, 21 may be provided in extension of the transverse conveyor 21 storage conveyor paths on soft pallet inserts 63 are kept in stock with the change tools 65 for differently mounted components 3, so that a rapid Typenwechsei for mounting in the area formed by a so-called assembly plant 1 production is possible. The movement of the changing tools 65 and the replacement of the gripper fingers 53,54, which also exchange tools 66 can be kept in stock in the receptacles 64, by means of the handling device 50th The forward movement and positioning of the individual change tools or Exchange tools 65,66 also takes place with the feed devices 15, as they are arranged in the region of all transport stations 16.

The replacement of empty pallet inserts 6 against pallet inserts 6 filled with individual parts 4 can take place, for example, in the region of the main conveying path 18 by an operator 9. But it is also possible that the empty pallet inserts 6 are fitted by the operator 9 with items 4. The replacement of the pallet inserts 6 can of course be done automatically, or The assembly of individual parts can also be carried out by a handling device 50 in conjunction with an automatic feeding and separating device for the individual parts 4.

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4 shows part of the parallel conveying path 19 and the secondary conveying path 20 in the area of ​​the handling device 50. The individual transport stations 16 consist of housings on their upper side, which are arranged by guide strips, such as hardened steel strips, formed height guide tracks 13. Between the height guide tracks 13 side guide tracks forming side guide rollers 67 and timing belt 68 of the feed device 15 are arranged. The side edges of the timing belt 68 and Side guide rollers 67 act together with side guide rails 69 which are arranged on the underside of the chassis 2, together. For height guidance of the chassis 2 serve guide rollers 70 which are movable on the height guide tracks 13. On the chassis 2, as previously described, pallet inserts 63 and 6 arranged. The patetteneinsatz 63 is exchangeable tools 66 for the gripper fingers 53 and 54 the handling device 50 provided. For actuating the gripper fingers 53,54 an actuator 71 is arranged. The gripper fingers are further adjustable along a vertical guide track 72 with an integrated adjustment 73. Likewise, they are movable along a horizontal guide track 74 with an integrated in this adjustment 75. The chassis 2 with the pallet inserts 6 or 58, on which mounting seats 59 are arranged, in order to allow precise positioning for the individual operations, instead of a toothed belt 68 having feed device 15, in which the forward movement and positioning of the ferry 2, for example via a stepper motor, driven by friction rollers 76 , which are elastic in the radial direction and are supported on the side edges of the chassis 2. These press the trolleys 2 against the arranged on the opposite side of the height guide track 13 guide rollers 77, which are formed for example by ball bearings, and thus an exact reference position for the chassis 2 with the pallet inserts 6 arranged thereon. 58 form. For positioning the trolleys 2 in the longitudinal direction of the side guideways 14 and by the guide rollers 77 and the friction rollers 76 formed side guideways 14 is a positioning device 78 which cooperates with arranged on the underside of the chassis 2 stops 79. This positioning device 78 may preferably be formed according to the statements in DE-OS 34 47 219. With this positioning device 78 positioning with high repeatability and high precision over longer periods is possible. As a result, exact joining and assembly operations can be made. Of course, with correspondingly delicate parts or parts which likewise require exact positioning for gripping, it is possible to arrange a feed device formed by friction rollers 76 and guide rollers 77 also in the region of the secondary conveying path in which the individual parts 4 to be removed are positioned. Of course, the same also applies to the delivery conveyor 44, if the exchangeable tools 65 and Replacement tools 66 need such accurate positioning for replacement.

In FIGS. 5 and 6, a container 5 formed by a gripping container 80 is shown. The container 5 or the gripping container is provided with openings 81, so that it can be used at the same time as a washing container for the stored in this item 4, for example, rubber rings. The gripping container 80 is simultaneously provided with a chute 82 which is adjustable about an axis 83 in the region of its bottom 84 from a voltage applied to a side wall 85 an outlet opening 86 occlusive position in an output position in which a Stimende 87 of the chute 82 with guide channels 88th on a pallet insert 58 with mounting seats 59, which is arranged on a chassis 2, are aligned.

As better seen in Figure 6, 82 guide channels 89 are arranged in the outlet of the chute, which are aligned with guide channels 88 on the pallet insert 58. The items 4 need therefore be pushed by the operator only in the correct direction in the guide channel 89 and can then be positioned seamlessly in the mounting seats 59. As a result, the time required for the insertion of the items 4 on the pallet inserts 58 can be reduced in an advantageous manner. By pivoting the chute 82 about the axis 83 can further gripping container 80 or whose Ausiaßöffnung 86 are closed. To operate or for pivoting the chute 82, this can be provided with a ring gear 90, in which a drive pinion 91, which is rotatably connected to a drive motor 92, engages.

Furthermore, it is also possible that the gripping container 80 is pivotable about a pivot axis 93 from the output position shown in solid lines in the drawn with dash-dotted lines other positions. For this purpose, the gripping container 80 may be provided with a ring gear 90 which is rotatably connected to a drive pinion 91 of a drive motor 94. The drive motors 92 and 94 can be arranged directly on the chassis 2 or it is also possible that the gripping container 80 is mounted with its pivot axis 93 on a pallet insert 95, which also supports the drive motors 92 and 94. The pallet insert 95 can be positioned on the chassis 2 via coupling devices 96, which is formed for example by centering pins 97, which are inserted into conical recesses 98 in the chassis 2.

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The drive motors 92 and 94 are preceded by a common control device 99 and an energy storage 100 for supplying power to the control device 99 and the drive motors 92 and 94. But it is also possible that the power supply instead of the energy storage device 100 in the application of the gripping container 80, in which a pivoting of the gripping container 80 or the chute 82 is necessary, via a schematically indicated transmission device 101 takes place. This has a arranged on the pallet insert 95 transmission element 102, which a fixed example, along the side or Höhenführungsbahnen 14,13 at intervals or at memory locations or in the region of the Nebenförderweges 20, a transmission element 103 is assigned. The transmission of energy and or or the data may in this case via a schematically indicated by lines of force energy field 104, for example, by an electric alternating field by heat or sound energy or a magnetic field, done.

Of course, it is also possible to use, instead of the non-contact transmission devices 101, transmission devices which produce a direct line connection between the energy store 100 and / or the control device 99 by means of sliding contacts or the like.

By pivoting the gripping container 80, which as well as the pivoting of the chute 82 of course can also be done manually, it is possible to regulate the number of herausfalienden to the chute 82 items 4 sensitively or to activate the container for the removal of items 4 or to prevent this removal and to close the gripping container 80.

Of course, the formation of such a grip container 80, in particular in conjunction with the guide channels 88 and 89 for easier insertion of the items to be positioned 4 also form a separate solution according to the invention.

FIGS. 7 to 10 show a pallet insert 6 on which various individual parts 4 can be positioned. On this pallet insert 6, which can be placed on the chassis 2 via a coupling device 96, holes 105 and 106 are arranged in a predetermined pattern. Between each one of four holes 105 and a bore 106 existing series of groups 107, the coupling elements formed by the centering pins 97 of the coupling device 96 are arranged. The bores 105 in each case form the corner points of a square, for example, while the bore 106 forms the intersection of the diagonals connecting the bores 105. If individual parts 4 are now inserted into the pallet insert 6, as shown for example in FIG. 8, whose outside diameter is only slightly larger than the diameter of the bores 105 and 106, an individual part 4 can be inserted into each of the bores 105 and 106 ,

If, on the other hand, the individual parts 4, as shown for example in FIG. 9, have a considerably larger diameter 108 than a diameter 109 of the bores 105 and 106, these individual parts 4 can be positioned in the bores 106, with no individual parts then being provided in the bores 105 4 are used.

As can be seen further from FIG. 10, the centering pins 97 have, on their side facing an upper side 110 of the pallet insert 6, conical recesses 98 which correspond to the corresponding recesses 98 in the chassis 2. Thus, it is possible that with the same, the coupling elements forming centering pins 97 a plurality of such pallet inserts 6 can be stacked against each other superimposed. If, moreover, a length 111 of the centering pins 97 is dimensioned so that it is slightly shorter than, for example, a length 112 of the individual parts 4 in FIG. 9, then the individual parts 4 can be guided in both end regions, since the individual parts 4 of the underlying pallet insert 6 fit into the Holes 106 of the pallet insert engage from below, as is indicated schematically in Figure 9. As a result, inclinations or Tilts and consequent surface damage to the items 4 in the pallet inserts 6 can be prevented with advantage.

In FIGS. 11 to 13, the gripper device 52 is shown on a larger scale.

This gripper device 52 has two mutually parallel gripper fingers 113,114, which are mounted for example on the actuator 71 and a transmission mechanism 115 parallel to each other adjustable, as indicated schematically by a further dashed position of a portion of the gripper fingers 113,114. The adjustment of each of the two gripper fingers 113,114 can be carried out according to double arrows 116. Thus, the gripper fingers 53 and 54, which are interchangeably held by a locking device 117 in the gripper fingers 113,114, apart or moved together. Below the gripper device 52 is a part of a pallet insert 63, for example a Umrüstpaiette, arranged, in which receptacles 118,119 for the gripper fingers 53 and 54 are arranged. As can be seen better from FIG. 13, such receptacles 118, 119 may be arranged at a distance 120 one behind the other on the pallet insert 63. This distance 120 is freely selectable per se, but must be slightly larger than half the width 121 of the gripper fingers 113 and 114, but preferably the entire width 121 or more, so that the receptacles 118,119 are distanced from each other that they are easily accessible.

AT 398 923 Β

In order to quickly change the gripper fingers 53 and 54 of the gripper device 52 during the operation of a handling device 50, the locking device is designed so that it is automatically unlocked after the weaning of the gripper fingers 53,54 in the receptacles 118,119. For this purpose, 118.119 support strips 122 are arranged on both sides of the receptacles, are supported on the locking ram 123. These locking punch 123 are connected via a spring arrangement 124, eg a coil spring in its in Fig. 11 shown pressed lower limit position, in which a detent ball 125 engages through a slide track 126 in the locking die 123 through an opening 127 in a locking recess 128 in the gripper fingers 53 and 54. In the step shown in FIG. 11, the slide track 126 has a depth which increases in the direction of the support rails 122, a maximum depth 129 being greater than a penetration depth 130 of the detent ball 125 into the locking recess 128 of the gripper fingers 53 and 54. This ensures that after lowering the gripper device 52 - as in particular in the left half of FIG. 12 shown - the detent ball 125 completely recedes into the link path 126 and thus a longitudinal movement for the gripper fingers 53 and 54 parallel to the longitudinal direction of the support strips 122 releases. By moving the chassis 2 with the pallet insert 63 - as shown in FIG. 4 - with the advancing device 15 in the longitudinal direction of the height guide track 13, the gripper inserts 53 and 54 are led out of a longitudinal guide track 131 in the gripper fingers 113 and 114 and remain in the receptacles 118, 119 , Thereafter, the gripper fingers 113,114 centered on gripper inserts 132, for example, in adjacent receptacles 118,119. Thereafter, the gripper inserts 132 are threaded into the longitudinal guide tracks 131 and counteracted by lifting the locking punch 123 by means of the detent ball 125 in its desired working position in the gripper fingers 113,114 by a opposite running sliding movement.

In the Figs. 14 and FIG. 15 shows another embodiment of a locking device 117 for gripper fingers 53 and 54, in which the unlocking takes place in place of the locking plungers 123 by means of unlocking pistons 133. On the Entriegelungskolben 133 can be applied from above a pressure medium, so that these against the action of a spring, in particular a helical spring 134, are drawn from the drawn in dashed lines in the drawn in solid lines position, whereupon by a resiliently deformable material 135 held in its locking position pivot lever 136, as shown in the right half of FIG. 14 is shown, is pivoted away to the outside, so that a locking projection 137 from the Arretierausnehmung 128 of the gripper fingers 53 and 54 emerges.

As a result, the longitudinal movement of the gripper fingers 53 and 54, as already explained with reference to FIGS. 11 to 13, is released and these can be moved out of the gripper fingers 113, 114 by a relative movement between the pallet insert 63 or its receptacles 118, 119 and the handling device 50. As further indicated in Fig. 15, it is also possible that the unlocking piston 133 may be laterally offset from the gripper fingers 53,54 and the pivot levers 136.

In the Figs. 16 and 17 is one of the in Fig. 14 and FIG. 15 shows a similar embodiment variant of a locking device 117 between the gripper fingers 113, 114 and the gripper fingers 53 and 54. Instead of Entriegelungskolbens 133 here, however, the gripper fingers 113,114 relative to a housing 138 of the gripper device 52 are mounted relatively adjustable. The gripper fingers 113 and 114 and the housing 138 are connected via a coil spring 139, as in the left half of FIG. 16 shown, fixed in a distance from each other, wherein in this position the gripper fingers 53,54 are locked with the pivot levers 136 in the gripper fingers 113 and 114. Instead of the helical spring 139, however, any other in the adjustment direction - arrow 140 - elastically deformable material 141, such as a rubber spring or the like., Can be used. If now the gripper device 52 is lowered along the guide track 72 by means of the adjusting drive 73 of the handling device 50, so that the gripper fingers 113,114 come to rest on support strips 122 of the pallet insert 63, the unlocking pistons 133 become by the relative movement between the gripper fingers 113 and 114 and the housing 138 as in the right half of FIG. 16 shown - pressed on the pivot lever 136 and the locking projections 137 emerge from the Arretierausnehmungen 128 of the gripper fingers 53 and 54 out. Thus, the longitudinal movement of the gripper fingers 53,54 is released in the longitudinal guide path 131 and by moving the gripper fingers 113,114, the gripper fingers 53,54 can be pushed out of these guideways. Of course, it is optionally possible according to the invention, either the chassis 2 with the pallet inserts 63 or the Umlenkpalette relative to the gripper device 52 to move or adjust the gripper device 52 by placing an additional movement axis on the handling device 50.

For the sake of order, it should only be noted that the formation of the gripper device 52 and the locking device 117 may also form an independent, independent of the other features of this application inventive solution that rapid gripper change with a low mechanical complexity in handling devices with linearly movable axes and insbe9

AT 398 923 Β special positioned relative to these movable carriages 2 with Umrüstpaletten.

Of course, it is within the scope of the invention, the production facilities, as shown in Figure 2, to be provided with safety devices 142, eg protective grid for the protection of the operator, which can be arranged, for example, between the conveyor paths retractable. In this case, drives 143 can be provided for the extension and retraction of these safety devices. Furthermore, these safety devices can also take over functions for noise insulation.