Production installation with parallel and secondary conveying paths

(42) Date of commencement of the patent: 15.11.1996 (45) Date of issue: 25. 7.1997 (62) Exemption from notification No: 791/89 (56) Documentation:

CH-A-656338A1 DE 3502868A1 DE 3502820A1 DE 3304091A1 DE 2756422C DE 3409843A1 DE 3447219A1 WO 88 / 07490A1 (73)

STOPS WALTER

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

(54) MANUFACTURING SYSTEM WITH PARALLEL AND BY-SIDE RAILWAYS

QO

The invention relates to a production plant (1) for the assembly and / or processing of components (3) consisting of several individual parts (4), in which the individual parts (4) and / or the components (3) are arranged and / or joined and / or processed on pallet inserts (6). 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) which are connected via transverse conveyor paths (21) with the main conveying path (18). On the chassis (2), a container (5) for items (4) or arranged on this chute (82) is arranged adjustable or pivotable. Also designed as Umrüstpalette pallet insert (63) with receptacles (118,119) for tools or Gripper fingers (53,54), testing and / or adjusting devices and / or replacement devices and optionally conversion parts on the chassis (2) to be arranged.

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AT 402 619 B

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 linked systems are usually used for the linking of a plurality of workstations, for example, up to 40 workstations and more, since there the degree of utilization is a mixed value of the individual incidents 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-35 02 868 A1, DE-35 02 820 A1, DE-34 11 452 A1, DE-33 04 091 A1, DE-27 56 422 C 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-34 09 843 A1 or WO-88/07490 A1 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 individual shots and in a working or Processing station brought into a reference position to an also movable independently with a chassis mounting workpiece carrier, whereupon the items taken from the Einzelteiiaufnahme and on the assembly work piece 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, the combination of manual and However, fully automatic joining processes within a common system is difficult to realize in this method and this device.

From the CH-656 338 A5, a production plant with several individual workstations for mounting and processing of products is known. Each work station has a rotary table with a plurality of workpiece carriers, which rotates past the operator, controlled by the latter. At one of the central region of the rotary table bridging support frame seated at the front of the workplace operator reservoir are conveniently located. The support frame can also have a central support, so that the entire ring area is freely accessible everywhere. The disadvantage here is that the storage containers are fixed in position, whereby in particular with decreasing amount of components, the manual removal is difficult and a refilling of the reservoir or a type change causes high set-up times.

The present invention has for its object to provide a manufacturing plant of the type mentioned, with a flexible adaptation to be installed in smaller quantities to be assembled components in terms of the required items or even with respect to the tools required, which moreover as cost effective and with a high degree of reusability should be produced.

This object of the invention is achieved in that on the chassis a container for items or arranged on this chute is arranged adjustable or pivotable, or designed as Umrüstpalette pallet insert with receptacles for tools or gripper fingers testing and or or adjusting devices and or or replacement devices and, if necessary, conversion parts

AT 402 619 Β is arranged, whereby the operator can work with their familiar devices, such as containers designed as grab containers, and still the advantage of rapid replacement of the container during assembly of different parts or Types of components is possible. In addition, the amount of the operator provided items can be easily controlled and at the same time the outlet opening in the container are closed with the chute, whereby a simple transport on chassis is made possible without the loss of items. Furthermore, the adaptation of a handling device for manipulating or Joining or machining of different parts and their control and, for example, the adjustment of connected to the handling and processing devices measuring devices by means of standard dimensions or the like. much easier and saved the usual effort for additionally arranged change devices by using standardized chassis with conveyor paths. In addition, it is simply possible by the direct juxtaposition of the conveying paths, with low movements for manipulating the items or Components to find the Auslangen.

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 provide for joining operations, 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.

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 the chassis with the Umrüstpalette on the Nebenförderweg is arranged movable, whereby a direct access of the operator or arranged in the field of work or processing stations handling equipment and machinery on the Umrüstpalette is always possible.

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.

Furthermore, it is also possible that the operator is assigned in the parallel conveying path independently from the other feed devices acted upon feed device for the chassis, whereby a risk of injury to the operator during the manipulation of the chassis in their work area can be additionally avoided.

According to another embodiment, it is provided that a parallel conveying path and at least one secondary conveying path are arranged directly adjacent to one another and parallel to one another and that a handling device spanning them transversely to the conveying direction 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.

Furthermore, it is also possible that on the parallel conveyor chassis with pallet inserts and on the Nebenförderweg a chassis with a pallet insert with mounting receivers or a Umrüstpalette and optionally a drive pallet are arranged, whereby the parts to be processed on the mounting parts simply from the chassis on Nebenzuförderweg can be supplied forth.

According to another advantageous embodiment, it is provided that the parallel conveying path are associated with two parallel to this and this immediately adjacent secondary conveying paths and the parallel conveyor

AT 402 619 Β off trolleys with pallet inserts with component and / or or individual recordings and optionally a mounting receptacle along the conveyor are arranged movable and on a Nebenförderweg chassis with pallet inserts for a plurality of particular same items along the guideways are provided movable and that on the further Nebenförderweg a pallet is arranged movable and at least gripper tools or Gripper fingers and possibly mounting receptacles and or or has recordings for defective machined components, whereby the seasons for a mounting cycle can be kept very short and at the same time the effort required for the preparation of such manufacturing equipment can be kept low.

According to another embodiment, it is provided that the containers for the items or the pallet inserts over similar coupling devices are releasably supported on the chassis, whereby the different container and pallet inserts can be arranged on the same chassis and transported safely and accurately positioned.

It is also advantageous if the coupling device centering, eg centering pins for the container or pallet inserts has, since thereby an exact alignment of the container and Paietteneinsätze and a dimensionally accurate positioning and centering can be achieved on the chassis independent of the coupling device.

It is also advantageous if the containers are designed for the items as a washing container, since the items to be provided for the assembly can be washed immediately before the assembly or processing operation and fed without further manipulation of this.

But it is also possible that the chutes are provided with guide channels for isolated items that are arranged in the same position to corresponding guide channels on pallet inserts or mounting receptacles, as this must be touched as little as possible, especially when cleaned parts and also the time required for the correct position supply of items on the pallet inserts or to the mounting receptacles is kept low.

According to another development is provided a plurality of chassis provided with containers for individual parts are arranged one behind the other on the secondary conveying path and are preferably positionable by means of independent positioning devices, whereby several containers arranged on different chassis can always be brought into a different provision position along the secondary conveying path, so as to provide the operator with the required parts at the same place, for example.

However, it is also advantageous if the trolleys and / or the pallet inserts and / or the containers are provided with coding elements, which are assigned along the different conveyor paths arranged coding, whereby the automatic management and precise delivery to the individual conveyor paths substantially simplified and can be done without manual control.

But it is also possible that in memory and or or provisioning and / or or Nebenförderweg transmission devices for data and or or energy are arranged, which on the chassis and / or or the containers and / or or the pallet inserts transmission elements of the transmission device are assigned, whereby, for example, processing data, concerning the individual arranged on the pallet inserts workpieces or the like., Can be stored directly on this or anywhere in an information network or can be read in storage units, processing devices or handling equipment. Furthermore, it is also possible to display these data on a screen assigned to the operator, so that they use, for example, the items required for measurement results or can add. Above all, it is when using transmission devices, with which also drive energy contactless on the trolleys or appropriate structures can be transferred, possible, certain adjustment operations during processing or Provision or transport, if on the chassis further an energy storage, eg a battery is arranged.

Preferably, it is possible that the transmission device comprises a built-up between the transmission elements energy field, which without disturbing contacts and the problems associated with sufficient energy the individual chassis or arranged on these structures, such as pallet inserts, containers or the like., Can be supplied ,

Furthermore, it is also possible that the trolleys and or or the gripping containers and or or the pallet inserts with display elements, in particular plain text displays, are provided, whereby at any time a manual control of the accuracy of the processing or handling operations is possible.

However, it is also advantageous if the pallet insert is provided with one or more, possibly different mounting receptacles. This makes it possible to carry out the assembly operations on easily replaceable Umrüstpaletten and the rest of the chassis with the pallet inserts or containers arranged thereon for transporting the items or the components to be mounted

AT 402 619 Β between the individual workstations and thus the costs for the sometimes very expensive because of their high precision mounting receptacles in number can be kept low.

But it is also advantageous if the Umrüstpalette and or or a pallet insert is provided with receptacles for faulty components, as this components in which erroneous Mondays performed or faulty items were mounted, simply eliminated and then separated a post-treatment or a separate Tray can be supplied.

According to another embodiment, it is provided that on the Umrüstpalette and or or one of these associated drive range an adjusting device for a coupling device between a gripper tool and or or gripper insert and a handling device is arranged. The advantage of using its own drive range, with which arranged on another chassis actuators can be operated, is that different positions of another landing gear or the structures arranged thereon can be supplied with drive energy with one and the same drive range.

But it is also possible that the drive range with its own Energieversorgungs- and or or control device or is connected to a transmission element of a transmission device for energy and data at least in the region of the handling device, whereby the drive range can be used at different points to act on various actuators and when using an energy storage device only in its staging area with energy and the necessary information to carry out the next work orders must be supplied.

According to another preferred embodiment, it is also provided that the gripper device is provided with gripper fingers, which have a longitudinal guideway for gripper inserts and these longitudinal guideways are assigned in the gripper fingers locking devices, whereby an exact guidance of the gripper inserts in the gripper fingers is possible, which also provides a quick and easy change without your own complicated adjustment mechanisms allows.

Furthermore, it is also possible that the locking device has a locking punch or an unlocking piston, which is adjustably arranged in a direction perpendicular to the longitudinal guide track and cooperates with a detent ball or a pivot lever, thereby lowering the gripper device and supporting the gripper fingers on a pallet insert or a Umrüstpalette automatically unlocking the gripper inserts can be achieved.

It is also advantageous if the Arretierstempel or Unlocking pistons are arranged on a pallet insert arranged supporting strips, which have at least one corresponding to the width length of the longitudinal guide track a width corresponding length and are arranged centrally to recordings for the gripper inserts, whereby the removal and insertion of the gripper inserts by a relative movement of the chassis with the Pallet insert or the transfer pallet is possible with respect to the gripper device.

It is also possible in that an adjustable safety device is arranged between the parallel conveying path and the secondary conveying path, which is preferably formed from a below a conveying plane of the secondary conveying path arranged protective plate, which is adjustable via a drive perpendicular to the conveying plane in a projecting beyond the conveying plane position, whereby an access of the operator in the area of ​​the secondary conveying path can be prevented in a simple manner and thus the movement of the movable there or chassis arranged on tools can be done fully automatically and also conveyors on manual workstations for moving the trolleys and the like. can not be used, are usable.

This is also possible because each type change anyway requires a work interruption and thus an access of the operator during this type change process in the area of ​​Nebenzuförderweges is not necessary. Moreover, it is advantageous if this protective plate is arranged below the conveying plane of the Nebenförderweges, as this does not hinder the work of the operator and also an oppressive overhead arrangement in the form of a fall tackle and the associated psychological burden on the operator is eliminated.

Finally, it is also when 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.

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

AT 402 619 B

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 grab 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;

4 shows a part of the production plant in the area of ​​a mounting cell with the drives and positioning devices assigned to the individual running gears, as well as the handling device in a diagrammatic, 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 is a side view of a gripper device of a handling device with interchangeable gripper inserts partially cut;

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 changing device 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.

In Fig.1 a manufacturing plant 1 is shown, which for editing 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 b2w. Node stations 16 and 17 or transport stations 24, 25 in the area of ​​the work station 8 can now be arranged differently configured feed devices 15 or 26 or 27.

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 arranged via node stations 17 which also form components of transverse conveying paths 21 and between which, as shown, a transport station 16 is also arranged

AT 402 619 Β connected to the main conveyor 18. The main conveying path 18 is also connected to the parallel conveying paths 19 via node stations 17. The individual transport stations 16 or node stations 17 can, as the sake of clarity only indicated schematically 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 shown an operator 9 handling or Joining works. 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 height and side guideway 13,14, container 5, such as gripping container, arranged. In these gripping containers are items 4, 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 with parts 4 fitted with a trolley 36 can be spent 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 trolley 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 trolley 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 changed in the case of various components to be assembled, then it is also possible to modify a

AT 402 619 Β

Provision Provision 44 to provide over which more chassis 2, which may be equipped, for example, with the necessary Umrüstteilen or tools in the parallel conveying 19, this Bereitstellungsförderweg 44 can also be used to individual

Chassis 2 exchange or chassis 2 with fixed structures 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 Node stations 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 may be used in the prior art devices 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. However, feed devices 15 may preferably be used, as have been described, inter alia, in DE-27 56 422 A1, DE-33 04 091 A1 and DE-34 11 452 A1. 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 ComputerNumerical-Controled module or CAA, a computer-aided 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 Bereitstellungsförderweg 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 an extension of the cross conveyor 21 storage conveyor paths on which the pallet inserts 63 are kept in stock with the change tools 65 for different components to be mounted 3, so that a rapid change of types for mounting in the area formed by a so-called assembly plant 1 is possible. The movement of the changing tools 65 and the replacement of the gripper fingers 53, 54, from which replacement tools 66 can also be kept in stock in the receptacles 64, takes place by means of the handling device 50. The

AT 402 619 Β

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.

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 are used guide rails 70 which are movable on the height guide tracks 13. On the chassis 2, as previously described, pallet inserts 63 and 6 arranged. The pallet insert 63 is connected to exchange 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 chassis 2, for example via a stepping 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 ropes 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 designed according to the statements in DE-34 47 219 A1. 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 a dispensing position, in which a front end 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 the outlet opening 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 with a

AT 402 619 Β

Drive motor 92 is rotatably connected, 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.

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, for example, along the side b2w. 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 be 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 can of course also be done manually as well as the pivoting of the chute 82, it is possible to regulate the number of falling out of the chute 82 items 4 sensitively or to activate the container for the removal of items 4 or To prevent this removal and close the G- rim 80 container.

Of course, the formation of such a grip container 80, in particular in conjunction with the guide channels 88 and 89 for easier imports 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 further from Fig. 10 can be seen, the centering pins 97 on their upper side 110 of the pallet insert 6 side facing 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 via the actuator 71 and a transmission mechanism 115 parallel to each other adjustable, as by a further dashed position of a portion of the gripper fingers 113,114

AT 402 619 Β is indicated schematically. 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, a part of a pallet insert 63, for example a conversion pallet, is arranged, in which receptacles 118, 119 for the gripper fingers 53 and 54 are arranged. As better of Fig. 13 can be seen, such receptacles 118,119 can 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.

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, pressed into its lower end position shown in Figure 11, 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 position 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 shown in particular in the left half of Figure 12 - 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 122nd 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.

FIGS. 14 and 15 show another embodiment of a locking device 117 for gripper fingers 53 and 54, in which the unlocking takes place by means of unlocking pistons 133 instead of the arresting pistons 123. On the unlocking piston 133 can be applied from above a pressure medium, so that this against the action of a spring, in particular a helical spring 134, be lowered from the drawn in dashed lines in the drawn in full lines position, whereupon a pivoted lever 136 held in its locking position by an elastically resiliently deformable material 135, as shown in the right half of FIG. is swung away to the outside, so that a Arretierfortsatz 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 indicated further in FIG. 15, it is also possible for the unlocking piston 133 to be laterally offset from the gripper fingers 53, 54 or the pivoting levers 136.

FIGS. 16 and 17 show a variant embodiment of a locking device 117 similar to FIGS. 14 and 15 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 fixed by a coil spring 139, as shown in the left half of Fig.16, at a distance from each other, in which position the gripper fingers 53,54 with the pivot levers 136 in the gripper fingers 113 and 114 are locked. 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 the gripper device 52 is then lowered along the guideway 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, 16, as shown in the right half of FIG. 16, by the relative movement between the gripper fingers 113 and 114 and the housing 138, the unlocking pistons 133 are pushed onto the pivot levers 136 and their locking projections 137 emerge from the detent recesses 128 of the gripper fingers 53 and 54. This is the longitudinal movement11

AT 402 619 B movement of the gripper fingers 53,54 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 in particular relative to these positioned movable chassis 2 with Umrüstpaletten allows.

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.

REFERENCE NUMBERS

manufacturing plant

landing gear

component

detail

Container

range use

workstation

workstation

operator

landing gear

road section

road section

Vertical guideway

Lateral guide track

feed device

transport station

node station

main gallery

Parallelförderweg

Nebenförderweg

Querförderweg

Rückförderweg

Speicherförderweg

Transport station

transport station

feed device

feed device

support element

footprint

Manual workstation

transport station

height

range use

button

attacks Assen

Sports car

drive motor

wheel

query head

AT 402 619 Β

ladder

Display control unit

display

Control panel

Bereitstellungsförderweg

control device

coding

coding

coding

coding

handling device

carriage

gripper device

gripper fingers

gripper fingers

Horizontal guideway

double arrow

double arrow

range use

mounting seat

arrow

admission

component

range use

admission

changing tool

exchange tool

Side guide roller

toothed belt

Side guide rail

leadership

actuator

guideway

adjustment

guideway

adjustment

friction roller

leadership

positioning

attack

grab container

opening

chute

axis

ground

Side wall

outlet

front end

guide channel

guide channel

sprocket

pinion

drive motor

swivel axis

drive motor

range use

coupling device

Centering

AT 402 619 Β

recess

control device

100 energy storage

101 transfer device

102 transmission element

103 transmission element

104 energy field

105 drilling

106 drilling

107 group

108 diameter

109 diameter

110 top

111 length

112 length

113 gripper fingers

114 gripper fingers

115 transmission mechanism

116 double arrow

117 locking device

118 admission

119 admission

120 distance

121 width

122 supporting strip

123 Arretierstempel

124 spring assembly

125 detent ball

126 backdrop spell

127 opening

128 locking recess

129 depth

130 penetration depth

131 Longitudinal guideway

132 Grab duty

133 unlocking

134 coil spring

135 material

136 pivoting lever

137 locking extension

138 casing

139 coil spring

140 arrow

141 material

142 safety device

143 drive