DE102012005736A1 - Modular robotic handling system for loading and unloading of e.g. magazines, has microscope slides detachably connected with each other so that a slide chain conveyed entirety by suitable force exerted on one of the elements, is formed - Google Patents

Abstract

The modular robotic handling system comprises an object changing adapter (50.1) which is arranged for changing the microscope slides (12). The microscope slides are detachably connected with each other such that a slide chain (4.1) which is conveyed entirety by a suitable force that is exerted on one of its elements, is formed. A robot receives the microscope slides and carries out releasable fixation of the slides and/or the object changing adapters by mechanical clamping, magnetic forces, or electromagnetic forces.

Description

TECHNICAL AREA

The invention relates to a modular robot handling system for magazine storage and handling of objects with at least one robot, in particular in robot cells. It involves the loading and unloading of machine tools, production equipment, tool magazines, object magazines and shelving systems, as well as the handling of objects such as workpieces, machine tools and robot tools. The robot accesses slides and / or objects. Typically, robots handle workpieces, merchandise, article carriers, microscope slides, machine tools, robotic grippers, robotic tools, sensors, pallets, drawers, trays, raw materials, auxiliaries, and materials. In the following, the general term "object" is used for these handled elements.

STATE OF THE ART

Robots have been used in combination for tool change and workpiece change since 1980 and are mounted in the immediate vicinity of the machine tools for direct access to the workpiece clamping point, the workpiece magazine, the machine tool magazine and the machine tool holder.

According to the state of the art, robots use sensors for object recognition, position detection and quality assurance, such as image sensors, lasers, scanners, pushbuttons, identification devices and identification markings, which can be mounted on the robot as well as on the objects or the machines. Information is exchanged, for example via discrete input and output modules or bus systems as required between different devices and the robot.

Robots handle tools such as welding torches, lasers, grinders, brushes, etc.

Traditional robotic handling systems work with drawers, pallets, trays, paternoster systems, shelves and automated feed and discharge systems.

Trays, containers and pallets are known, which are provided with gripping adapters or tool adapters. The adapters can be mutually male or female.

The prior art uses tool change systems and tool zero point systems.

The DE 10 2009 040 811 describes a handling cell with a circular array of shelf modules stockpiling pallets of objects such as tools and workpieces.

The pamphlets DE 34 43 444 A1 . DE 36 05 970 C2 . DE 36 232 01 A1 . DD 28 87 79 A5 . KR 101983002271 B1 perform automatic tool changes with robots in various contexts, such as tool magazines and double grippers.

In the pamphlets US 4,359,815 A and US 4,685,850 A is a robot located directly on a machine tool, which handles tools and workpieces in combination with a machine tool.

In the DE 10 2004 036 052 is a handling device for workpieces, in which by using a changing device instead of the workpiece tools can be handled described.

In the DE 198 54 276 is described a machine tool assembly with stationary tools and a robot for tool change.

The DE 299 02 127 describes a system for changing and inserting tools in machine tools, in which the tools are removed with a robot individually from a warehouse and in which the robot can be used for tool change and workpiece change.

The DE 10 2007 018 368 describes a machine tool arrangement in which a robot operates a workpiece changer from a workpiece magazine and a tool changer from a tool magazine.

PRESENTATION OF THE INVENTION

The invention has for its object to provide a modular Magazinierungs- and handling system for objects, which is operated by robots with simple means and largely self-sufficient.

The term handling in the following refers to the loading and unloading of magazines with slides, the loading (palletizing) and unloading (separation) of slides and the feeding and removal of objects to machines and / or manufacturing facilities.

Magazines may be, for example, simple shelves, shelving systems, paternoster, rotating systems, parts of a conveyor system or parts of an automated storage system.

The handling system should be modular, flexible, robust and cost-effective. The system should in particular serve the handling of workpieces and tools and be optimized for use in and with machine tools and in production facilities.

A further object of the invention is to provide an exchange system which can operate both microscope slides and robotic change grippers as well as robotic change tools with one or more changer devices mounted on the robot.

The use of the robot for machine tool change is usually not used for cost reasons, for reasons of space, because of too slow access and lack of reliability. These disadvantages should be avoided.

Drawers require the entire drawer depth as a free space to extend and thus have a lot of space. Essentially, the robot can only access the objects from above. The pull-out mechanism is very complex. The drawer dimensions are structurally fixed and can not be adapted to the individual objects.

Pallets are usually fed and removed automatically. The robot is designed for price and space reasons typically only to a carrying capacity of about 10 kg to 20 kg and is not able to lift heavy pallets. Small pallets or trays need a lot of storage space or a separate conveyor system.

The invention is intended to have the advantages of drawers and pallets, but not their disadvantages as in the prior art.

The modular robot handling system according to the invention is given by the features of independent claim 1. Advantageous embodiments and further developments are the subject of claims dependent directly or indirectly from the independent claim 1.

The modular robot handling system according to the invention, in particular for robot cells, provided for loading and unloading of magazines, machine tools and production systems, shelving systems or the like by means of at least one robot, wherein the slide and / or objects are present, is accordingly characterized in that at least one object change adapter is present on the slide, by means of which the slides are detachably connectable to each other and at least two connected slides a slide, in particular a slide chain, form, which is conveyed in its entirety by a suitable force is applied to one of its elements.

A particularly advantageous embodiment, which can also be seen independently, is characterized in that fixing means are provided on the slide and / or the object change adapter, which in the positions from which the robot receives the slides, a releasable fixation of the slide or object change adapter guaranteed against evasion, in particular by mechanical clamping, magnetic forces, electromagnetic forces or engagement of the slide or by a backstop.

• – eine Wechsel-Vorrichtung beispielsweise um 90° oder 180° rotationssymmetrisch aufgebaut ist, so dass der Roboter den Objektträger oder ein Wechselwerkzeug aus unterschiedlichen Richtungen und/oder in unterschiedlichen Winkeln aufnehmen kann und/oder
• – Objektträger an Ablagepositionen im Roboterraum und/oder Maschinenraum abgesetzt werden können, um einen optimalen Zugriff auf die transportierten Objekte zu ermöglichen und um die Objektträger in optimale Nähe des Verbrauchers der Objekte zu bringen und/oder
• – die Ablagepositionen für Objektträger neigbar ausgeführt sind und/oder
• – interne Maschinen-Magazine und Puffer gebildet werden und/oder
• – an der Außenseite einer Objektträger-Ablage eine Vorrichtung vorgesehen ist, die ein Andocken einer Be- und Entladeeinrichtung ermöglicht und/oder
• – die Objektträger selbständig vom Roboter umgelagert werden können, so dass der Bediener bevorzugt in seiner optimalen Arbeitshöhe operieren kann und/oder
• – auf der Beladeseite Sensoren, beispielsweise Lichtschranken, angebracht werden, die eine Überbelegung einer Ablage erkennen und/oder
• – der Roboter und Bediener anhand der Position der Objektträger erkennen kann, ob diese bereits bearbeitet wurden.

Particularly preferred and advantageous developments of the system according to the invention are characterized in that

• - A changing device, for example, by 90 ° or 180 ° is rotationally symmetrical, so that the robot can record the slide or an exchange tool from different directions and / or at different angles and / or
• - Slides can be placed at storage positions in the robot room and / or engine room to allow optimal access to the transported objects and bring the slides in the optimal proximity of the consumer of the objects and / or
• - The storage positions for slides are designed tiltable and / or
• - internal machine magazines and buffers are formed and / or
• - On the outside of a slide tray, a device is provided which allows docking of a loading and unloading and / or
• - The slides can be relocated independently by the robot, so that the operator can operate preferably in its optimum working height and / or
• - On the loading side sensors, such as photoelectric sensors are attached, which recognize overcrowding a shelf and / or
• - The robot and operator can see from the position of the slide, whether they have already been edited.

The solution according to the invention is thus to distribute the objects to be handled on small slides, which the robot can handle by weight. The slides are provided with one or more removable adapters that allow the robot to pick up and handle the slide or object from one or more directions.

The slides are coupled together and form a chain, in their entirety is funded by the robot. The robot thus receives access to objects in multi-depth trays. The shelves are formed of supports, which consist for example of shelf rails.

The robot autonomously performs or controls the coupling and decoupling of the slide chain. For this purpose, according to a preferred embodiment, at the robot-side end of the support, for example, a return-lock, connected to an end stop. The return lock prevents the slide from slipping back when coupling the adapters and prevents the operator from pulling out finished slides.

A return lock can be realized for example by magnetic forces, electromagnetic forces, a mechanical lock, a clamping device or a latching device.

By means of the slide chaining, high distances between the robot and the operator can be realized, so that a direct danger by the robot can be excluded for the operator.

The recording and storing of slides and / or objects works safely and quickly in the system according to the invention.

The replacement of objects by operators may be possible during the life of the robot. Operators can operate the system intuitively and as far as possible without menu navigation.

The slides are selectively picked up by the robot and converted into one or more storage positions, so that the robot can ideally realize a 5-page access to the goods.

The slides are divided into small, flexible units due to the usually limited load capacity of the robot, without significantly reducing the storage density.

The commercially available change devices for robot grippers and robot tools are usually designed to a very high standard. With slides and simple tools, on the other hand, there is a need to achieve a simple and inexpensive construction, which has coarser tolerances and reacts insensitive and reliable.

The system realizes a quick and effective machine tool change without significant additional costs. The tools are provided near the machine tool changing point for change and short traverse paths for tool exchange are possible. In addition, the robot has the option of using a double gripper to speed up the exchange.

For the storage and handling of machine tools slides are created with special tool holders.

The magazine assignment and the state of the objects, whether already edited or raw, are recognized automatically.

The slides are flexibly adapted to the dimensions of the object size, or a meaningful batch size.

Aspects of machine safety and safety guidelines are already considered in the concept.

Another, even independent solution according to the invention is that the object change adapter can be manufactured substantially as a laser-burning parts, or in a sheet-metal machining center, at low cost. This is particularly important because each slide requires a removable adapter.

In contrast to classical robot change systems, the system according to the invention is very simple, compact and inexpensive. Due to the compact nature of the removable adapters, several adapters may be mounted on the robot at different positions simultaneously so that the robot can pick and place the slides from different directions and positions. The adapters can also be mounted diagonally or skewed on the robot head.

The robot can simultaneously record multiple slides with multiple adapters.

Female robot replaceable heads have a smaller interference contour than male ones, which is why robotic heads are preferably made with female changeable adapters.

According to the invention, the coupling elements have a constructive high recording tolerance, in particular transversely to the support surface of the slide, so usually in a horizontal plane.

The object change adapters and / or objects may have additional features, such as mounting holes, center holes, and encodings.

The slides can have different depths with the same width and can be loaded at different heights.

The slides can be placed in clipboards to which the robot has 5-page access and / or which are directly at the consumer. This results in handling advantages, for example, tool carriers can be brought into the vicinity of the corresponding tool changer of the machine.

A further advantageous embodiment consists in that the robot can independently convert slides into internal magazines, so that buffer capacities can be built up even in hard-to-reach places.

The slides are placed or slid in the magazines on slide supports, which are designed for example as lateral rails, rollers, roller conveyors or surfaces.

If the slide supports are designed, for example, as lateral rails, the goods can also be higher than the distance between two rails. The rails can be flexibly occupied with slides as required.

An advantageous embodiment consists in resilient pliers or locking pins, which engage themselves when pushed together and are easy to unhook when removing.

A further advantageous embodiment consists in the attachment of codings on the object change adapters, on the basis of which, for example, the robot can determine the program sequence. The coding can be provided with a check digit for security.

On the robot head, in addition to the system change adapters, also industrial exchangeable adapters and / or grippers and tools can be attached.

The robot can, for example, be coupled with other devices via digital input and output units and / or bus systems and exchange information.

Objects and storage locations can be managed by the robot, a higher-level control system or a control system.

Further embodiments and advantages of the invention will become apparent from the features further listed in the claims as well as by the embodiments given below. The features of the claims may be combined in any manner as far as they are not obviously mutually exclusive.

BRIEF DESCRIPTION OF THE DRAWING

The invention and advantageous embodiments and developments thereof are described in more detail below with reference to the examples shown in the drawing and explained. The features to be taken from the description and the drawing can be applied individually according to the invention or to a plurality of them in any desired combination. Show it:

1 shows two slides specially designed for machine tools and connected via object change adapters

2 shows a robot head which is exemplarily equipped with 5 robot change adapters,

3 shows a robot head which is exemplarily equipped with 5 robot change adapters,

4 shows a robotic head with robotic adapter which has received slides at two opposite positions in different orientations

5 shows a robotic head with robotic adapter which has received slides at different positions and in different orientations

6 shows linked slides with object change adapters,

7 shows details of a possible concatenation of the slides via a positive connection or a locking pin, which can be resiliently locked,

8th shows a 3D view on two linked object change adapters,

9 shows the supervision of 8th on which details of a shutter mechanism, mounting options, centering elements and encodings are visible,

10 illustrates the principle of concatenation and decoupling of slides,

11 shows details of a female robot change adapter that locks or releases an object change adapter via two mechanical closing pliers,

12 describes the engagement of a slide in a backstop and emergence on a releasable end stop,

13 describes the engagement of a slide in a backstop and emergence on a releasable end stop in an intermediate state and

14 shows a highly schematic cross-section of a robot cell with a robot and a magazine in the slide with objects are stored and outsourced.

WAYS FOR CARRYING OUT THE INVENTION

According to 1 There is a solution according to the invention therein, the objects to be handled 51 on small slides 1 to distribute that the robot 90 can handle by weight. The slides 1 are with one or more removable adapters 50.1 provided to the robot 90 allow the slide 1 or an object from one or more directions ( 4 and 5 ) and to handle individually.

The slides 1 are interconnected via the object change adapter 50.1 coupled and form a chain 4.1 - two coupled slides 1 in 1 represented - in their entirety by the robot 90 is eligible. The robot 90 thus gets access to objects 51 in multiple depths 6 , The shelves 6 become out of support 5 formed, for example, from shelf rails 7 exist (see 14 ).

The object change adapters 50.1 are formed in the embodiment as cuboidal elements with receiving recesses, each in the end region of the slide 12 are connected to this. The connection can either be welded or screwed or integrated in the object, for example in one piece. Im in 1 right end of each slide 12 is the removable object adapter 50.1 over the front of the slide 12 also exists, wherein in the projecting region, a transversely continuous transverse recess is provided on the underside. In the corresponding opposite end region of the slide 12 is offset inside another object change adapter 50.1 present, wherein in the marginal end region on the top of the slide 12 a protruding bar 29 attached, which is the corresponding object change adapter 50.1 engages positively from above. Neighboring object change adapters 50.1 are in the exemplary embodiment releasably connected by clamping, that is, by means not shown in each other inserted.

14 shows a highly schematic cross-section of a robot cell 60 within which a robot 90 is arranged, being next to the robot 90 in the access area of the robot 90 a magazine 20 is arranged, which is designed as a pass-through magazine. Inside the magazine 20 are slide rack rails 7 arranged on which slides 12 respectively 1 are slidably mounted in the horizontal direction, wherein the slide 12 is suitable machine tools 51 and the slide 1 suitable is other objects 55 take.

The robot 90 can from the in 14 left side of the magazine 20 - Magazine robot page 21 (Inside) - on the magazine 20 access and an operator 66 can from the magazine outside 22 (Operator side) on the magazine 20 access.

The robot 90 independently performs the coupling and decoupling of a slide chain 4.1 ( 1 ) and 4.2 ( 6 ) or controls these. For this purpose, the robot-side end of the support is located 5 or the rail 7 , the filing 6 for example, a return lock 10 connected to an end stop 11 , The return lock 10 prevents the slide 1 when coupling the adapter 50 slips back and that the operator 66 unfinished slides 1 pulls out.

In 10 is shown that the left-side slide 1 from the robot 90 something is raised and the right-sided slide 1 to the left into the lock on the end stop 11 draws. After locking the return lock 10 the robot raises 90 the left side adapter 50.2 from the right-side adapter 50.2 out to the individual handling. This process is repeated several times until the entire tray 6 is discharged.

After unloading the tray 6 become the slides 1 buffered and / or processed. At the end of the handling, the slides become 1 fed back to the support back. The first slide placed back 1 is placed in the lock. The second slide 1 is in the raised position ( 11 ) in the locked slide 1 retracted and locked. Thereafter, the left-side slide 1 lowered, opens by depressing the end stop 11 the return lock 10 of the leading slide 1 and in turn is in the lock of the return lock 10 pushed.

This process is repeated until the feedback is completed. The last slide 1 we from the robot 90 from the return lock 10 lifted and right side of the backstop ( 10 ) discontinued. The operator 66 recognizes at the Storage position that the slides 1 are now free and can pull these out in the totality. Another visualization, for example with a control panel, is not mandatory.

By means of slide chaining (chain) 4.1 can take long distances between robots 90 and operator 66 be realized, so for the operator 66 a direct threat from the robot 90 can be excluded.

A return lock 10 can be realized for example by magnetic forces, electromagnetic forces, a mechanical lock, a clamping device or a latching device.

The object change adapters 50.2 are essentially produced as laser-burning parts, or in a sheet-metal machining center, inexpensively. This is especially important as every slide 1 a change adapter 50 needed.

The robot can work with multiple adapters 40 several slides simultaneously 1.1 record what's in 4 is shown.

Female robot replaceable heads 45 have a lower interference contour than male ones 44 . 41 - in 2 with radial and axial protrusions - which is why robotic heads 30 preferably be executed with female change adapters.

In the 6 to 10 is another embodiment of an object change adapter 50.2 shown in which the adapter 50.2 as elongated, flat sheet-metal profile, preferably laser-cut, is formed, which has a flat rectangular cross-section and in the embodiment below a slide 1 connected. The adapter 50 has in the thickness direction grid-shaped arranged through mounting holes 16 and center holes located therebetween 17 on (see 9 ). Im in 9 right end is a coding 18 present, this right end area with attached slide 1 protrudes beyond this. In the right end area is a tapered tongue 13 molded, in which a locking notch 15 (please refer 7 ) is formed. In the opposite end of the adapter 50.2 is a pair of pliers 14 molded, with the tongue 13 and the pliers 14 with respect to their geometry are designed so that the tongue 13 in the pliers 14 can be pushed into it and in retracted state a releasable lockable connection is present.

To make the detachable connection, the closing pliers 14 a projection unit 27 (upper part in 7 ), which in the closure notch 15 engages, in which case the pliers 14 has a certain elasticity. Alternatively, on the closing pliers 13 a locking pin 19 (lower part of 7 ), the spring loaded in the locking notch 15 snaps in the pushed state.

The 6 schematically shows a bottom view of two slides 1 that under coupling the object change adapter 50.2 to a slide chain 4.2 joined together, with a robot the entire chain 4.2 can move by connecting to the in 6 to the right protruding end of the right adapter 50.2 manufactures. The chain 4.2 can be formed from almost any number of slides.

In 6 is the width of the slides 1 with the reference number 8th and the depth by the reference numeral 9 Mistake.

A possible production method of the connection between the robot 90 and adapters 50.2 is in 11 shown schematically. For this purpose, the robot has a robot adapter 45 with two opposing fixed receiving jaws, through which the end portion of the adapter 50.2 can be inserted to a stop. Then the tongue stands 13 into the interior of the robot exchange adapter 45 above. Inside the robot exchange adapter 45 is a robotic interlock 46 available, the two rotating locking pliers 49 has, whose end portion by rotation of the locking pliers 49 with the locking notch 15 of the adapter 50.2 is engaged or for unlocking with the locking notch 15 is disengaged.

At the robot head 30 can in addition to the system change adapters 40 also industrial exchangeable adapters and / or grippers and tools are attached.

The robot can, for example, be coupled with other devices via digital input and output units and / or bus systems and exchange information.

Objects and storage locations can be managed by the robot, a higher-level control system or a control system.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102009040811 [0008]
• DE 3443444 A1 [0009]
• DE 3605970 C2 [0009]
• DE 3623201 A1 [0009]
• DD 288779 A5 [0009]
• KR 101983002271 B1 [0009]
• US 4359815 A [0010]
• US 4685850A [0010]
• DE 102004036052 [0011]
• DE 19854276 [0012]
• DE 29902127 [0013]
• DE 102007018368 [0014]

Claims (15)

Modular robot handling system, in particular for robot cells ( 60 ), intended for loading and unloading magazines ( 29 ), Machine tools and production equipment, shelving systems or the like by means of at least one robot ( 90 ), the slide ( 1 . 12 ) and / or objects ( 51 ) are present, - characterized in that - at least one object change adapter ( 50.1 . 50.2 ) on the slide ( 1 . 12 ) by which the slides ( 1 . 12 ) are releasably connectable to each other and at least two connected slides ( 1 . 12 ) a slide, in particular a slide chain ( 4.1 . 4.2 ), which is collectively eligible by exercising an appropriate force on one of its elements. Robot handling system according to claim 1 or the preamble of claim 1, - characterized in that - on the slide ( 12 ) and / or the object change adapter ( 50 ) Fixing means are present, which are in the positions from which the robot ( 90 ) the slides ( 1 ), a releasable fixation of the slides ( 1 ) or object change adapter ( 50.1 . 50.2 ) against dodging, in particular by mechanical clamping, magnetic forces, electromagnetic forces or engagement of the slides ( 1 ) or by a backstop ( 10 ). Robot handling system according to claim 1 or 2 or the preamble of claim 1, - characterized in that - the object change adapter ( 50.1 . 50.2 ) is substantially formed as a laser-burning part, or manufactured with a sheet-metal machining center. Robot handling system according to one or more of the preceding claims, characterized in that - the robot ( 90 ) one or more robot interchangeable adapters ( 40 ), with which it supports both slides ( 1 . 12 ) as well as tools ( 51 ) with a high positional tolerance of more than +/- 2 mm. Robot handling system according to one or more of the preceding claims, characterized in that - the object change adapter ( 50 ) and / or the objects elements for exact positioning ( 17 ) and / or elements ( 16 ) for fixing an object ( 16 ) / Slide ( 1 ). Robot handling system according to one or more of the preceding claims, characterized in that the object change adapter / the slides are designed such that the concatenation of the slide or slide chain ( 4.1 . 4.2 ) by simply sliding on / off the object change adapter ( 50 ) / the slide ( 1 ) he follows. Robot handling system according to one or more of the preceding claims, characterized in that - the object change adapter ( 50.1 . 50.2 ) / the slides are designed so that the solution of the chaining ( 4.1 . 4.2 ) the slide ( 1 ) by a vertical movement of one of the slides ( 1 ) and / or strong pulling apart and / or mechanical release of the lock can be solved. Robot handling system according to one or more of the preceding claims, characterized in that - at least one magazine ( 29 ) is designed as a pass-through magazine and that the slide or slide chain ( 4.1 . 4.2 ) forms such a length, in particular a length greater than 850 mm, so that out of safety considerations a hand penetrates a person from the robot ( 90 ) opposite side of the magazine ( 29 ) not possible. Robot handling system according to claim 2, - characterized in that - the robot ( 90 ) the backstop ( 10 ) can bypass or to and / or shut down. Robot handling system according to one or more of the preceding claims, characterized in that - the slides ( 1 . 12 ) in coordination with the magazine ( 29 ) in different widths ( 8th ), Depths ( 9 ) and heights are loadable, so that different depth and different height slides can be used on a magazine track. Robot handling system according to one or more of the preceding claims, characterized in that - the robot ( 90 ) a robot exchange adapter ( 40 ), wherein the robot-side releasable locking of the slide ( 1 ) in the robot changer adapter ( 40 ) By frictional forces, by positive engagement, by snapping and / or pneumatic or electromagnetic locking is achieved. Robot handling system according to one or more of the preceding claims, characterized in that - the object change adapter ( 50 ) in its one end region a closure tongue ( 13 ), in particular with a closure notch ( 15 ), and in its opposite end region one corresponding closing pliers ( 14 ), wherein the locking tongue ( 13 ) in the closing pliers ( 14 ) of a neighboring adapter ( 50 ) is positively or non-positively releasably connectable. Robot handling system according to claim 12, characterized in that - the locking tongue ( 13 ) to the locking notch ( 15 ), so that the locking tongue ( 13 ) and the closing pliers ( 14 ) remain slim with a low interference surface, can be manufactured inexpensively from one piece and have a high lateral acceptance tolerance. Robot handling system according to claim 12 or 13, - characterized in that - the locking tongue ( 13 ) of the object change adapter ( 50 ) over the slide ( 1 ) is formed projecting, so that the robot ( 90 ) based on the protruding tongue ( 13 ) very quickly and accurately the position of the slides ( 1 ) and can refer to it and / or based on a coding ( 18 ) on the protruding tongue ( 13 ) or on the slide ( 1 ) the identity of the slide ( 1 ) and can align its program flow to it. Robot handling system according to one or more of the preceding claims, characterized in that - slides ( 12 ), the machine tools ( 51 ) be able to record.

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