DE102017122885A1 - Device and method for handling and moving components - Google Patents

Abstract

In a device (1) for handling and moving preferably planar components, in particular of sinkers, it is proposed that the device (1) comprises at least one holding device (8) for at least temporarily holding at least one gripper (5, 5a-n) the holding device (8) is spatially separated from the gripper arrangement (2), the gripper (5, 5a-n) being held in the holding device (8) when the braking and / or locking means (6, 6a-c) are released ) relative to the at least one carrier (3, 3a, 3b, 3c, 28) is relatively movable.

Description

The invention relates to a device for handling and moving components according to the preamble of claim 1 and a method for handling and moving components according to the preamble of claim 14.

Devices and methods for handling and moving components are already known from the prior art. So one already knows from the DE 10 2015 117 315 A1 a so-called suction frame for the transport of flat components and a method for adapting a corresponding suction frame. The disadvantage here is in particular that individual vacuum units, if they are not needed, must be dismantled and, if necessary, must be re-assembled accordingly. Operating the suction frame and a device with corresponding suction frame can thus not always be efficient in terms of set-up times.

The object of the invention is to provide a device for handling and moving components, which is particularly efficient with regard to set-up times, and which can be operated very flexibly with regard to its use and, in particular, in terms of set-up time minimization, very efficiently.

To solve the problem, an apparatus for handling and moving preferably planar components, in particular of boards proposed, wherein the device comprises a gripper assembly, wherein the gripper assembly comprises at least one movable carrier, preferably longitudinal beams, wherein at least one carrier a plurality of Grippers is arranged to be movable relative to the carrier, wherein the grippers are connected at least via a respective braking and / or locking means with the at least one carrier.

According to the invention it is provided that the device comprises at least one holding device for at least temporarily holding at least one gripper, wherein the holding device is spatially separated from the gripper assembly, wherein the gripper with dissolved brake and / or locking means and in the held state in the holding device relative to the at least one carrier is relatively movable.

Such a device can be adapted to both component size, number of components and component geometry and is therefore particularly flexible operable. Such an adaptation can be carried out in a particularly simple manner by fixing the grippers and moving or positioning the carriers or the gripper arrangement, comprising carriers, relative to the gripper or to the grippers.

A held state of a gripper can be understood to mean that the gripper is not moved, but rather a relative movement of the carrier and gripper takes place by direct movement of the carrier. In this connection, the invention can be understood as meaning that grippers are passive with respect to their movement and that carriers are active with respect to their movement.

It is therefore crucial that, contrary to usual movements, not the grippers are moved while the carrier is held, but that grippers are held for a short time and carriers are moved.

For the purposes of the invention, the term "movable" can also be understood to mean displaceable or repositionable or pivotable, as well as combinations thereof.

Another advantage of the invention is the fact that errors in manual placement of the gripper assembly with grippers or in automated adjustment of grippers on carriers, can be avoided by an automatic or automated positioning of the gripper assembly.

In an advantageous development of the invention it can be provided that the grippers each have at least one assembly for movement along a movement axis, wherein the movement axis is formed as a longitudinal axis along a carrier, preferably longitudinal carrier, or as a rotation axis about an attachment point on the carrier.

For the purposes of the invention, a subassembly can be understood as meaning, for example, a linear guide, sliding piece or axis of rotation, etc. It can be provided that an assembly comprises a braking and / or locking means. It may also be possible that a brake and / or locking means may be formed as an assembly.

The formation of corresponding axes of motion or assemblies may allow grippers to be moved along these axes by moving the respective carriers on which these grippers are located, whereby linear or rotational movements may be provided. Thus, a device can be provided which is particularly flexible in terms of their usability for handling and movement of components and in particular can also make any set-up time shortening possible.

In order to further increase the flexibility with a simultaneous set-up time reduction of the device, it can be provided in a further advantageous development of the invention that the grippers each have at least one further movement axis, which is designed as an eccentric axis about a boom on a rotation axis.

In order to be able to provide a device which is further improved in terms of its flexibility while maintaining reduced set-up times, an advantageous development of the invention can provide that at least one further carrier, preferably cross member, is present, wherein the at least one further carrier at least one assembly for movement at least one carrier along an axis of movement formed as a transverse axis of movement, which is arranged substantially perpendicular to a longitudinal direction of the at least one carrier, preferably longitudinal beams. Thus, not only individual grippers can be moved or positioned, but also corresponding carriers to which, for example, a plurality of grippers can be arranged.

In order to be able to operate the device in a particularly simple and effective manner, the invention can provide in a further embodiment that at least one robot, in particular a multi-axis robot, is present, which is connected to the at least one carrier or at least one further carrier, wherein the at least one further Carrier substantially perpendicular to the at least one carrier arranged, preferably movable, is. Another advantage of using a robot is that requirements for handling and moving existing components, e.g. Part size, component geometry, etc. can be changed very quickly, so that the device can be operated efficiently accordingly. Further cost savings may u.U. be attributed to the fact that a robot can be provided anyway, which is now not used exclusively for movement of the gripper assembly.

Thus, it can be provided within the scope of the invention that the device comprises at least one robot, in particular a multi-axis robot, by means of which at least the gripper arrangement can be moved. It is advantageous in this case in particular that errors in manual assembly can be avoided by means of a robot-enabled automatic positioning of the grippers on the carriers or on the gripper arrangement. A device according to the invention, which comprises a robot, can be adapted both to component size, number of components as well as component geometry and can thus be operated particularly flexibly.

Such an adaptation can be carried out in a particularly simple manner by fixing the grippers and moving or positioning the carriers or the gripper arrangement, comprising carriers, relative to the gripper or to the grippers. If a robot is formed anyway, a correspondingly inexpensive device can be provided.

In a further embodiment, the invention can provide that the at least one holding unit is arranged in a stationary manner. This can e.g. allow reduced maintenance costs due to reduced mobility of the holding device.

In order to be able to provide a holding unit which has increased flexibility, a further advantageous embodiment of the invention can provide that the holding unit for non-positively holding a gripper has a substantially planar holding surface and / or for the positive holding of a gripper at least one preferably height-adjustable holding element, in particular a two- or three-armed holding forceps comprises. Such a linearly movable holding element may e.g. also different gripper designs, e.g. Grab lengths, etc. take into account, which also an overall more flexible device for handling and moving components can be provided.

Instead of an exclusive linear mobility of the holding element, the invention may provide in a further embodiment that the holding element is designed to be movable in at least two spatial directions, preferably in three spatial directions. These further possibilities of movement may make it possible to provide a more flexible holding element or a more flexible holding device.

In an advantageous embodiment, the invention may further provide that at least one preferably plate-shaped connecting means between gripper and braking and / or locking means and / or between the at least one carrier and at least one further carrier is arranged. Such a connection means is an easy way to fix grippers stably on carriers. Nevertheless, any maintenance or repair work, for example on grippers, with manageable assembly or disassembly effort can be performed.

A preferred embodiment of the invention can provide that at least one gripper is designed as a linearly movable gripper with at least one attachment point and / or as a rotatably movable gripper with an attachment point and at least one further attachment point. Such embodiments allow the efficient operation of a corresponding device, ie the highest possible flexibility in terms of components used in accordance with optimized, ie shorter set-up times. In a further advantageous embodiment, the invention can provide that the grippers are designed as a vacuum-operated suction gripper and / or as a magnetic gripper. This poses simple ways to handle even components of greater extent or higher weight safely and reliably, for example, lift, and move accordingly.

In order to be able to provide grippers which are particularly flexible with regard to their usability in the case of handling or moving components, a particularly advantageous embodiment of the invention can provide that the grippers are designed as scara grippers. In contrast to linear-acting grippers, such scara grippers can also be regarded as grippers with a double joint function. In the case of scara grippers, moreover, a drive can be dispensed with, since according to the invention the grippers are moved by a relative movement of the carrier to the holding unit, the arms of the scara gripper also being individually or jointly adjustable, depending on which axis of rotation is detected by a locking means is.

Such drive-free grippers, especially but not exclusively Scara gripper, can also be understood as a passive gripper. Also linear grippers can be considered as passive grippers accordingly.

In order to be able to provide the most secure and stable attachment of gripper or braking and / or locking means to the carrier, the invention can provide that the at least one carrier comprises guide means designed as a guide rail and / or that the at least one further carrier acts as a guide rail comprises trained guide means.

For the purposes of the invention, braking and / or locking means may be formed in one piece or in several parts. It is also possible within the scope of the invention that braking and / or locking means are operated electronically and / or pneumatically. Such brake and / or locking means have proven themselves in practice because of high reliability.

In an advantageous embodiment, the invention can provide that grippers are movably arranged on at least one carrier in a longitudinal direction and / or that at least one further carrier is provided, to which further carrier the at least one carrier is arranged such that it is in a direction to the longitudinal direction Substantially perpendicular transverse direction is movable. Thus, a distance between adjacent carriers can be increased and / or reduced, whereby a particularly flexible device with regard to the handling and movement of components can be provided.

• a) Positionieren der Greiferanordnung relativ zu einer Halteeinheit zur Herstellung einer Halteposition und halten des Greifers mittels Halteeinheit;
• b) Lösen eines mit diesem Greifer verbundenen Brems- und/oder Feststellmittels an einem Befestigungspunkt und Bewegen des Trägers, an dem dieser Greifer angeordnet ist, von der Halteposition zu einer Verfahrposition, wobei dieser Greifer während der Bewegung des Trägers ortsfest verbleibt;

The invention further relates to a method for handling and moving components by means of a gripper arrangement comprising grippers movably arranged on carriers, the method being characterized by the following method steps:

• a) positioning the gripper assembly relative to a holding unit for producing a holding position and hold the gripper by means of holding unit;
• b) releasing a brake and / or locking means connected to this gripper at an attachment point and moving the carrier on which this gripper is arranged from the holding position to a movement position, said gripper remaining stationary during movement of the carrier;

The method thus allows components of different sizes or shapes, i. For example, design, can be handled and moved with little set-up time requirement.

• c) Lösen des Haltens des Greifers.

erfolgt. Somit können ggf. im Anschluss weitere Greifer entsprechend der Bauteilanzahl bzw. Bauteilgeometrie entsprechend positioniert werden. Daraus kann eine erhöhte Flexibilität bei der Handhabung und Bewegung von Bauteilen resultieren, woraus weiterhin entsprechende Rüstzeitverkürzungen resultieren können.In a further development of the invention, it can be provided that a method step following the method step b)

• c) releasing the grip of the gripper.

he follows. Thus, if necessary, further grippers can be correspondingly positioned according to the number of components or component geometry. This can result in increased flexibility in the handling and movement of components, from which further corresponding set-up time shortening can result.

In order to be able to obtain a high degree of automation and thus possibly achieve further set-up time savings, it can be provided in an embodiment of the method according to the invention that the positioning of the gripper arrangement relative to the holding unit and / or the movement of the carrier with a robot takes place.

The advantage is that robots already exist ...

In order to be able to limit relative movements between gripper arrangement and holding unit, and in order to better control processes or interaction of these components, a development of the method according to the invention can provide that the holding unit is arranged stationary and that the at least one carrier relative to the holding unit is moved in a longitudinal direction and / or in a transverse direction.

A further development of the method according to the invention can provide for the gripper to be arranged in a stationary manner when the braking and / or locking means are in the state held in the holding unit such that there is a spacing of adjacent grippers is increased and / or decreased. The method thus allows the handling and movement of components, regardless of the design, ie size, shape, etc. of the components always efficiently, ie in particular with reduced set-up time needs done. Thus, the method is particularly flexible in terms of handling and movement of components of different design.

In a further embodiment of the method according to the invention, it can be provided that the gripper is arranged in such a stationary manner in the state held in the holding unit, with closed brake and / or locking means on the gripper and open braking and / or locking means on the at least one carrier, that a distance between adjacent carriers is increased and / or reduced. The method thus allows the handling and movement of components to be independent of design, i. Size, shape, etc. of the components are always efficient, i. especially with reduced set-up time requirement, can be done. Thus, the method is particularly flexible in terms of handling and movement of components of different design.

For the purposes of the invention, components are in particular flat components, preferably circuit boards, to be understood. For the purposes of the invention, the term component can also be construed as a sheet metal blank, sheet metal plate and in particular as a Taylored blank or formulated as such.

Fixing points can be understood in the context of the invention as clamping positions or positions at which a holding unit or a holding element for holding the corresponding gripper can be attached or positioned.

• 1: eine schematische Darstellung einer erfindungsgemäßen Vorrichtung;
• 2: einen vergrößerten detaillierten Ausschnitt aus der in 1 gezeigten Vorrichtung;
• 3 bis 7:
  • weitere Darstellungen bzw. Positionierungen gemäß der in 1 gezeigten erfindungsgemäßen Vorrichtung;
• 8: eine schematische Darstellung eines Ausschnitts einer weiteren Ausführungsform der erfindungsgemäßen Vorrichtung;
• 9a bis 9c:
  • stark vereinfachte verschiedene schematische Draufsicht-Darstellungen je eines Ausschnitts der erfindungsgemäßen Vorrichtung.

The invention will be explained in more detail with reference to drawings. Hereby shows:

• 1 : a schematic representation of a device according to the invention;
• 2 : an enlarged detailed excerpt from the in 1 shown device;
• 3 to 7 :
  • further representations or positions according to the in 1 shown device according to the invention;
• 8th : a schematic representation of a section of a further embodiment of the device according to the invention;
• 9a to 9c :
  • greatly simplified different schematic plan views of a respective section of the device according to the invention.

For all 1 to 9 that applies to the operation of the device 1 required supply lines, such as pneumatic lines, etc. for reasons of simplified representation are not shown in detail.

In the 1 is a device 1 for handling and moving components (not shown). The device 1 is here in a starting position 10 shown. This starting position 10 On the one hand, it can be regarded as a resting position. On the other hand, the starting position 10 be considered as a position in which components can be handled and moved, but due to constant components, eg in terms of number, dimensions, etc. no changes to the gripper assembly 2 is necessary.

The device 1 includes a gripper assembly 2 , The gripper arrangement 2 includes movable beams 3 . 3a . 3b . 3c , Which are formed here as a longitudinal carrier. The carriers 3 . 3a . 3b . 3c are in a longitudinal direction 9 arranged and can thus be understood as a side member. It is further shown that a plurality of grippers 5 . 5a-n on the straps 3 . 3a . 3b . 3c are arranged. The grippers 5 . 5a-n are relative to carriers 3 . 3a . 3b . 3c movable. Furthermore, the gripper arrangement comprises 2 another carrier 13 that in a transverse direction 14 is arranged. The other carrier 13 can thus be understood as a cross member.

At the other carrier 13 is a robot 15 arranged, by means of which the gripper assembly 2 is movable. The carriers 3 . 3a . 3b . 3c are at the other carrier 13 movably arranged.

The grippers 5 . 5a-n are each a brake and / or locking means 6 . 6a with the carriers 3 . 3a . 3b . 3c connected (see also 2 ). For reasons of simplified illustration, only the braking and / or locking means 6 . 6a shown.

The device 1 includes a holding device 8th for holding a gripper 5 . 5a-n , The holding device 8th is here spatially from the gripper assembly 2 formed separately and comprises a holding element 16 , The gripper 5 . 5a-n is with dissolved brake and / or locking means 6 . 6a and in a held state in the holding device 8th opposite the carriers 3 . 3a . 3b . 3c relatively movable. This allows grippers 5 . 5a-n , for example, depending on the design of components that are to be handled (see also 9 ), are moved flexibly along the respective carrier. The device 1 can therefore be operated very flexible, which can also result in setup time savings.

Out 2 it can be seen that each plate-shaped connecting means 7 . 7a between grapple 5 . 5a and braking and / or locking means 6 . 6a-c and between carriers 3c and further carrier 13 are arranged. Furthermore, it can be seen that the carrier 3c formed as a guide rail guide means 4 . 4a and that the at least one further carrier 13 formed as a guide rail guide means 17 . 17a includes. The grippers shown here 5 . 5a are along the longitudinal axis 20 movable. The carrier 3c is along the transverse axis 29 the other carrier 13 movable.

The grippers 5 . 5a each have at least one module 30 for movement along a movement axis, wherein the movement axis as a longitudinal axis 20 along a carrier 3c . 28 ), preferably longitudinal beams, is formed.

The one more carrier 13 also has an assembly 30a to the movement of the carrier 3c along a transverse axis 29 trained movement axis. This movement axis is substantially perpendicular to a longitudinal direction (see 1 ) of the carrier 3c , preferably longitudinal beams, arranged.

For the purposes of the invention, the terms transverse direction and transverse axis as well as longitudinal direction and longitudinal axis can each be understood as identical terms, but without having to.

In the 3 to 7 is the device 1 each shown in further positions. Based on 1 and 3 to 7 the method according to the invention will also be described below. This is explained on the 9 directed.

Starting from the in 1 shown starting position 10 , it can accommodate components (see 9 ), arrangements of the gripper 5n . 5 m ( 3 ) to change. This can occur, for example, when components of other dimensions or different size or shape, etc., are to be handled and moved by means of the device.

To a distance 22 between the grippers 5n and 5 m to be able to change, a movement of the gripper assembly takes place in a first step 2 by means of the robot 15 , the carrier, so-called further carrier 13 , hinged, to a holding unit 8th ,

For the purposes of the method according to the invention, in a first step ( 3 ) a positioning of the gripper assembly 2 relative to a holding unit 8th for producing a holding position 11 and holding the gripper 5n ( 3 ) by means of holding unit 8th , In the exemplary embodiment, the holding unit comprises 8th for holding the gripper 5n a holding element 16 , In the present case, a positive holding of the gripper takes place 5n by means of retaining element 16 ,

In a subsequent step ( 4 ), a release takes place with this gripper 5n connected brake and / or locking means (see 2 ) at an attachment point ( 2 ) and moving the carrier 3 at which this gripper 5n is arranged from the stop position 11 ( 3 ) to a travel position 12 ( 4 ), the gripper 5n remains stationary during movement of the carrier.

This can be understood that the gripper 5n not actively moved, but that the carrier 3 at which the gripper 5n arranged in particular by actively moving the gripper assembly is actively moved or moved.

It is off 4 seen that after a movement of the wearer 3 with stationary remaining gripper 5n a distance 22 to a gripper 5 m , which to the gripper 5n adjacent to, in comparison to in 3 shown distance 22 is reduced. Thus, the gripper assembly 2 be adapted to different component designs, such as component size or component geometry or to different component arrangements, with the gripper assembly 2 to be handled and moved.

Once such a change in position of a gripper is completed, the corresponding gripper can be held or fixed again by means of braking and / or locking means at its now changed position, so that further movements of the wearer no longer the position of this previously moved gripper and now attached gripper unless explicitly intended.

After a possible release of the gripper 5n or in a dissolved state (see, eg 5 ), the gripper assembly 2 according to an arrangement, quantity, etc. of components or a configuration of components (see 9 ) are flexibly adjusted by a single or several grippers, eg gripper 5n , is incorporated or omitted with respect to eg a changed component arrangement.

From the 5 and 6 can be seen that it is possible, further distances between grippers (here distance 22a between grapple 5 m and 51 ) to adapt the gripper assembly flexibly to component dimensions or to the number of components. By way of example, it is shown that the distance 22a in comparison to 5 in the in 6 shown position has been reduced. Thus, particularly fast, ie under Set-up time saving, different components or component arrangements, etc., which are to be handled and moved, are taken into account.

In the 5 is also indicated that the holding device 8th or a retaining element optionally arranged thereon 16 not only in one spatial direction, present in y Height-adjustable, but also in two spatial directions (x, y) or in three spatial directions ( x . y . z ) can be designed to be movable and can accordingly comprise one, two or three axes of movement.

From the 7 is also apparent that carrier (here carrier 3a) along a transverse direction 14 (see also 6 ) can be designed to be movable. The movement of the carrier 3a takes place here relative to the other carrier 13 (see also 2 ). It is compared to 5 you can see that a distance 22b between carriers 3 and 3a after moving ( 7 ), provided that, for example, certain component arrangements or component quantities or component configurations should be required (see also FIG 9 ).

A schematic representation of a section of a further embodiment of the device according to the invention is shown in FIG 8th shown. Here it is shown that gripper 5 . 5a each designed as a so-called scara gripper. Advantageous to the trained as a scraper grippers 5 . 5a for example, that is also a component 21 with irregular geometries, eg those components with dimensions deviating from regular polygons, can be easily handled and moved. This can be attributed, inter alia, to the increased mobility of the scara grippers as a result of the formation of further movement axes.

The grippers 5 . 5a have each axes of motion, as a longitudinal axis 20 along the carrier 28 and as a rotation axis 23 . 23a around attachment points 18 . 18a are formed. The grippers 5 . 5a each have a further movement axis, which ever as eccentric axis 24 . 24a around boom 25 . 25a at rotational axis 23 . 23a is trained. Furthermore, the grippers 5 . 5a each further attachment points 19 . 19a on. In the present case, the grippers 5 . 5a at positioning points 27 . 27a-g moved or positioned and possibly held. For improved mobility, the grippers include 5 . 5a each further a boom 26 . 26a who ever at appropriate attachment point 19 . 19a , each movable around eccentric axes 24 . 24a are arranged. Overall, the grippers point 5 . 5a , which are designed as Scara gripper, in each case three axes of movement and two attachment points 18 . 18a . 19 . 19a on.

The in the 9a to 9c show highly simplified schematic plan views to illustrate that during operation of the device 1 ie when handling and moving components 21 . 21a-c different constellations or situations may be present, each depending for example on the design of the components 21 . 21a-c or of their number.

Contrary to the other representations are in the 9 a to 9c for reasons of clarity and for better understanding ever only three carriers 3 . 3a . 3b demonstrated. It is from the 9a seen that two components 21 . 21a are to handle and move. Accordingly, this will be the gripper assembly 2 or the grippers 5 . 5a-k positioned so that handling and movement of the components 21 . 21a can be done. In the present case, therefore, the grippers 5 . 5a-e , positioned to the component 21 handle and move and the grippers 5f-k so that the component 21a can be handled and moved. Since only two components are to be handled and moved, distances can be 22e . 22f be kept correspondingly low.

The situation is different, for example, in the 9b shown situation, in which now a change in the number of components and a change in the dimensions of the components is done. For handling and movement of the components shown here 21 . 21a . 21b and 21c it is now according to the in 1 and FIGS. 3 to 7 representations and explanations required, the gripper assembly 2 or the positioning of the gripper 5 . 5a-k on straps (see 9a) to change so that the distances 22f . 22e the corresponding gripper can be obtained. In detail, this means in the embodiment shown that the distances 22e . 22f in the 9b opposite the distances 22e . 22f were enlarged.

It should be pointed out at this point that the in the 9a to 9c shown constellations represent only exemplary examples and the invention is by no means limited to these examples. Rather, the invention is to be interpreted to all conceivable or reproducible constellations of component arrangements and shows in this way the extent of the particularly high flexibility of the device according to the invention or of the method according to the invention.

In addition to this is in the 9c an embodiment shown in which the distance 22c two carriers 3 . 3a opposite to the illustration in 9b reduced or the distance 22d opposite to the illustration in 9b is enlarged. Such a situation may exist, for example, if only the wearer 3 . 3a or the grippers arranged thereon 5 . 5a-g to be used for handling and movement of components.

LIST OF REFERENCE NUMBERS

1

contraption

2

hook assembly

3

carrier

3a-c

carrier

4

guide means

4a

guide means

5

grab

5a-n

grab

6

Braking and / or locking means

6a-c

Braking and / or locking means

7

connecting means

7a

connecting means

8th

holder

9

longitudinal direction

10

starting position

11

hold

12

traversing

13

carrier

14

transversely

15

robot

16

retaining element

17

guide means

17a

guide means

18

attachment point

18a

attachment point

19

attachment point

19a

attachment point

20

longitudinal axis

21

component

21a-c

component

22

distance

22a-f

distance

23

axis of rotation

24

eccentric

25

boom

26

boom

27

positioning point

27a-g

positioning point

28

carrier

29

transverse axis

30

module

30a

module

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 102015117315 A1 [0002]

Claims (19)

Device (1) for handling and moving preferably planar components, in particular of blanks, - wherein the device (1) comprises a gripper assembly (2), - wherein the gripper assembly (2) at least one movable support (3, 3a, 3b, 3c , 28), preferably longitudinal members, comprising - on the at least one support (3, 3a, 3b, 3c, 28) a plurality of grippers (5, 5a-n) relative to the support (3, 3a, 3b, 3c, 28) is arranged to be movable, wherein - the grippers (5, 5a-n) are connected to the at least one carrier (3, 3a, 3b, 3c, 28) at least via one respective braking and / or locking means (6, 6a-c) are connected, characterized in that - the device (1) at least one holding device (8) for at least temporarily holding at least one gripper (5, 5a-n), wherein the holding device (8) spatially separated from the gripper assembly (2) is, wherein the gripper (5, 5a-n) with dissolved brake and / or locking means (6, 6a-c) and in the held state in the Holding device (8) relative to the at least one carrier (3, 3a, 3b, 3c, 28) is relatively movable. Device after Claim 1 , characterized in that the grippers (5, 5a-n) each have at least one assembly (30) for movement along a movement axis, wherein the movement axis as a longitudinal axis (20) along a support (3, 3a, 3b, 3c, 28) , preferably longitudinal beams, or as a rotation axis (23) about an attachment point (18, 18a, 19, 19a) on the support (3, 3a, 3b, 3c, 28) is formed. Device according to one of the preceding claims, characterized in that the grippers (5, 5a-n) each have at least one further movement axis, which is formed as an eccentric axis (24) about a cantilever (25, 25a) on a rotation axis (23). Device according to one of the preceding claims, characterized in that at least one further carrier (13), preferably cross member, is provided, wherein the at least one further carrier (13) at least one assembly (30, 30a) for moving at least one carrier (3, 3a, 3b, 3c) along a transverse axis (29) formed movement axis, which is substantially perpendicular to a longitudinal direction (9) of the at least one carrier (3, 3a, 3b, 3c, 28), preferably longitudinal beams, respectively. Device according to one of the preceding claims, characterized in that at least one robot (15), in particular multi-axis robot, is present, wherein the robot (15) with the at least one carrier (3, 3a, 3b, 3c, 28) or at least one other Carrier (13) is connected, wherein the at least one further carrier (13) arranged substantially at right angles to the at least one carrier (3, 3a, 3b, 3c, 28), preferably movable. Device according to one of the preceding claims, characterized in that the at least one holding unit (8) is arranged stationary. Device according to one of the preceding claims, characterized in that the holding unit (8) for non-positively holding a gripper (5, 5a-n) has a substantially plane holding surface and / or for the positive holding a gripper (5, 5a-n) at least one preferably height-adjustable holding element (16), in particular comprises a two- or three-armed holding forceps. Device according to one of the preceding claims, characterized in that the holding element (16) in at least two spatial directions (x, y), preferably in three spatial directions (x, y, z) is designed to be movable. Device according to one of the preceding claims, characterized in that at least one preferably plate-shaped connecting means (7, 7a) between gripper (5, 5a-n) and braking and / or locking means (6, 6a-c) and / or between the at least one carrier (3, 3a, 3b, 3c, 28) and at least one further carrier (13) is arranged. Device according to one of the preceding claims, characterized in that at least one gripper (5, 5a-n) as a linearly movable gripper (5, 5a-n) with at least one attachment point (18) and / or as a rotatably movable gripper (5, 5a -n) with an attachment point (18) and at least one further attachment point (19) is formed. Device according to one of the preceding claims, characterized in that the grippers (5, 5a-n) are designed as a vacuum-operated suction gripper and / or as a magnetic gripper. Device according to one of the preceding claims, characterized in that the grippers (5, 5a-n) are designed as Scara gripper. Device according to one of the preceding claims, characterized in that the at least one carrier (3, 3a, 3b, 3c, 28) designed as a guide rail guide means (4, 4a) and / or that the at least one further carrier (13) as a guide rail formed guide means (17, 17a). Method for handling and moving components by means of a gripper arrangement (2), comprising grippers (5, 5a-n) movably arranged on carriers (3, 3a, 3b, 3c, 13, 28), characterized by the following method steps: a) Positioning of the grippers Gripper assembly (2) relative to a holding unit (8) for producing a holding position (11) and hold the gripper (5, 5a-n) by means of holding unit (8); b) releasing a brake and / or locking means (6, 6a-c) connected to this gripper (5, 5a-n) at an attachment point (18, 19) and moving the carrier (3, 3a, 3b, 3c, 13) , 28), on which this gripper (5, 5a-n) is arranged, from the holding position (11) to a movement position (12), said gripper (5, 5a-n) being moved during movement of the carrier (3, 3a , 3b, 3c, 13, 28) remains stationary; Method according to Claim 14 , characterized by a method step following step b) c) releasing the holding of the gripper (5, 5a-n). Method according to Claim 14 or 15 , characterized in that the positioning of the gripper assembly (2) relative to the holding unit (8) and / or the movement of the carrier (3, 3a, 3b, 3c, 13, 28) with a robot (15). Method according to one or more of Claims 14 to 16 , characterized in that the holding unit (8) is arranged stationary and that the at least one carrier (3, 3a, 3b, 3c, 13, 28) relative to the holding unit (8) in a longitudinal direction (9) and / or in a Transverse direction (14) is moved. Method according to one or more of Claims 14 to 17 , characterized in that the gripper (5, 5a-n) with dissolved brake and / or locking means (6, 6a-c) is held stationary in such a state held in the holding unit (8) that a distance (22, 22a -f) of adjacent gripper (5, 5an) is increased and / or reduced. Method according to one or more of Claims 14 to 18 , characterized in that the gripper (5, 5a-n) in the state held in the holding unit (8), with closed brake and / or locking means (6, 6a-c) on the gripper and open brake and / or locking means (6, 6a-c) is fixedly arranged on the at least one carrier (3, 3a, 3b, 3c, 13, 28) such that a distance (22b, 22c, 22d) of adjacent carriers (3, 3a, 3b, 3c) is increased and / or reduced.

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