DE102018102717A1 - Kinematics modules for flexible positioning of device components - Google Patents

Abstract

The invention relates to an arrangement of a plurality of kinematics modules (Mn, (n = number)) for supporting and receiving a component (200), in particular a body component, which has at least one tensioning element (S) and at least one positioning element (P, P1, P2, P3). in which a kinematics module (Mn) comprises a plurality of positioners (P10, P20, P30, P50) by means of which a displacement of the kinematics modules (Mn) and thus of a tensioning element (S) belonging to the clamping member (200) in all spatial directions ( It is envisaged that for supporting and receiving the component (200) a high rigidity linear kinematics modules (Mn, Mn ') and / or eccentric kinematics modules (Mn) on one or several basic elements (G) are arranged, which together form a clamping station (100) for the component (200), wherein the selected modules (Mn, Mn ', Mn) are designed such that a repositioning of the modules (Mn, Mn', Mn) opposite the component (200) is possible, in which between the clamping parts of the respective clamping elements (S) of the modules (Mn, Mn ', Mn) on the component (200) a very small clamping point distance (.DELTA.SP) is ensured.

Description

The invention relates to an arrangement of a plurality of kinematics modules for supporting and receiving a component, in particular a body component, which comprise at least one tensioning element and at least one positioning, wherein a kinematic module comprises a plurality of positioners, by means of which a displacement of the kinematics modules and thus a tensioning element belonging to the tensioning member Component in all directions and between them is effected. Within the scope of the description of the arrangement of the kinematics modules, the structure of the kinematics modules according to the invention is explained on the basis of known kinematics modules.

In the body shop, the manufacturing quality and the associated compliance with given tolerances plays a crucial role. For a precise joining of the body parts therefore component-specific devices are built, which are designed exclusively for the assembly of an assembly.

These different devices differ in particular with regard to the number and position of positioning and clamping points, which are responsible for a precisely defined recording of the items to be joined. Positioning fixtures in the positioning points are unambiguously and precisely defined on account of the component geometry, and the local clamping positions in the clamping points are determined on the basis of the joining points.

Even the smallest changes of clamping positions in the clamping points already lead to significant quality differences in the assembly process and are therefore set model-specific for all components upon completion of the design work and are built with rigid steel brackets on a base plate. As a result, each vehicle model currently requires an individual system with a number of devices that are precisely matched to the vehicle types of this vehicle model over the entire production period.

A change of the device between similar types of vehicles or subsequent vehicle generations is thus excluded with few exceptions. With the introduction of a new vehicle model, completely new clamping devices are thus designed and constructed. As an exception, for example, tensioning devices in which individual clamping elements are pivoted in or out, for example, to fix a short door for a four-door or a long door for a two-door on the same device.

One approach is to realize the production of very similar vehicle types in a production by change concepts or change systems. This means that can be responded to by a manual or mostly robot-assisted automated replacement of complete devices to the different requirements of different components within a manufacturing plant.

However, such change concepts are suitable both for cycle time, space-specific and logistical reasons only for two to a maximum of three different vehicle types of a vehicle model. In addition, these change concepts and the change systems based thereon are dependent on large matches between the various assemblies to be manufactured. At present, there are no technical system solutions with which more than three vehicle types of the large number of different vehicle models, which may also be manufacturer-independent, can be manufactured without the constant and complex replacement of devices.

Various known solutions offer starting points.

The publication DE 42 90 927 C2 discloses a system for flexibly positioning components with a plurality of programmable holders having individual work areas.

From the publication DE 102 42 811 A1 For example, a method and a measuring system for quality assurance of a production process can be taken in which measuring stations are integrated.

The publication DE 10 2007 002 320 discloses a method and apparatus for correcting the shape of a sheet metal part and / or an assembly to determine correct force values for calibration stations also based on neural networks.

The publication DE 10 2011 116 808 A1 describes a semi or fully automatic clamping system with adjusting means.

Also known is the publication DE 10 2012 013 661 A1 , which describes an adjustment device for positioning support. The Stellmaßermittlung takes place by means of neural networks.

In addition, the document reports DE 10 2013 016 450 A1 a method for determining a setpoint for joining a module as well as an arrangement for determining a setpoint and / or for joining a module.

The publication DE 10 2011 117 665 A1 discloses a joining device for the body construction with a clamping element with an actuator, a control and communication unit and an operating and control unit.

Another method and a device for joining a module is from the document DE 10 2014 001 140 A1 out.

The publication WO 99/30868 A1 teaches a clamping device for one or more workpieces, in particular body parts. The tensioning device consists of one or more tensioners which can be positioned on a clamping table and which are designed to be multi-part and adjustable in at least one axis. The clamping parts have a positioning device and a fixing device, wherein the positioning device has a height adjustment and / or an angular adjustment and / or a lateral adjustment. For a stepless adjustability over a wide adjustment range, the positioning device comprises a coarse adjustment and a fine adjustment. The fixing device can be designed as a clamping device and at the same time include the lateral adjustment.

Finally, the document describes DE 20 2015 102 943 U1 a support device for components, in particular body parts, with a frame, a support means and a positioning means for the support means. It is provided that the positioning device has a rotary positioner with one or more rotational positioning axes. In addition, it is provided that the positioning device has an eccentric rotary positioner with two or more parallel, preferably upright rotational positioning axes with a mutual offset. The positioning device further comprises a linear positioner with one or more positioning axes. The linear positioner also has a stroke positioner. Finally, it is provided that the linear positioner has a single or multi-axis base positioner.

The invention has for its object to develop a generic device, which is even more variable to a variety of different components of different types of vehicles with constant manufacturing quality adjustable.

The starting point of the invention is an arrangement of a plurality of kinematics modules for supporting and receiving a component, in particular a body component, which comprise at least one tensioning element and at least one positioning element, wherein a kinematics module comprises a plurality of positioners, by means of which a displacement of the kinematics modules and thus a tensioning member belonging to the clamping element the component in all directions and between them is effected.

According to the invention, a high rigidity linear kinematics module and / or eccentric kinematics modules are arranged on one or more basic elements for supporting and receiving the component, which together form a clamping station for the component 200 form, wherein the selected modules are designed such that a repositioning of the modules relative to the component is possible, in which between the clamping parts of the respective clamping elements of the modules on the component a very small clamping point distance is ensured.

In a preferred embodiment of the invention, it is provided that the linear kinematics modules essentially have a small dimension in that spatial direction that lies along a component geometry to be clamped and the linear kinematics modules are arranged on the at least one basic element that the modules along the component geometry the component can be arranged without spacing to each other, so that the minimum clamping point distance between two modules corresponds to the lying in the spatial direction dimension of the adjacent modules.

In a preferred embodiment of the invention is further provided that the eccentric kinematics modules substantially in that spatial direction, which is located along a component geometry to be clamped, a small dimension at a predetermined work area and the eccentric kinematics modules are arranged on the at least one primitive that the Eccentric kinematics modules along the component geometry of the component can be arranged close to each other depending on the work area, so that the minimum clamping point distance between two eccentric kinematics modules of the lying in the spatial direction of the adjacent eccentric kinematics modules corresponds.

It is preferably provided that each linear kinematics module has a linear positioner which moves the linear kinematics module in that spatial direction in which the linear kinematics module has its small dimension, wherein the linear positioner is designed as a guide device with high rigidity, since the Guiding device on the basic element side has at least one rail and module side at least one below the housing of the linear kinematics module movably arranged on the rail carriage, which seen in relation to the base element in the spatial direction has a dimension which is greater than the small dimension of the dimension of the linear kinematics modules.

In addition, the invention provides that two adjacent linear kinematics modules can be arranged without mutual spacing, so that the minimum clamping point distance between two linear kinematics modules corresponds to the lying in the spatial direction dimension of one of the modules, as the elementary side, at least one further rail is arranged, in the same Placed offset to the rail of the first guide device in an offset, so that a further linear positioner of a second guide device with high rigidity of the adjacent linear kinematics module is formed, the module side arranged below the housing of the second linear kinematics slide in the other Rail intervenes, whereby the adjacent linear kinematics modules on the mutually offset rails of the guide devices are movable together without spacing, while the carriage of the guide devices under the adjacent process.

In a preferred embodiment of the invention it is provided that the linear positioner comprises guide devices, each having two guide rails and two carriages.

Furthermore, it is preferably provided that the clamping element provided with the clamping element of the linear kinematics modules and / or eccentric kinematics modules is arranged directly on the at least one positioning element.

In embodiments, the arrangement is characterized in that an eccentric kinematics module has three positioning elements and associated rotary positioners, wherein the positioning elements are arranged relative to each other via each offset in a mutually offset offset eccentric axes of rotation.

The rotary positioners of the eccentric kinematics modules are preferably torque motors or servomotors, in particular with a worm gear.

It is further preferred that the linear kinematics modules and / or the eccentric kinematics modules comprise a Hublinear positioner.

The linear kinematics modules further include another linear positioner that moves a movement of the linear kinematics modules orthogonal to the spatial direction of the linear positioner in the spatial direction, the linear positioner causing a movement in a horizontal plane that is above a horizontal plane lies in which the linear kinematics module is moved by means of the linear positioner.

Finally, it is preferably provided that the linear kinematics modules are additionally equipped with a rotary positioner.

• 1 ein Kinematikmodul in einer ersten Ausführungsform in einer perspektivischen Ansicht;
• 2 das Kinematikmodul in einer Seitenansicht A gemäß 1 zur Verdeutlichung einer besonders geringen Baubreite;
• 3 eine Anordnung von mehreren Kinematikmodulen in mehreren Kinematikmoduleinheiten, die um ein Bauteil gruppiert angeordnet sind, und eine Spannstation;
• 4 ein Kinematikmodul in einer zweiten Ausführungsform;
• 5 ein Kinematikmodul in einer dritten Ausführungsform.

The invention will be explained below with reference to the accompanying drawings. Show it:

• 1 a kinematics module in a first embodiment in a perspective view;
• 2 the kinematics module in a side view A according to 1 to illustrate a particularly small width;
• 3 an arrangement of a plurality of kinematics modules in a plurality of kinematics module units, which are arranged grouped around a component, and a tensioning station;
• 4 a kinematics module in a second embodiment;
• 5 a kinematics module in a third embodiment.

For the purposes of the description, with respect to the kinematic modules M _L n . M _e n (n = number of kinematics modules) a horizontal direction with " x Be designated. With " x "Designated horizontal direction runs in the direction of a width B (see 1 and 2 ) of the kinematics modules M _L n . M _e n ,

With " z "Is relative to the kinematics modules M _L n . M _e n denotes the direction in the horizontal orthogonal to the x-direction. With " z "Designated horizontal direction runs in the direction of a depth T (see 1 ) of the kinematics modules M _L n . M _e n ,

With "y" the direction in the vertical of the kinematics modules becomes M _L n . M _e n orthogonal to the x-direction or z-direction. With " y "Designated vertical direction runs in the direction of a height H (see 1 and 2 ) of the kinematics modules M _L n . M _e n ,

Within all figures, the same reference numerals for the same components are used below, which may not be explained again in each figure again all components already presented by reference numerals.

The 1 to 3 show only so-called linear kinematics modules M _L n in a first embodiment, the structural design is explained below.

1 shows an example of a kinematics module M _L 1 (n = 1) of the first embodiment in a perspective view.

In a conventional embodiment, the kinematics module M _L 1 on a primitive G , in particular a base plate arranged.

The kinematics module M _L 1 includes a clamping element S and a positioning element P ,

The positioning element P comprises a base element PB , which is designed as a base plate.

The tensioning element S is seen in the y direction on a housing of the positioning P arranged and thus supports the clamping element S directly from, thereby advantageously a compact kinematics module M _L 1 is designed with a small size.

The tensioning element S includes in a known manner clamping means, a clamping part and a component resting element. The clamping part can be operated manually or preferably with a controllable drive. The clamping part is movable and clamps and clamps the component lying on the component support 200 (see 3 ) into a so-called stress point SP ,

In addition, a sensor for detecting the component 200 to be available. In the kinematics modules according to the invention M _L 1 All of the embodiments described in this patent application, in contrast to other solutions of the prior art, in particular in comparison to that in the document DE 20 2015 102 943 described supporting device, no swivel arm needed to the clamping element S for clamping the component 200 in the desired clamping point SP to move, as will be explained below.

Alternatively, the clamping member may be formed as a controllable holding magnet, suction head or in any other suitable manner. In a further modification, the clamping part can be omitted, so that the clamping element S has only one component support element and optionally tensioner guide means.

The idea according to the invention consists in the illustrated kinematics module M _L 1 In three-dimensional space form in a special way umpositionierbar, with the associated kinematics by a high variability when approaching the clamping point SP the tensioner distinguishes.

In addition, the kinematics modules M _L n particularly stiff, so that from each of the spatial directions x . y . z external forces up to 4.5 kN from the kinematics modules M _L n can be included.

Advantageously, each of the kinematics modules M _L n can be positioned very freely in a large work area, thus starting the clamping point SP the tensioner particularly comfortable and in terms of the various components 200 is flexible.

The kinematics module M _L 1 according to 1 has a Hublinear positioner P10 on, the tensioning element S for positioning in y-direction on a linear actuator Y (see 1 and 2 ) raises or lowers.

The kinematics module M _L 1 also has a first (upper) horizontal linear axis Z for the z-direction and a second (lower) horizontal linear axis X up for the x direction.

The kinematics module M _L 1 according to 1 also has a linear positioner P20 on, the positioning element P and thus the tensioning element arranged thereon S opposite the base element PB for positioning in the z direction in the exemplary embodiment on a horizontal axis Z (see 1 to the left or right).

The kinematics module M _L 1 according to 1 finally shows another linear positioner P30 on, the positioning element P and thus the tensioning element arranged thereon S for positioning in the x direction in the exemplary embodiment on a horizontal axis X (see 1 forwards or backwards).

According to the invention, it is provided that the positioning element P together with basic element PB on the base plate G is arranged so that several kinematics modules M _L n Seen in the x direction can be arranged one behind the other with a small distance from each other.

It is provided that the housing of the positioning P together with basic element PB and the tensioning element S only a small width B having, for example, a width of only 90 mm is provided.

Due to the small footprint of the base element PB opposite one between the base element PB and base plate G arranged intended guide device F is only a small Abstützflache the base element PB feasible, whereby the positioning element P when exposed to high forces, if necessary by means of the base element PB not stiff enough on the base plate G is arranged.

Therefore, according to the invention on the base plate G two guiding devices F1 . F2 designed as a linear positioner P30 for each kinematics module M _L 1 and M _L 2 serve, wherein the positioning element P and thus the tensioning element arranged thereon S for positioning in x Direction in the embodiment on different horizontal linear axes XF1 and XF2 (see 1 forwards or backwards).

A first guide device F1 includes (compare 1 , Reference number P30 ) at least one carriage and at least one guide rail.

In the exemplary embodiment are preferred for each first guide device F1 two carriages and two guide rails arranged.

The carriages are on the bottom of the base element PB arranged and with the base element PB firmly connected.

The guide rails are on top of the base plate G arranged and with the base plate G firmly connected.

The slides engage in the guide rails and are movable relative to the guide rails, so that the positioning element P and thus the tensioning element arranged thereon S in x-direction on the horizontal axes XF1 (see 1 forward or backward) is movable.

The peculiarity consists in the fact that the one or more carriages to the supporting surface of the base element PB opposite the base plate G over the first guide device F1 to increase, wider (compare 1 ) is / are designed as the kinematics module M _L 1 with the width B , whereby the Abstützflache between base element PB and the base plate G increase significantly.

Two consecutive kinematics modules M _L 1 . M _L 2 (see 3 ) are then, because of the width of the carriage, but no longer as desired close to each other mobile, whereby the clamping point distance does not form as small as possible.

Therefore, according to the invention, a second guide device F2 provided (see 1 ) comprises at least one further slide and at least one further guide rail, wherein in the embodiment analogous to the first guide device F1 two slides and two guide rails are provided, which also run on the base plate in the x-direction, but on the horizontal axes XF2 offset (parallel to the horizontal axes XF1 ) are arranged in the same x / z plane.

Due to the arrangement of two pairs - seen in the z-direction - staggered guide devices F1 and F2 can on the guide devices F1 and F2 arranged kinematics modules M _L n two kinematics modules M _L 1 be driven completely together, so that a minimum clamping point distance ΔSP (see 3 ) between two clamping points SP of, for example, 90 mm according to the width B the kinematics modules M _L 1 . M _L 2 is feasible, since the carriages of the guide devices F1 . F2 are dimensioned so that the offset V is sufficient that the carriages each under the adjacent base element PB of the respective linear kinematics module M _L 1 . M _L 2 can drive.

In addition, the invention provides that at two adjacent kinematics modules M _L 1 . M _L 2 according to 1 a clamping arm laterally cranked and the clamping arm of the next not shown underlying linear kinematics module M _L n are also formed laterally cranked, wherein the Kröpfungsrichtung two adjacent kinematics modules M _L 1 . M _L 2 is opposite, whereby the clamping point distance ΔSP between two kinematics modules M _L 1 . M _L 2 or two clamping points SP the linear kinematics modules M _L 1 . M _L 2 for example, a width of 90 mm by the opposite Kröpfungsrichtung on a few millimeters further reduced.

In addition to the previous information, it is disclosed by way of example that by means of the Hublinear positioner P10 the clamping point and the clamping point SP can be repositioned by 60 mm in the y-direction.

Furthermore, it is also disclosed only that by means of the linear positioner P20 the clamping point of the clamping points SP can be repositioned by 200 mm in the z-direction. The linear positioner P20 comprises as a guide device also at least one carriage, which is arranged above a guide rail. In the exemplary embodiment, two carriages are formed, which are arranged on a guide rail extending in the z-direction and analogous to the guide devices F1 . F2 grip the guide rail firmly on the base element PB of the positioning element P is arranged.

The kinematics module M _L 1 or two or more consecutive kinematics modules M _L 1 . M _L 2 thus have by the illustrated structural design on a high rigidity, which is comparable to previously used rigid steel consoles, wherein the clamping point distance ΔSP as explained very low is adjustable.

According to the invention, the linear positioners P10 . P20 . P30 also designed such that the described possible repositioning of the kinematics module or the kinematics modules M _L n a fine adjustment in all three directions x . y . z in tenths of a millimeter range.

Finally, there are Vorjustierelemente 40 between (compare 1 seen in the y direction) the carriage of the guide devices F1 and F2 and the base plate PB provided that a manual initial or readjustment of the position of the base plate PB opposite the carriages of the guiding devices F1 and F2 , in the 1 and 2 are indicated.

The 2 complements the detailed comments on the 1 , where in the side view A of the linear kinematics module M _L 1 according to 1 in particular the small width B is clarified.

The 3 shows an overall concept that can be realized using the inventive solution.

Shown is a tensioning station 100 for a component 200 , In the embodiment, in particular a door inner panel.

The tensioning station 100 includes several clamping units I . II . III . IV ,

Each clamping unit I . II . II . IV comprises at least one, in particular a plurality of kinematics modules M _L n . M _e n , wherein in the clamping unit I four linear kinematics modules M _L 1 ' . M _L 2 . M _L 3 . M _L 4 and in the clamping unit II eight linear kinematics modules M _L 1 to M _L 8 and in the clamping unit III again four linear kinematics modules M _L 1 . M _L 2 . M _L 3 . M _L 4 and in the clamping unit IV a kinematics module, in particular a stationary or movable eccentric kinematics module M _E 1 , at the bottom of the component 200 is arranged, wherein on the latter (in 3 only the clamping element S visible) will be discussed in more detail. In addition, in the fourth clamping unit IV another five kinematics modules M _L 1 . M _L 2 . M _L 3 . M _L 4 . M _L 5 arranged.

The tensioning station 100 thus includes along the edge of the component 200 Twenty-two clamping points SP , some of which, if necessary, in particular component-dependent, in the low clamping point distance according to the invention ΔSP are arranged.

For a single clamping point SP may be the kinematics module, in particular as a stationary or movable eccentric kinematics module M _E 1 , are used, which will be discussed in more detail.

According to the invention, it can be seen that the component 200 is not supported and clamped by on a guide device opposite support devices, as for example in the document DE 20 2015 102 943 U1 recognizable and described. This has the disadvantage that the clamping points and thus the clamping point distances are far, depending on the component size of the component even very far away from each other, since the component according to the document DE 20 2015 102 943 U1 is always arranged on a guide device between two support devices in the clamped state.

It becomes clear that the clamping units according to the invention I . II . II . IV simply on the base plates as needed G It should also be understood that the multiple base plates can be made into a single base plate for all clamping units I . II . II . IV can be summarized.

The kinematics module M _L 1 ' the first clamping unit I (see 3 ) illustrates yet another feature of the invention, which is that the previously described linear kinematics modules M _L n additionally with a rotary positioner P50 can be formed or extended, so that in addition to the previously explained three-dimensional repositioning results in a further degree of freedom to align the tensioner, wherein the clamping element S in addition to the Y-stroke linear axis is rotatable, as in 3 is indicated. It is understood that such a kinematics module M _L 1 ' in the clamping unit I preferably also not across the width B the housing of the positioning element P extends out so that the kinematics modules M _L n . M _L n ' continue to be driven close together. The kinematics modules M _L n ' be used as linear kinematics modules with rotational positioning of the clamping element S designated. The movements of the kinematics module M _L 1 ' be by combinatorial arrangement of the Hublinear positioner P10 and the rotary positioner P50 causes.

The tension element S and the Hublinear positioner P10 having part of the positioning P according to the kinematics module M _L 1 the 1 are formed according to the invention as modules. The module with the Hublinear positioner P10 can thus by a module with an additional rotary positioner P50 be exchanged, so that finally a tensioning element arranged thereon S by combinatorial arrangement of the Hublinear positioner P10 and the rotary positioner P50 Height adjustable along the Y-axis and rotatable about the Y-axis.

In other words, if necessary, a linear kinematics module M _L n without rotational positioning of the clamping element S in a linear kinematics module M _L n ' with rotational positioning of the clamping element S be rebuilt.

Especially for components 200 (see 3 ), which have a curved geometry, are the linear kinematics modules M _L n ' With additional rotational positioning of the clamping element S can be used advantageously.

The positioners P10 . P20 . P30 . P50 each have at least one adjustment, integrated controllers, in particular spindle drives and passive clamping elements - which are actively opened - and Absolutweggeber on.

In summary, by means of the positioner P10 . P20 . P30 . P50 the linear kinematics modules M _L n . M _L n ' a variable and flexible clamping unit I . II . III . IV can be formed, which has a very high number of clamping points on a small clamping length, thus a high clamping point density.

It has been found in practice that in some applications also eccentric kinematics modules M _e n (see 3 , Clamping unit IV ) that are not linearly relative to the component 200 have to be relocated.

According to the invention as a second and third embodiment, two eccentric kinematics modules M _e n presented, with an eccentric kinematics module M _E 1 in 4 and a second eccentric kinematics module M _E 2 in 5 is shown.

Eccentric kinematic modules M _e n in a similar use are in principle from the document DE 20 2015 102 943 U1 known.

The eccentric kinematics modules M _E 1 . M _E 2 (see 4 and 5 ) in turn comprise a clamping element S and positioning elements P1 . P2 . P3 ,

The lowest positioning element P3 is preferably rotatably on a base member (not shown), which is formed as a base plate, or rotatably arranged directly on a base member, in particular a base plate (not shown).

The tensioning element S is seen on the topmost positioning element in the y-direction P1 arranged, and thus supports the clamping element S directly from, which advantageously compact eccentric kinematics modules M _E 1 . M _E 2 are formed with a small size, since the preferably uniformly selected diameter d the positioning elements P1 . P2 . P3 be chosen low.

The eccentric kinematics modules are also preferred M _E 1 . M _E 2 Hublinear positioner P10 on, the tensioning element S for positioning in y-direction on a stroke axis Y1 (see 4 and 5 ) raises or lowers.

According to the invention, the eccentric kinematics modules comprise M _E 1 . M _E 2 at least three axes of rotation Y1 . Y2 . Y3 passing through the three positioning elements P1 . P2 . P3 are formed, wherein it is preferably provided that the clamping element S opposite the positioning element P1 also on the axis of rotation Y1 as explained in the y direction is height adjustable.

In this respect, the axis represents Y1 also in combinatorial design a Hublinear- / rotation axis Y1 represents.

According to the invention, the three axes of rotation Y1 . Y2 . Y3 or the positioning elements P1 . P2 . P3 eccentrically to each other or to each other with a predetermined eccentric offset V arranged.

By this arrangement according to the invention is a work area on a circular area with a diameter only exemplified here D (see 4 and 5 ) realized in both embodiments, for example 260 mm.

By constructive adaptation (enlargement or reduction of the circular area) over the diameters d the positioning elements P1 . P2 . P3 and / or the specific arrangement of the offset V of the eccentricity of each positioning element relative to the other positioning elements, the rigidity and / or the working range of the eccentric kinematics modules M _e n be adjusted accordingly. In other words, the rigidity of the eccentric kinematics modules mitbestimmende bearing surface of preferably three or more positioning elements with each other by the choice of the diameter d and the offset V are influenced accordingly.

Advantageously, in one embodiment of the eccentric kinematics module M _E 1 . M _E 2 at least three axes of rotation Y1 . Y2 . Y3 every point on the entire circular area of the circular-cylindrical positioning elements P1 . P2 . P3 adjustable, so that regardless of the angular position of the positioning element P1 every point on the entire circular area and thus every clamping point SP by means of the positioning elements P2 . P3 via the eccentric axes of rotation Y2 . Y3 is approachable.

On the other hand, in the case of two axes of rotation, not every point on the entire circular area of the preferably circular-cylindrical positioning elements can be adjusted, since only a setting of the clamping point on a circular path is possible when setting a specific angular position by means of a first positioning element with the aid of a second positioning element.

In combination with lifting / rotary axis Y1 the working area becomes vertical y extended accordingly.

Analogous to the linear kinematics modules M _L n . M _L n ' is also with the eccentric kinematics modules M _e n provided that their construction is designed so that an identical rigidity as in current rigid steel brackets is achieved. By adapting the construction, compare 4 and 5 , as explained above, the size can be adjusted, whereby the rigidity is adaptable.

The individual positioning elements P1 . P2 . P3 are on the eccentric rotary axes Y1 . Y2 . Y3 in each case one adjusting drive, passive clamping elements - which are actively opened - and absolute encoders assigned. The adjusting drives here form the preferred in the positioning P1 . P2 . P3 integrated rotary positioner P50 (not shown) off.

For example, in the eccentric kinematics modules M _E 1 . M _E 2 on the drive side as a rotary positioner P50 Torquemotoren or servomotors preferably used with an additional worm gear.

In the design of eccentric kinematics modules M _E 1 . M _E 2 sliding contacts are provided so that all signals can be routed internally through the axes via signal lines and the associated supply lines.

In summary, by means of the positioner P10 . P50 the positioning elements P1 . P2 . P3 and P10 the eccentric kinematics modules M _e n also at least one variable and flexible clamping unit I . II . III . IV can be formed, which has a very high number of clamping points on a small clamping length, thus a high clamping point density.

The linear kinematics modules M _L n . M _L n ' and the eccentric kinematics modules M _e n can in a clamping unit I . II . III . IV be used individually or in combination.

It is envisaged that an eccentric kinematics module M _e n also on the basic element G in addition to at least one (one-sided, two-sided) adjacent linear kinematics module M _L n . M _L n ' or in addition to at least one (one-sided, two-sided) further eccentric kinematics module M _e n are arranged, with the modules M _L n . M _L n ' . M _e n especially in the spatial direction x which is located along a component geometry to be clamped, are arranged adjacent.

The eccentric kinematics modules M _e n can be stationary on the base element G or itself via its own guide device (not shown) analogous to the basic element G the guide device F1 . F2 by means of a positioner P30 be arranged movably from the base element side rail and module side slide.

LIST OF REFERENCE NUMBERS

100

tension station

200

component

I, II, III, IV

clamping unit

M _L n, M _e n

kinematics modules

M _L n

Linear kinematics module

M _L 1

first linear kinematics module

M _L 2

second linear kinematics module

M _L n '

Linear kinematics module with rotary positioner P50

M _e n

Eccentric kinematics module

d

Diameter, dimension of a positioning element of an eccentric kinematics module

D

Diameter of a working area of an eccentric kinematics module

G

basic element

P

positioning

P1

positioning

P2

positioning

P3

positioning

PB

base element

S

clamping element

SP

clamping point

ΔSP

Clamping point distance

n

Number (n = 1, 2, 3 ...)

B

Width, dimension of a linear kinematics module

T

Depth, dimension of a linear kinematics module

H

Height, dimension of a linear kinematics module

y

vertical direction

Y

Linear actuator or lifting / rotary axis

Y1

Linear actuator or lifting / rotary axis

P10

Hublinear positioner

z

horizontal direction

Z

Horizontal linear axis

P20

Linear positioner

x

horizontal direction

X

Horizontal linear axis

XF1

Horizontal linear axis of the guide device F1

XF2

Horizontal linear axis of the guide device F2

P30

Linear positioner

F

guiding device

F1

first guide device

F2

second guide device

40

Vorjustierelement

P50

Rotary positioner

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

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• DE 102013016450 A1 [0014]
• DE 102011117665 A1 [0015]
• DE 102014001140 A1 [0016]
• WO 9930868 A1 [0017]
• DE 202015102943 U1 [0018, 0080, 0090]
• DE 202015102943 [0045]

Claims (12)

Arrangement of a plurality of kinematics modules (Mn; (n = number)) for supporting and receiving a component (200), in particular a body component, which have at least one tensioning element (S) and at least one positioning element (P, P1, P2, P3), wherein a Kinematics module (Mn) comprises a plurality of positioners (P10, P20, P30, P50), by means of which a displacement of the kinematics modules (Mn) and thus of the clamping element (S) associated tension member relative to the component (200) in all spatial directions (x, y, z) and between be effected, characterized in that for supporting and receiving the component (200) high rigidity linear kinematics modules (M _L n, M _L n ') and / or eccentric kinematics modules (M _E n) on a or more basic elements (G) are arranged, which together form a clamping station (100) for the component (200), wherein the selected modules (M _L n, M _L n ', M _E n) are formed such that a repositioning of the Modules (M _L n, M _L n ', M _E n) against above the component (200) is possible, in which between the clamping parts of the respective clamping elements (S) of the modules (M _L n, M _L n ', M _E n) on the component (200) a very small clamping point distance (ΔSP) is ensured , Arrangement according to Claim 1 , characterized in that the linear kinematics modules (M _L n, M _L n ') substantially in that spatial direction (x), which lies along a component geometry to be clamped, a small dimension (B) and the linear kinematics modules (M _L n, M _L n ') are arranged on the at least one base element (G) such that the modules (M _L n, M _L n') along the component geometry of the component (200) can be arranged without spacing to each other, so that the minimum clamping point distance (ΔSP) between two modules (M _L n, M _L n ') corresponds to the dimension (B) of the adjacent modules (M _L n, M _L n', M _E n) lying in the spatial direction (x). Arrangement according to Claim 1 , characterized in that the eccentric kinematics modules (M _E n) substantially in that spatial direction (x) which lies along a component geometry to be clamped, a small dimension (d) for a predeterminable work area (D), and the eccentric kinematics modules ( M _E n) are arranged on the at least one base element (G) that the eccentric kinematics modules (M _E n) along the component geometry of the component (200) depending on the work area (D) are arranged close to each other, so that the minimum Clamping point distance (ΔSP) between two eccentric kinematics modules (M _E n) of lying in the spatial direction (x) work area (D) of the adjacent eccentric kinematics modules (M _E n) corresponds. Arrangement according to Claim 2 , characterized in that each linear kinematics module (M _L n, M _L n ') has a linear positioner (P30), which moves the linear kinematics module (M _L n, M _L n') in that spatial direction (x) , in the linear kinematics module (M _L n, M _L n ') has its small dimension (B), wherein the linear positioner (P30) is designed as a guide device (F1) with high rigidity, since the guide device (F1) elementary side at least one rail and on the module side at least one below the housing of the linear kinematics module (M _L n, M _L n ') movably arranged on the rail carriage, which compared to the base element (G) in the spatial direction (x) has a dimension, which is larger than the small dimension (B) of the dimension of the linear kinematics modules (M _L n, M _L n '). Arrangement according to Claim 2 , characterized in that two adjacent linear kinematics modules (M _L n, M _L n ') are spaced from each other anordbar, so that the minimum clamping point distance (ΔSP) between two linear kinematics modules (M _L n, M _L n') of in The dimension (B) of one of the modules (M _L n, M _L n ') corresponding to the spatial direction (x) corresponds to at least one further rail being arranged in the same plane (x / z plane) to the rail of the first guide device (F1) offset in an offset (V) is arranged, so that a further linear positioner (P30) of a second guide device (F2) with high rigidity of the adjacent linear kinematics module (M _L n, M _L n ') is formed is, whose module side below the housing of the second linear kinematics module (M _L , M _L n ') arranged carriage engages in the further rail, whereby the adjacent linear kinematics modules (M _L n, M _L n') offset to each other Rails of guiding devices (F1, F2 ) can be moved to one another without gaps, while the carriages of the guide devices (F1, F2) move under the adjacent linear kinematics module (M _L n, M _L n '). Arrangement according to Claim 5 , characterized in that the linear positioner (P30) is formed by guide devices (F1, F2) each comprising two guide rails and two slides. Arrangement according to Claim 2 or 3 , characterized in that provided with the clamping part clamping element (S) of the linear kinematics modules (M _L n, M _L n ') and / or eccentric kinematics modules (M _E n) directly on the at least one positioning element (P, P1, P2, P3) is arranged. Arrangement according to Claim 1 or 3 , characterized in that an eccentric kinematics module (M _E n) comprises three positioning elements (P1, P2, P3) and associated rotary positioners (P50), wherein the positioning elements (P1, P2, P3) are arranged so as to be movable relative to one another via respective eccentric rotation axes (Y1, Y2, Y3) which are offset from each other in an offset (V). Arrangement according to Claim 8 , characterized in that the rotary positioner (P50) of the eccentric kinematics modules (M _E n) as a torque motor or as a servomotor, in particular with a worm gear, are formed. Arrangement according to Claim 1 , characterized in that the linear kinematics modules (M _L n, M _L n ') and / or the eccentric kinematics modules (M _E n) comprise a Hublinear positioner (P10). Arrangement according to Claim 2 , characterized in that the linear kinematics modules (M _L n, M _L n ') comprise a further linear positioner (P20) which controls a movement of the linear kinematics modules (M _L n, M _L n') orthogonal to the spatial direction (x) of the linear positioner (P30) in the spatial direction (z) moves, wherein the linear positioner (P20) causes a movement in a horizontal plane (x / z plane), above a horizontal plane (x / z Plane) in which the linear kinematics module (M _L n, M _L n ') is moved by means of the linear positioner (P30). Arrangement according to Claim 1 , characterized in that the linear kinematics modules (M _L n ') are additionally equipped with a rotary positioner (P50).

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