DE102021106634B3 - Holding and positioning device for workpieces - Google Patents

Abstract

The invention relates to a holding and positioning device for picking up, holding, positioning and delivering a workpiece for processing, the device having a motor-driven chassis, by means of which the holding and positioning device can be moved between a workpiece pick-up position and a workpiece delivery position. and positioning device has a workpiece support on the upper side, on which a workpiece can be accommodated and moved horizontally in the direction of transport, the holding and positioning device having at least two lifting elements on which at least one lowered position is lowered below the workpiece support and one above the workpiece support highest position height-adjustable workpiece gripper is arranged, by means of which the workpiece can be gripped on the workpiece support at least two opposite edges and from the workpiece support can be lifted off and placed on the workpiece support. The workpiece grippers are rotatably mounted about a horizontal axis aligned in the transport direction, so that a workpiece held thereon can be tilted and/or rotated in a position above the workpiece support about a horizontal axis running in the transport direction.

Description

The present invention relates to a holding and positioning device for receiving, holding, positioning and delivering a work, according to the preamble of claim 1, a production line in which said holding and positioning device is provided, according to the preamble of claim 11 and further a related one Method according to the preamble of claim 15.

Various devices and methods for producing and finishing flat elements are known from the prior art.

So reveals the DE 43 28 386 A1 an automatically working processing device with which, for example, bolts, threaded bolts, nuts, etc. are automatically welded on or welded sheet metal connections are produced at a welding station of a production line or assembly line. The production line can be partially or fully automated. From the document it is known to monitor the processing of a workpiece in the production line or production line for errors and to separate the workpiece from the production line or production line as early as possible if an error occurs in order to correct it in a rework line.

Furthermore, the DE 20 2007 008 227 U1 a production line for the production of individual parts for furniture, such as shelves, which are assembled from prefabricated, individual, board-shaped parts. The production line comprises a plurality of processing stations connected in series, which are each connected to one another via transport devices, with the first processing station being a cutting saw. The following processing station is an automatic drilling machine, with which all the holes in the ends of the board-shaped parts are drilled in one operation. Here it is proposed that a separate processing line should be provided for different board types, with a distribution device being arranged in front of the lines, with which the lines are fed accordingly.

However, it has turned out to be a problem that has not yet been satisfactorily solved, in the case of defects or errors, a flat workpiece for special manual treatment or, without defects or errors, a flat workpiece for normal, planned processing, which, if desired should also be able to take place automatically, deriving from a main production line and making this workpiece available to an employee quickly and under ergonomically optimal conditions for individual processing or automatic processing.

The object of the invention is therefore to provide an improved device and a method, whereby the high-quality, fast and ergonomic processing of flat workpieces is made possible.

According to the invention, this object is achieved by a holding and positioning device having the features of the characterizing part of claim 1, as well as by a production line having the features of the characterizing part of claim 11. In addition, a method according to the characterizing part of claim 15 solves this object. Advantageous refinements and developments of the devices and the method according to the invention result from the respective dependent claims.

The holding and positioning device according to the invention serves to receive, hold, position for processing and release a flat workpiece moved along a workpiece processing line. A workpiece is to be understood as any construction and production element whose peripheral outer edges are significantly longer than its height, such as shelves, doors, floor, ceiling or side parts of cupboards or drawers, frame parts of windows or frames or comparable construction and production elements.

The core of the holding and positioning device according to the invention is a motor-driven chassis, by means of which it can be moved between a workpiece pick-up position and a workpiece delivery position along a transport route. The workpiece pick-up position is defined in particular by an outlet or delivery side of a conveying means that is being fed in and can also be understood as a close-up area. Furthermore, the holding and positioning device has a workpiece support on the upper side, on which a workpiece can be picked up with a flat side and placed and carried at least temporarily, and lying or held thereon can be moved horizontally relative to the holding and positioning device in a transport direction .

The holding and positioning device also has at least two lifting elements on which at least one workpiece gripper that can be moved vertically between a lowest position below the workpiece support and a highest position above the workpiece support is arranged. If necessary, special However, large lifting heights can be achieved, for example, by means of lifting elements with tandem extensions or/or by means of lifting elements arranged in a pit that would have to be dug for this purpose. By means of the workpiece grippers, the workpiece on the workpiece support can be gripped at at least two opposite edges, held and lifted off the workpiece support or placed back on it. The workpiece grippers are also mounted so that they can rotate about a horizontal axis of rotation. The workpiece held thereon and raised to a position above the workpiece support can be rotated about a horizontal axis by means of the workpiece grippers by rotating at least one workpiece gripper.

Advantageously, the workpiece support comprises two parallel and endlessly drivable conveyor belts or is essentially formed from them, the parallel conveyor belts being arranged to the side of the workpiece grippers. In the present case, a conveyor belt also means an endlessly circulating conveyor or link chain. In an alternative embodiment, the workpiece support comprises on one side an endlessly drivable conveyor belt, which extends in the transport direction, analogously to the aforementioned embodiment, with a parallel grinding support being provided on the opposite side, such as a strip or a narrow plate with low frictional resistance or a passive roller or ball bar over which the workpiece can slide or roll.

In an improved variant, the parallel conveyor belts or the pair of a conveyor belt and a parallel sanding pad are mounted in such a way that their distance from one another can be changed by being linearly movable transversely to the workpiece transport direction. At least one motor drive is advantageously provided for this purpose.

In a further advantageous embodiment, the lifting elements each have a motorized linear drive and/or are connected to it, so that a vertical lifting and lowering movement can take place as a result. In particular, this allows a synchronous vertical movement of the two lifting elements to be carried out.

In an alternative embodiment, it is provided that the at least two lifting elements have and/or are connected to a common motor drive, by means of which the synchronous vertical movement is brought about. This common drive can consist, for example, of a motor and a common drive shaft, with the vertical movement being caused by a gear unit in each case in the base of the lifting elements. This solution has the advantage that it is very economical and the synchronicity of the movement is always guaranteed.

In order to quickly adapt the device to different workpieces, one embodiment provides for at least one of the two lifting elements to be arranged on or on a motorized linear drive and/or for these to include such a drive, so that a movement in or against the transport direction for setting the distance to the central chassis can be initiated and thus a movement towards or away from a workpiece edge.

Ideally, both lifting elements can be moved in the transport direction in such a way that workpieces of different lengths can also be positioned symmetrically above the holding and positioning device in the transport direction after they have been transferred to the workpiece support and during lifting.

A further improvement consists in the fact that the at least two lifting elements carrying the workpiece grippers have at least one running and guiding roller at their lower end and/or are connected to a supporting structure comprising at least one running and guiding roller, which can be placed and mounted on a track or rail /or is feasible. The at least one motorized linear drive of the lifting elements for movement in or against the direction of transport is fastened and/or mounted with one end on or on the chassis and with the other end fastened and/or mounted on or on the lifting element or the supporting structure of the lifting element .

In an alternative embodiment, each of the at least two lifting elements and/or its support structure is arranged on or on a carriage, which is connected to the chassis via a linear guide. The term carriage is to be understood here as meaning any rolling or grinding element via which a vertical force can be derived into the ground and which enables the described horizontal movement of the lifting elements.

In a further embodiment it is provided that at least one of the workpiece grippers has a double gripper or two workpiece grippers on one of the two lifting elements. In the rest position, ie the lower position, these are spaced apart horizontally and transversely to the transport direction and they are also attached to a common axis of rotation or drive shaft. The double grippers are particularly advantageous if the workpiece has a construction-related unevenness, opening or weakening in the central middle area, so that a Gripping the side of this is advantageous. Furthermore, the gripping surface is increased with this double gripper without occupying oversized overlapping surfaces for gripping surfaces on the workpiece, which is advantageous for very thin-walled or fragile workpieces.

The invention also includes a production line for the treatment, in particular manual treatment, of the aforementioned workpieces. This comprises at least one feed conveyor for horizontal transport of workpieces in a workpiece conveying direction, a holding and positioning device and at least one discharge conveyor for transporting away the workpiece. The essence of this is that between the feed conveyor and the discharge conveyor in the workpiece conveying direction, there is an intermediate section on which a rail or a rail track is arranged, on which the holding and positioning device, which is designed according to one of the previous embodiment variants, between a workpiece transfer position and a workpiece delivery position can be moved.

Ideally, the production line is a side branch or sub-section of a main production line onto which workpieces are diverted as needed via an upstream diverter.

In an alternative embodiment, the discharge conveyor is a mobile vehicle, such as a forklift, an industrial truck, and/or an autonomous industrial truck. This enables the workpiece to be returned quickly and flexibly to the main production line or to further treatment stations.

The intermediate section is advantageously dimensioned in such a way that at least at times a path for people to walk between the holding and positioning device on the one hand and the infeed conveyor and/or the discharge conveyor on the other hand can be established. This creates good accessibility to a workpiece and thus also a good ergonomic work situation for an employee.

In the method according to the invention for manufacturing the workpieces defined above, at least one feeding step, one treatment step and one removal step are carried out. In the treatment step, the workpieces are held in a stable position at least temporarily, using a production line and a holding and positioning device according to one of the above exemplary embodiments.

• Übernahme von dem Zuförderer auf die Werkstückaufnahme der Halte- und Positioniervorrichtung, wobei der Halte- und Positioniervorrichtung unmittelbar angrenzend am Zuförderer steht und das Werkstück mittels mindestens eines Förderbands der Werkstückauflage auf die Halte- und Positioniervorrichtung transportiert wird, wobei es relativ zur Halte- und Positioniervorrichtung bewegt wird. Nachfolgend werden die Werkstückgreifer auf die Höhe des Werkstückes beziehungsweise der zu fassenden Werkstückkanten angehoben, wobei dieses Anheben der Werkstückgreifer zeitgleich oder nacheinander erfolgen kann. Nachfolgend wird das Werkstück an den betroffenen Werkstückkante eingeklemmt und bis zu einer Bearbeitungshöhe angehoben und anschließend bearbeitet.

In a variant of the method, the workpiece goes through at least the following steps:

• Transfer from the feed conveyor to the workpiece holder of the holding and positioning device, with the holding and positioning device being directly adjacent to the feed conveyor and the workpiece being transported onto the holding and positioning device by means of at least one conveyor belt of the workpiece support, with it being relative to the holding and positioning device is moved. The workpiece grippers are then raised to the level of the workpiece or the workpiece edges to be gripped, with this lifting of the workpiece grippers being able to take place simultaneously or one after the other. The workpiece is then clamped at the affected workpiece edge and raised to a processing height and then processed.

The method is intended in particular for manual processing, in which personnel must have access to the workpiece from at least two, preferably three or even four sides. After processing, the workpiece is placed flat on the workpiece support, the workpiece grippers are released and then lowered to the lower position so that the workpiece can then run over them again during further transport (ejection).

The holding and positioning device is then moved in the direction of transport right up to the discharge conveyor and the workpiece is transferred from the workpiece support of the holding and positioning device to the discharge conveyor. For this purpose, the workpiece is guided to the discharge conveyor in a manner analogous to the takeover by means of at least one conveyor belt of the workpiece support relative to the holding and positioning device.

In the special case that the removal device has a lifting or gripping tool, the transfer is changed analogously in that the lifting or gripping tool completes at least part of the transfer.

In a variant of the method, the workpiece is rotated or tilted at the processing height about a horizontal axis by a specific angular degree. These rotating or tilting positions are always maintained for a period of time, depending on the machining sub-step required, until the workpiece has been completely machined.

In an alternative embodiment of the method, the rear workpiece gripper is already raised during transport of the workpiece by means of the at least one conveyor belt of the workpiece support or is raised in parallel, so that the workpiece edge to be gripped is directly in inserted into the open, rear workpiece gripper. Since the holding and positioning device often has to be removed a little from the feed conveyor before the front workpiece gripper can be lifted and closed, the advantage is that when the holding and positioning device approaches the workpiece in the transport direction, it is already secured on one side and in its position is maintained.

In another variant of the method, the workpiece grippers are released and/or lowered in parallel, that is to say at the same time as the holding and positioning device is being moved in the transport direction, right up to the removal conveyor. This results in an increase in performance.

A particular improvement of the method consists in detecting the ACTUAL position of a workpiece on the conveyor using at least one position sensor, such as a camera, and comparing this ACTUAL position with a TARGET position. Then, depending on this ACTUAL/NOTICAL comparison, the conveyor belts and/or the sanding bar are moved on the feed conveyor transversely to the transport direction in order to receive the workpiece in the TARGET position required for the workpiece support of the holding and positioning device. The TARGET position on the holding and positioning device means the desired position of partial areas of the workpiece on the workpiece holder, especially the conveyor belts of the workpiece holder. This ensures optimal support on the workpiece support and subsequent rapid, symmetrical gripping by the workpiece grippers.

In the following description of the figures, the same parts in the various figures are always provided with the same reference numbers, so that not all reference numbers have to be explained again for each figure.

• 1 die Halte- und Positioniervorrichtung in einer perspektivischen Darstellung,
• 2 die Halte- und Positioniervorrichtung gemäß der 1 in einer Fertigungslinie und einer üblichen Aufstellungssituation zwischen einem Zuförderer und einem Abförderer in der Übernahmeposition,
• 3 die Halte- und Positioniervorrichtung gemäß 2 in der Fertigungslinie in einer Bearbeitungsposition, in welcher ein Werkstück in der angehobenen Arbeitsposition geschwenkt gehalten wird,
• 4 die Halte- und Positioniervorrichtung und die Fertigungslinie gemäß den 2 und 3, wobei sich die Halte- und Positioniervorrichtung in der Abgabeposition befindet,
• 5 eine zur 2 analoge Anordnung , wobei die Halte- und Positioniervorrichtung für ein Werkstück mit einer großen Breite eingerichtet ist,
• 6 eine Halte- und Positioniervorrichtung gemäß 5, bei welcher das breite Werkstück in der Arbeitsposition geschwenkt gehalten wird,
• 7 eine zur 4 analoge Anordnung, in der das breite Werkstück auf den Abförderer übergeben wurde,
• 8a,b die Halte- und Positioniervorrichtung in zwei Seitenansichten mit einem schmalen Werkstück,
• 9a,b die Halte- und Positioniervorrichtung in zwei Seitenansichten mit einem breiten Werkstück und
• 10 eine Ausführungsform eines Werkstückgreifers als Doppelgreifer in Draufsicht.

The device according to the invention and the method are described below by way of example with the aid of schematic illustrations. These are very simplified and, in particular, necessary and customary elements are not shown for reasons of clarity, such as control/regulation unit, power and data lines, sensors (distance and displacement sensors, temperature, etc.), other pneumatic elements, etc., although these are mandatory or are to be provided if necessary. Show it

• 1 the holding and positioning device in a perspective view,
• 2 the holding and positioning device according to 1 in a production line and a usual installation situation between an infeed conveyor and an outfeed conveyor in the transfer position,
• 3 the holding and positioning device according to 2 in the production line in a processing position in which a workpiece is held pivoted in the raised working position,
• 4 the holding and positioning device and the production line according to 2 and 3 , wherein the holding and positioning device is in the dispensing position,
• 5 one to 2 Analogous arrangement, wherein the holding and positioning device is set up for a workpiece with a large width,
• 6 according to a holding and positioning device 5 , in which the wide workpiece is kept tilted in the working position,
• 7 one to 4 analogous arrangement, in which the wide workpiece was transferred to the discharge conveyor,
• 8a,b the holding and positioning device in two side views with a narrow workpiece,
• 9a,b the holding and positioning device in two side views with a wide workpiece and
• 10 an embodiment of a workpiece gripper as a double gripper in plan view.

1 shows the holding and positioning device 2 in a perspective view, which comprises a receiving side 25, a delivery side 26, a long first side 27 and a long second side 28. These page numbers correspond to the assignment of the holding and positioning device 2 in normal operation, relative to adjacent conveying elements. The holding and positioning device 2 is not completely symmetrical in terms of its components, but can be used rotated by 180° with the same range of functions or placed on a rail 5, subject to the corresponding rail design.

In the lower area, the holding and positioning device 2 includes a chassis 6, which includes internal and not shown rollers and drives. The holding and positioning device 2 is described below as being driven or drivable by an electric motor, which is very advantageous overall for quick and effective use. However, this is not absolutely necessary, individual movements can can also be implemented using suitable manual adjustment units and/or manual drives.

A workpiece support 7 is arranged on the upper side or the upper side is formed by the workpiece support 7 . This workpiece support 7 comprises two parallel, endlessly circulating conveyor belts 7.1, 7.2, whose respective drives 17 with associated gears are arranged hanging on the first side 27 and second side 28 adjacent to the discharge side 26.

A workpiece gripper 8.1, 8.2 is arranged centrally on the transfer side 25 and the delivery side 26, which are carried and stored by the upper end of an associated lifting element 9.1, 9.2. The workpiece grippers 8.1, 8.2 can both be rotated about a horizontal axis D by means of a drive 16 in each case. In an alternative embodiment, not shown, only one workpiece gripper 8.1 can be driven directly in rotation with a drive 16 and the other workpiece gripper 8.2 is passively rotatably mounted and is driven during operation indirectly via a clamped and held workpiece 10. In the present case, the workpiece grippers 8.1, 8.2 have a switchable, pneumatically driven locking mechanism; however, this can also be realized by other alternative clamping drives or mechanisms. In a very simple solution, which is particularly suitable for light workpieces 10, at least one of the workpiece grippers 8.1 is self-clamping, for example by elastic deformation of a support element of the workpiece gripper.

The lifting elements 9 each have a roller 12 on the first side 27 on their underside, which is guided on the rail 5 and can roll and via which the load can be introduced directly into the floor 23 . The lifting elements 9 are also connected to the chassis via a drive 18 each, with the guide element, such as a toothed rack or a threaded rod, being mounted or fastened on the lifting element 9 and the associated driving motor usually being arranged on the chassis 6 . Thus, the unit consisting of lifting element 9, bearing roller 12, and workpiece gripper 8 with its rotary drive 16 can be steplessly spaced or approached from the transfer side 25 or delivery side 26. This setting is required in particular for the adjustment to the length of the workpiece 10.

An adjustment to the width of the workpiece 10 is not usually required on the workpiece gripper 8 . The adjustment to a suitable workpiece width 10 is useful with a view to the workpiece support 7, for example, to bring the conveyor belts 7.1, 7.2 into systems in a TARGET position directly below a load-bearing frame element of the workpiece 10. For this purpose, the conveyor belts 7.1, 7.2 are mounted on linear drives 19, via which they can be moved parallel or essentially parallel to one another.

In the present examples, two parallel conveyor belts 7.1, 7.2 are always shown and described, which have the same distance from a theoretical center line of the holding and positioning device 2. Depending on the workpiece 10 to be processed, however, it can also make sense for the support width of the parallel conveyor belts forming the workpiece support 7 to be of different widths and/or it can make sense in individual cases to provide one or more additional conveyor belts or sanding beams or ball or roller tracks, to optimally support the lying workpiece 10.

In the 2 the holding and positioning device 2 is off 1 shown in an intended production line 1, or a section of a production line 1. The workpieces 10 are conveyed in the transport direction C lying flat from left to right. The holding and positioning device 2 is on the intermediate section 14 before the takeover in the workpiece receiving position A directly adjacent to the outlet of the feed conveyor 3, which is designed as a simple conveyor belt with a rubber belt or a rubber chain. The workpiece grippers 8.1, 8.2 are guided into a lower position H1 (rest position) by means of the lifting elements 9, so that the workpiece 10 can be guided over them. For this purpose, the feed conveyor 3 pushes the workpiece 10 beyond its rear end, so that it comes to rest on the workpiece support 7 or is pulled onto the holding and positioning unit 2 when the conveyor belts 7.1 and 7.2 are in operation. Ideally, the conveyor belts 7.1, 7.2 have an identical or slightly higher conveying speed than the infeed conveyor 3 in order to prevent the workpiece 10 from twisting.

All drives and sensors are also connected to a central regulation and control unit 20, via which the conveying speeds can also be synchronized.

In the 2 Furthermore, an optional position sensor 29 is arranged above the infeed conveyor 3, which compares the ACTUAL position of the workpiece 10 on the infeed conveyor 3 with a SET position, or whose data are compared in the central control and regulation unit 20 to that effect. Based on this, the conveyor belts 7.1, 7.2 can be moved together in parallel so that the workpiece 10 can be received on the workpiece support 7 at the desired areas, here with the frame elements. If the workpiece 10 has been taken outside of a center line, the För the tapes 7.1. 7.2 back to the desired central position before it is gripped and clamped by the workpiece grippers 8.1, 8.2. The position sensor 29 can be any suitable sensor or a camera.

3 shows the holding and positioning device 2 2 , which was moved to a middle position on the intermediate section 14, so that running paths 15 arise between the holding and positioning device 2 on the one hand and the feed conveyor 3 and the discharge conveyor 4 on the other hand, represented by hatched areas. The workpiece 10 can be grasped and processed optimally from all sides by these paths 15 .

Furthermore, in 3 to see that the workpiece 10 is clamped in the workpiece grippers 8.1, 8.2, raised by means of the lifting elements 9 into the elevated working position H3 and rotated by approximately 45°. In order to avoid permanent excitation of the rotary drive 16, a brake or lock 22 is provided which fixes the workpiece 10 in this rotated working position H3 during the machining thereof.

In the 4 the final work step is shown, in which the workpiece 10 is already lying flat on the discharge conveyor 4 and is transported further in the workpiece conveying direction C. The directly preceding step is not shown, in which the workpiece 10, following the processing step, was again turned horizontally by means of the drives 16 and placed on the workpiece support 7 before it was transferred from the holding and positioning device 2 to the discharge conveyor, analogously to the transfer step 4 was pushed over.

In the 5 is a to 2 shown analogous arrangement, with the holding and positioning device 2 on the intermediate section 14 is still in the middle position, the processing location. The workpiece 10 lying on the feed conveyor 10 is very wide, so that the conveyor belts 7.1, 7.2 of the workpiece support 7 have moved to a position far apart from one another in order to come to rest safely in the area of the frame or edge elements of the workpiece 10. Furthermore, the linear drives 9 are extended far in the longitudinal or conveying direction C in order to wait outside the front and rear workpiece edges 11.1, 11.2 when the workpiece 10 is accepted by the holding and positioning device 2.

The workpiece 10 is, as in 6 shown held in the elevated machining position, analogous to that in 3 shown work step. The height of the working position H3 is identical to the highest, ie uppermost position H2 of the lifting elements 9, the vertical V being drawn in for clarification.

In 7 is, analogous to 4 , the workpiece 10 has already been transferred to the discharge conveyor 4, the wide opening of the lifting elements 9.1, 9.2 from each other and the parallel conveyor belts 7.1, 7.2 being clearly visible.

In the 8a the holding and positioning device 2 can be seen from the delivery side 26, which is guided on the rail 5 fastened to the floor 23. The workpiece 10 lies flat on the workpiece support 7 and the hanging drives 17 of the conveyor belts 7.1, 7.2 can be seen on the left and right. Furthermore, the holding and positioning device 2 has an operating element 24 , such as a monitor, which is arranged on the first side 27 . Since the workpiece grippers 8.1, 8.2 are in a lower position, this is in particular the state of the holding and positioning device 2 after the workpiece 10 has been accepted from the feed conveyor or shortly before the workpiece 10 is discharged onto the discharge conveyor 4 after processing.

In the side view of 8b is the state according to the 3 shown with the workpiece 10 lifted and held rotated. Furthermore, in 8th to see that the holding and positioning device 2 on the right side has a simple, rubberized roller 32, which stands or rolls on the hall floor 23. The rail 5 is only embodied on one side (on the left in the illustration), with the roller 12 of the lifting element 9 guided thereon being visible. The driving wheels of the holding and positioning device 2 lying behind them cannot be seen here.

the 9a and 9b show the to the 8a , 8b analogous situations, with a large workpiece 10 resting on the workpiece support 7 ( 9a) or in an upper position H2 ( 9b) , which is identical to the working position H3, is held rotated. This state of the holding and positioning device 2 corresponds to that in 6 shown process step. At the in 9 In the variant shown, no drive is provided for the rotation of the workpiece 10 about a horizontal axis, but the rotation is initiated manually and the respective angular position is determined via the brake 22, which can be opened or closed by the operator via a foot switch (not shown).

Finally shows the 10 a variant of the holding and positioning device 2, shown here schematically only in dashed lines, by means of which an asymmetrical workpiece 10 is gripped and held, which has a triangular projection on the left workpiece edge 11.1, which a central gripper may not be able to grip without damaging it . Thus, on the left side of the holding and positioning device 2 is a double provided gripper, which has two spaced-apart gripper 8.3, 8.4, which detect and clamp the workpiece 10 each side of the triangular projection. The two grippers 8.3, 8.4 are connected to the one common shaft 30 of the drive 16 via a suitable carrier element 31. A central workpiece gripper 8.2 is provided on the right-hand side of the holding and positioning device 2.

It is immediately obvious to the person skilled in the art that the above embodiments can be used in addition or in combination.

Reference List

1

production line

2

Holding and positioning device

3

feeder

4

conveyor

5

rails

6

chassis

7

Workpiece support (rubber bands)

7.1

conveyor belt

7.2

conveyor belt

8th

workpiece gripper

8.1

workpiece gripper (first)

8.2

workpiece gripper (second)

9

lifting element

9.1

lifting element (first)

9.2

lifting element (second)

10

workpiece

11

workpiece edge

11.1

workpiece edge (rear)

11.2

workpiece edge (front)

12

(running) roller

13

Sleds

14

intermediate route

15

walking route

16

Drive (rotary from 8)

17

Drive (of 7)

18

Drive (linear from 9)

19

Drive (transverse/linear from 7)

20

Regulating and control unit

21

Drives (of 3, 4)

22

Brake/lock (from drive 16, angular position)

23

floor

24

control panel/monitor

25

takeover page

26

delivery side

27

pages (first)

28

side (second)

29

position sensor

30

Wave

31

carrier element

32

roller

A

workpiece pick-up position

B

Workpiece delivery position

C

transport direction

D

axis of rotation (horizontal)

E

pan direction

H1

position (lower)

H2

position (upper)

H3

working position

V

vertical

Claims (19)

Holding and positioning device (2) for picking up, holding, positioning for processing and delivering a flat workpiece (10) moved along a workpiece processing line (1), characterized in that the device has a motor-driven chassis (6) by means of which the holding and positioning device (2) can be moved between a workpiece receiving position (A) and a workpiece delivery position (B) along a transport direction (C), that the holding and positioning device (2) has a workpiece support (7) on the upper side, on which a workpiece (10) can be accommodated and moved horizontally in the transport direction (C) on the holding and positioning device (2) relative thereto, that the holding and positioning device (2) has at least two lifting elements (9.1, 9.2), on which at least one, between a lowest position (H1) lowered below the workpiece support and one above the workpiece top height-adjustable workpiece gripper (8.1, 8.2), by means of which the workpiece (10) can be held on the workpiece support (7) on at least two opposite edges (11.1, 11.2) can be gripped and lifted off the workpiece support (7) and placed on the workpiece support (7), and that the workpiece grippers (8.1, 8.2) are mounted such that they can rotate about a horizontal axis of rotation (D), whereby the workpiece (10) held thereon is in one position can be rotated about a horizontal axis (D) above the workpiece support. device after claim 1 , characterized in that the workpiece support (7) comprises or is formed from two parallel and endlessly drivable conveyor belts (7.1, 7.2) which are arranged to the side of the workpiece grippers (8.1, 8.2). device after claim 1 , characterized in that the workpiece support (7) comprises or is formed from the following: - an endlessly drivable conveyor belt (7.1), which extends in the transport direction and is arranged on one side of the workpiece grippers (8.1, 8.2), and - one on the parallel grinding or ball or roller support provided on the other side. Device according to one of claims 2 or 3 , characterized in that the two parallel conveyor belts (7.1, 7.2) or one conveyor belt (7.1) and the parallel grinding or ball or roller support are mounted in such a way that their distance from one another can be moved linearly transversely to the workpiece transport direction (C). , In particular, motor-driven are movable. Device according to one of the preceding claims, characterized in that the at least two lifting elements (9.1, 9.2) each have a motorized linear drive and/or are connected to it, by means of which the vertical movement can take place, in particular the synchronous vertical movement can take place. Device according to any of the foregoing Claims 1 until 4 , characterized in that the at least two lifting elements (9.1, 9.2) have a common motorized linear drive and/or are connected to it, by means of which the synchronous vertical movement can take place. Device according to one of the preceding claims, characterized in that at least one of the two lifting elements (9.1, 9.2) has and/or is connected to a motorized linear drive (18) by means of which the movement in or against the transport direction (C) is caused can, in particular the movement relative to a workpiece edge (11.1, 11.2) can be initiated. Device according to one of the preceding claims, characterized in that the at least two lifting elements (9.1, 9.2) carrying the workpiece grippers (8.1, 8.2) have at least one running and guiding roller (12) at their lower end and/or with at least one barrel - and guide roller (12) are connected, which can be placed and guided on a track or rail (5), and the motorized linear drive (18) for movement in or against the transport direction (C) with one end open or closed is fastened and/or mounted on the chassis (6) and is fastened and/or mounted with the other end on or on the lifting element (9.1, 9.2) or the supporting structure of the lifting element (9.1, 9.2). Device according to one of the preceding claims, characterized in that each of the at least two lifting elements (9.1, 9.2) and/or its supporting structure is arranged on or on a carriage (13) which is connected to the chassis (6) via a linear guide. Device according to one of the preceding claims, characterized in that at least one workpiece gripper (8) on one of the two lifting elements (8.1) has two workpiece grippers (8.3, 8.4) which are spaced apart horizontally and transversely to the transport direction (C) in the lower position and which are fixed to a common axis of rotation or drive shaft. Production line (1) for treating flat workpieces, in particular flat furniture elements, comprising at least one feed conveyor (3) for transporting a workpiece (10) lying flat in a workpiece conveying direction (C), a holding and positioning device (2) and at least one discharge conveyor ( 4) for removal, in particular horizontal removal, of the workpiece (10), with at least one rail (5) being arranged between the feed conveyor (3) and the removal conveyor (4) in the workpiece conveying direction (C) on an intermediate section (14), on which the holding and positioning device (2) can be moved between a workpiece pick-up position (A) and a workpiece delivery position (B), characterized in that the holding and positioning device (2) according to one of the above Claims 1 until 10 is trained. production line claim 11 , characterized in that the discharge conveyor (4) is a road-independent vehicle, in particular a forklift, an industrial truck and/or an autonomous industrial truck. production line claim 11 or 12 , characterized in that at least temporarily at least one walkway (15) for people between the holding and positioning device (2) on the one hand and the feed conveyor (3) and/or the discharge conveyor (4) on the other hand. Production line according to one of Claims 11 until 13 , characterized in that the ACTUAL position of a workpiece (10) on the feed conveyor (2) is detected by at least one position sensor (29) and this ACTUAL position is compared with a TARGET position, depending on the TARGET/ACTUAL - Compare the conveyor belts (7.1, 7.2) and/or the grinding or ball or roller support are moved transversely to the transport direction (C) in order to place the workpiece (10) in the workpiece support (7) of the holding and positioning device (2 ) to receive the required TARGET position, and after the workpiece (10) has been completely placed on the workpiece support (7), this is shifted to the TARGET or middle position on the holding and positioning device (2) transversely to the transport direction (C). Method for manufacturing workpieces (10), in particular flat furniture workpieces and panels, the workpieces (10) going through at least one conveying step, one treatment step and one removal step, the workpieces (10) being held in a stable position at least temporarily in the treatment step, characterized in that a production line (1) and a holding and positioning device (2) according to one of the preceding claims. procedure after claim 15 , characterized in that the workpiece (10) goes through at least the following steps: - transfer from the feed conveyor (3) to the workpiece holder (7) of the holding and positioning device (2), wherein - the holding and positioning device (2) directly stands adjacent to the feed conveyor (3) and - the workpiece (10) is transported by means of at least one conveyor belt (7.1) of the workpiece support (7) onto the holding and positioning device (2) relative to this up to an end position, - raising the workpiece grippers ( 8.1, 8.2) up to the height of the workpiece (10) or the edge of the workpiece (11.1, 11.2) to be gripped, whereby the workpiece grippers (8.1, 8.2) can be raised simultaneously or one after the other, - clamping the workpiece (10) or the workpiece edges (11.1, 11.2) in the two workpiece grippers (8.1, 8.2), - raising the workpiece (10) to a processing height, - processing the workpiece (10), especially manual processing of the workpiece (10), - depositing the workpiece s (10) on the workpiece support (7) and releasing the workpiece grippers (8.1, 8.2), - lowering the workpiece grippers (8.1, 8.2) to the lower position (H1), - moving the holding and positioning device (2) in the transport direction ( C) right up to the discharge conveyor (4) and - transfer of the workpiece (10) from the holding and positioning device (2) to the discharge conveyor (4), the workpiece (10) being transported to the workpiece support by means of at least one conveyor belt (7.1). (7) is passed from the holding and positioning device (2) relative to this onto the discharge conveyor (4). Procedure according to one of Claims 15 or 16 , characterized in that the workpiece is rotated or tilted at the processing height (H3) about a horizontal axis (D) by a specific angular degree and remains in the rotated or tilted position for a while. procedure after Claim 16 or 17 , characterized in that the rear workpiece gripper (8.2) during the transport of the workpiece (10) by means of the at least one conveyor belt (7.1) of the workpiece support (7) onto the holding and positioning device (2) parallel to or beforehand up to the height of the workpiece (10) or the workpiece edge (11.1, 11.2) to be grasped is raised. Procedure according to one of Claims 16 until 18 , characterized in that the workpiece grippers (8.1. 8.2) are released and/or lowered in parallel during the process of the holding and positioning device (2) in the transport direction (C) right up to the discharge conveyor (4).

Images