DE10244964A1 - Method for automatically inserting cylindrical items into a holder for processing in galvanizing baths has a robot arm with position and load sensors and a wire frame holder - Google Patents

Abstract

The holder (6) has a frame (8,20) with a multiple of vertical wire rods (5) between which the items are pressed and which are distorted sideways to grip the items which are presented by a robot having a position sensor to locate the rods and which lowers the item until a load sensor detects a suitable grip.

Description

The present invention relates to a device and a method for the automatic loading of Clamping magazines with workpieces.

The technical area of application of Invention is the automatic assembly of tolerant Terminal magazines with workpieces under Use of a handling device. Such clamp magazines will be for example in electroplating and / or electrochemical coating of workpieces used. They are then used as loading or galvanizing racks designated.

In galvanic plants workpieces to be electroplated or electrochemically coated Load racks attached. The workpieces are preferably small and medium-sized parts, i.e. for parts that have an expansion between 1 mm and 1 m.

• 1. Festbinden der zu beschichtenden Werkstücke auf den Beschickungsgestellen mittels Draht oder geeigneten selbstsperrenden Schellen aus Kunststoff.
• 2. Aufstecken der zu beschichtenden Werkstücke auf abstehende Haltestifte oder Einklemmen der zu beschichtenden Werkstücke zwischen abstehenden Haltestiften. Bei dieser Ausführungsvariante der Beschickungsgestelle handelt es sich somit um Klemm-Magazine.
• 3. Einsatz schwenkbarer Haken, die an dem Beschikkungsgestell befestigt sind, um einen sicheren Transport der Werkstücke zu gewährleisten.

By arranging the workpieces on the loading racks, the number of workpieces to be coated is increased and the bathroom utilization is significantly improved. There are three different procedures for attaching the workpieces to the loading racks:

• 1. Tying the workpieces to be coated on the loading racks using wire or suitable self-locking plastic clips.
• 2. Place the workpieces to be coated on protruding holding pins or clamp the workpieces to be coated between protruding holding pins. This variant of the loading racks is therefore a clamping magazine.
• 3. Use of swiveling hooks that are attached to the loading rack to ensure safe transport of the workpieces.

The clamping magazines previously used in the electroplating systems 6 (please refer 1 ) usually consist of a rectangular frame 20 with transverse webs evenly spaced between them 8th with evenly spaced holes or protruding pins 5 are provided, such a clamping magazine 6 is in 1 shown. Become holding pins 5 used to clamp the workpieces, they are mostly on both sides of the crossbars 8th arranged to clamp as large a number of workpieces as possible.

Go through the well-known clamping magazines in a vertical suspension the individual bathrooms and stations of the electroplating system and thus allow one along the crossbars running row suspension of the workpieces to be coated.

• a) Haltestifte können verbogen sein
• b) Haltestifte können fehlen
• c) Die Fertigungstoleranzen der Magazine liegen im Zehntelmillimeter oder Millimeterbereich
• d) Die Klemm-Magazine sind häufig im Hinblick auf elektrische Leitfähigkeit zwischen Werkstück und Magazin, auf optimalen elektrischen Feldverlauf im Galvanisierungsbecken, auf optimales Abfließen der Galvanisierungsflüssigkeit und auf optimalen Halt der Werkstücke konstruiert und dadurch meist sehr komplex.

The main characteristics of the clamping magazines are:

• a) Retaining pins can be bent
• b) Holding pins may be missing
• c) The manufacturing tolerances of the magazines are in the tenths of a millimeter or millimeter range
• d) The clamping magazines are often designed with regard to the electrical conductivity between the workpiece and the magazine, the optimal electrical field in the electroplating basin, the optimal drainage of the electroplating fluid and the optimal hold of the workpieces, and are therefore usually very complex.

Here, as in the following, the following definitions should be used:
Compensating movement A compensating movement is to be understood as a movement of the gripper relative to the handling device or a movement of the clamping magazine relative to the holder of the clamping magazine. It is made possible by the use of mechanical compliance with the aid of springs or elastomers and serves to compensate for position errors in the handling device.
Loading rack A loading rack is a rack on which workpieces to be electroplated or electrochemically coated are attached. It is used to load a galvanizing or coating system with workpieces.
Electroplating rack, see loading rack xaltstifte Holding pins are pins that are used to clamp workpieces.
Clamping magazine A clamping magazine is a magazine that can be equipped with several workpieces, the workpieces being clamped with the aid of holding pins. A clamp magazine is a variant of a loading rack.
Clamping station A clamping station consists of at least two holding pins and is used to clamp workpieces.
Clamping position A clamping position is understood to mean a position with respect to the frame coordinate system at which a workpiece to be clamped can be clamped between two holding pins.
Clamping support Clamping support means all measures to facilitate the clamping of workpieces. Such measures are, for example, a secondary movement when clamping, a spreading of the retaining pins or the use of a lubricant when clamping.
Reference stop A reference stop is a mechanical stop that is used for referencing when it comes into contact with one of the two retaining pins.
Secondary movement Under a secondary movement is understood to be a movement that is superimposed on another movement without this being significantly influenced. When clamping, a rotation or vibration of the gripper or the frame is carried out as a secondary movement in order to reduce the friction forces occurring during the clamping.

There have been in the past already endeavors, the equipping automation of clamping magazines, however the attachment takes place of the workpieces on the clamping magazine due to the manufacturing inaccuracies and often very much so complex structure of the clamping magazines is usually still manual.

On the one hand, a method for the automatic loading of clamping magazines was developed, which is characterized in that the objects to be treated are attached to the clamping magazine by means of wire ( DE 198 22 78.6 A1 ) and on the other hand, a method for the automatic loading of clamping magazines was developed, which is characterized in that clamping magazines and workpieces made of plastic are used, which are connected to each other with the help of a sprue or connecting web of the workpiece ( DE 198 51 130 A1 ).

A solution to the automatic equip of clamping magazines, in which workpieces with the help of holding pins to be pinched does not currently exist.

Object of the present invention is therefore to provide an apparatus and a method with which clamping magazines are automatically loaded with workpieces can.

This task is carried out by the device Claim 1, 3, 5 or 7 and the method according to claim 29, 30 or 32 solved. Advantageous further training the device according to the invention and of the method according to the invention are in the respective dependent claims given.

In the present invention on. Handling device, where the gripper for the workpiece is attached, for example a robot arm to an absolute Position shifted. Because the pins of the clamping magazines, the clamping position define, often are strongly bent or otherwise shifted, a mechanical Flexibility in the gripper, the robot arm or between the gripper and Robot arm or on the side of the clamping magazines or their holder or provided between these, so that the robot arm to a defined Position can be moved and still the workpiece in the the clamping position, which is positioned slightly incorrectly, can be pushed. A reference stop can advantageously also be used for this purpose become. Alternatively, it is also possible namely the robot arm to an absolutely defined predetermined Position to move over a torque sensor, however, to reach the clamping position detect and thus control the robot arm additionally. The workpiece can then be positioned exactly in the clamping position.

Alternatively, the robot arm can can also be moved to a position that is detected by a sensor. All you need is a sensor to determine the clamping position, for example, to detect the position of the retaining pins. It goes without saying also a combination of all these possibilities from the present one Invention includes because by the combination an optimal adjustment of the workpiece in the clamping position possible is.

• 1. Geringere Betreiberkosten, da das manuelle Bestücken durch einen hohen Personaleinsatz mit einem hohen Krankenstand gekennzeichnet ist.
• 2. Geringere Bestückungszeiten.
• 3. Konstante und bessere Qualität der Bestückung.
• 4. Möglichkeit einer Prozesskontrolle.

The advantages over manual loading of clamping magazines are:

• 1. Lower operator costs, since manual assembly is characterized by a high level of personnel and a high sick leave.
• 2. Shorter assembly times.
• 3. Constant and better quality of assembly.
• 4. Possibility of process control.

• 6. Geringe Investitionskosten, da die selben Klemm-Magazine wie beim manuellen Bestücken verwendet werden können.
• 7. Geringer Aufwand beim Umstellen von manuellem auf automatischen Betrieb und umgekehrt, da an den bisher verwendeten Klemm-Magazinen festgehalten wird.
• 8. Außer dem Klemm-Magazin werden keine zusätzlichen Befestigungshilfen wie z.B. Draht oder Schellen sowie keine weiteren Bearbeitungsschritte wie z.B. das Abtrennen der Werkstücke vom Klemm-Magazin benötigt.

The advantages over the known methods for the automatic loading of clamping magazines are:

• 6. Low investment costs, since the same clamping magazines can be used as for manual loading.
• 7. Little effort when switching from manual to automatic operation and vice versa, since the previously used clamping magazines are retained.
• 8. Apart from the clamping magazine, no additional fastening aids such as wire or clamps and no further processing steps such as cutting off the workpieces from the clamping magazine are required.

The following are some examples devices according to the invention and methods are described.

Show it

1 a clip magazine;

2 a schematic diagram of the procedure according to the invention;

3 the conditions for a successful;

4 , States and state transitions when clamping without an additional reference stop or with a vertical reference stop;

5 a representation of the individual states when clamping without an additional reference stop or with a vertical reference stop;

6 States and state transitions when clamping based on a horizontal reference zanschlages;

7 , a representation of the individual states when clamping based on a horizontal reference stop;

8th , States and state transitions when clamping based on a sensor for detection of the holding pins;

9 Representation of the individual states when clamping based on a sensor for the detection of the retaining pins.

10 Different types of referencing.

11 Variants when combining the translatory compensating movements of the gripper and clamping magazine;

12 Variants when combining the rotary compensating movements of the gripper and clamping magazine;

13 Clamping conditions using a Z compensation that reacts at a force F _Z that is greater than the required clamping force F _Clamps ;
above: clamping process successful,
below: collision.
Condition I:
The gripper is located above the retaining pins.
Condition II:
Workpiece touches one or both holding pins.
Condition III:
above: workpiece was clamped correctly, below: when lowering the handling device, the Z compensation due to the collision of the workpiece and the holding pin.

14 Clamping conditions using a Z compensation that reacts at a force F _Z that is less than the required clamping force F _Clamps ;
above: clamping process completed,
below: The gripper tries to clamp next to the holding pins.
Condition I:
The gripper is located above the retaining pins.
Condition II:
Handling device has lowered somewhat
Above: workpiece touches the holding pins
Condition III:
Handling device has lowered further, top: Z compensation moves in due to the frictional forces between the workpiece and the holding pins.
Condition IV:
Handling device has lowered to the end position,
above: workpiece was clamped correctly,
below: Z compensation is not retracted, the workpiece was not clamped correctly;

15 Significance of the output signals of series-connected Z-equalizers with different actuation forces;

16 Variants when combining the secondary movement when clamping the gripper and K1emm magazine;

17 Ways to spread the retaining pins;

18 Variants when combining the collision protection types of gripper and clamping magazine;

19 Possible types of gripping of a slim workpiece;

20 Possible types of rotation of a workpiece;

21 Complete solution for the automatic loading of clamping magazines with workpieces, characterized in that the positions of the clamping positions are stored as absolute positions and do without a reference stop or with a vertical reference stop, whereby the clamping magazine is firmly clamped and a compensating movement takes place between the gripper and the handling device ;

22 Complete solution for the automatic loading of clamping magazines with workpieces, characterized in that the positions of the clamping positions are stored as absolute positions and do not need a reference stop or a vertical reference stop, whereby the clamping magazine is firmly clamped, a compensating movement takes place between the gripper and the handling device and a vibrator is used for clamping support;

23 Complete solution for the automatic loading of clamping magazines with workpieces, characterized in that the positions of the clamping positions are stored as absolute positions and can be used without a reference stop or with a vertical reference stop, whereby the clamping magazine is firmly clamped, a compensating movement takes place between the gripper and the handling device and the workpiece is rotated for clamping support;

24 Complete solution for the automatic loading of clamping magazines with workpieces, characterized in that the positions of the clamping positions are stored as absolute positions and can do without a reference stop or with a vertical reference stop, whereby the clamping magazine is firmly clamped, a compensating movement between gripper and handling device takes place, and collision protection is used

25 Complete solution for the automatic loading of clamping magazines with workpieces, characterized in that the positions of the clamping positions are stored as absolute positions and do without a reference stop or with a vertical reference stop, the clamping magazine being clamped movably in the XY direction and a compensating movement between Gripper and handling device takes place

26 Complete solution for the automatic loading of clamping magazines with workpieces characterized in that the positions of the clamping positions are saved as absolute positions and do without a reference stop or with a vertical reference stop, the clamping magazine being clamped movably in the XYZ direction and a compensating movement taking place between the gripper and the handling device;

27 Complete solution for the automatic loading of clamping magazines with workpieces characterized in that the positions of the clamping positions are stored as absolute positions and a horizontal reference stop is used, which approaches the holding pins when moving in the direction of the X-axis, the clamping magazine being fixed is clamped and a compensating movement takes place between the gripper and the handling device;

28 Complete solution for the automatic loading of clamping magazines with workpieces, characterized in that the positions of the clamping positions are stored as absolute positions and a horizontal reference stop is used that approaches the holding pins when the gripper is opened, the clamping magazine being firmly clamped and one Compensating movement between the gripper and handling device takes place;

29 Complete solution for the automatic loading of clamping magazines with workpieces, characterized in that the positions of the clamping locations are determined with the aid of a sensor from the position of the holding pins, the clamping magazine being firmly clamped in and no compensating movement taking place between the gripper and handling device;

30 Complete solution for the automatic loading of clamping magazines with workpieces, characterized in that the positions of the clamping positions are determined with the aid of a sensor from the position of the holding pins, the clamping magazine being firmly clamped and a compensating movement taking place between the gripper and the handling device;

31 an explanation of the symbols used for joints in the figures; and

32 an explanation of the other symbols used in the figures.

Here, as in all figures, the following mean Reference numerals the elements explained below:

1

a Handling equipment;

2

one grippers;

2a

a Jaw;

3

on Workpiece;

4

a Clamping position;

5

one Retaining pin;

6

on Clamping magazine;

7

a Holder of the clamping magazine;

8th

one Crosspiece;

9

on planar joint;

10

a fixed clamping;

11

one Vibrator;

12

one Collision avoidance;

13

one X compensation (= shift in Rich

tung the X axis)

14

one Y compensation (= shift in rich

tung the Y axis),

15

a γ compensation (= Rotation around Z-axis)

16

one Reference stop;

17

one Sensor;

18

a Suspension;

19

one Frame pin;

20

one Frame;

21

one Z compensation (= shift in rich

tung the Z axis);

22

one second gripper;

23

a wedge;

24

one Force-moment sensor;

25

one Connecting rod;

26

an α compensation;

27

a β compensation;

28

an α, β, γ compensation.

With the present invention it is possible to use a handling device 1 a clamping magazine 6 , such as for electroplating and / or for electrochemical coating of workpieces 3 is used with workpieces 3 populate automatically. This is in 2 shown. Like the workpieces 3 in the gripper 2 arrive, is not the subject of the present invention, since the gripping of individual workpieces 3 is already state of the art.

The single workpiece 3 , which is located at the time t = 0 at the position (X _W Y _W Z _W ) (t = 0), is handled by the handling device 1 to the clamping position (X _W Y _W Z _W ) (t = t _K ) = (X _K Y _K Z _K ) at time t = t _K , see 3 , For a detailed description of the determination of the clamping position and the conditions when a clamping can take place successfully, please refer to the later explanations.

The automatic loading of clamping magazines with workpieces according to the present invention is based on a reliable determination of the clamping position z. B. by means of Refe rence stop 16 or sensors 17 , with the horizontal positional deviation between the workpiece 3 and the respective slot in the first case by mechanical resilience 13-15 . 21 . 26-28 between grippers 2 and handling device 1 and / or between the clamping magazine 6 and bracket 7 of the Klemm magazine 6 takes place, while in the second case the clamping position with the help of sensors 17 is determined. A combination of the two methods for determining the clamping position is also possible. Coming in determining the clamp position sensors 17 used, it can also be used to check whether all retaining pins 5 on the clamping magazine 6 available.

The mechanical compliance 13-15 . 21 . 26-28 can, depending on the version, become a translational 13, 14 . 21 and / or rotary 26-28 Lead compensatory movement. Becomes a Z compliance 21 can be used with a sensor 17 the success or failure of the clamping process can also be determined.

Clamping the workpieces 3 can optionally be achieved by reducing the friction caused by a secondary movement when clamping, by spreading the retaining pins 5 and / or simplified by the use of lubricants. The clamping process can be done by collision protection 12 between grippers 2 and handling device 1 and / or between the clamping magazine 6 and rack bracket 7 are additionally secured.

• 1. Es wird ohne zusätzlichen Referenzanschlag oder unter Verwendung eines vertikalen Referenzanschlags 16 und einer mechanischen Nachgiebigkeit 13, 14 zu abgespeicherten absoluten Positionen verfahren, wobei das Werkstück selbst auch als vertikaler Referenzanschlag 16 benutzt werden kann, 4 und 5. Anstelle der mechanischen Nachgiebigkeit 13, 14 kann auch ein Kraft-Momenten-Sensor eingesetzt werden, mit dessen Hilfe die Werkstückposition nachgeregelt wird. Der Vorteil beim Einsatz eines Kraft-Momenten-Sensors ist, dass von den Haltestiften 5 keine Kraft zum Auslenken eines mechanischen Ausgleichs 13, 14 aufgebracht werden muss.
• 2. Es wird unter Verwendung eines horizontalen Referenzanschlags 16 und einer mechanischen Nachgiebigkeit 13, 14 zu abgespeicherten absoluten Positionen verfahren, 6 und 7.
• 3. Es wird entlang den Klemmplätzen verfahren und die Klemmposition wird mit Hilfe von Sensoren 17 erkannt, 8 und 9. Der Einsatz einer mechanischen Nachgiebigkeit 13, 14 ist optional.

In the 4 to 9 three different procedures according to the invention are described:
There are basically three approaches

• 1. It is made without an additional reference stop or using a vertical reference stop 16 and mechanical compliance 13 . 14 move to stored absolute positions, the workpiece itself also serving as a vertical reference stop 16 can be used 4 and 5 , Instead of mechanical compliance 13 . 14 a force-torque sensor can also be used to readjust the workpiece position. The advantage of using a force-torque sensor is that of the retaining pins 5 no force to deflect mechanical compensation 13 . 14 must be applied.
• 2. It is using a horizontal reference stop 16 and mechanical compliance 13 . 14 move to stored absolute positions, 6 and 7 ,
• 3. The clamping positions are moved and the clamping position is determined using sensors 17 recognized 8th and 9 , The use of mechanical compliance 13 . 14 is optional.

The procedure without a reference stop in 4 respectively. 5 is only possible with frames that are manufactured with a very small tolerance, since the position errors add up to the next position with every movement. The workpiece can still be clamped if the distances d ₁ and d ₂ between the axes of rotation of the workpiece and the holding pins meet the following conditions: d ₁ > 0, d ₂ > 0, d ₁ + d ₂ = d _{holding pins,} where d _{holding pins} the distance between the axes of rotation of the retaining pins is, see 3 , The position error of the workpiece 3 compared to the ideal clamping position in the middle of the holding pins 5 must therefore be smaller than 1/2 d _{retaining pins} . The position error of a terminal position compared to its predecessor must therefore be under d _Tol = 1/2 d retaining _{pins / n} where n is the number of terminal positions that are approached one after the other. For d _{retaining pins} = 12 mm and n = 64, the upper limits for the positional deviation of a terminal position compared to its predecessor are d _Tol = 0.09375 mm.

When proceeding with a vertical or horizontal reference stop in 4 to 7 can by the reference stop 16 and mechanical compliance 13 . 14 of the gripper or the clamping magazine 6 larger position deviations are compensated. Since the position errors are also added up in this method, the tolerance range to be compensated is slightly exceeded even with this procedure.

In the third method, the gripper references itself 2 at every nth (n> 0) terminal location with the help of sensors 17 New, 8th and 9 , Referencing is not carried out on every holding pin 5 , either the first or the second procedure can be used in between, which leads to a reduction in the process time.

In the 4 to 9 three methods are shown in 10 compared in terms of process reliability and tolerance compensation.

• – Translatorische Ausgleichsbewegungen
• – Rotatorische Ausgleichsbewegungen

Compensatory movements are basically divided into two types:

• - Translatory compensatory movements
• - Rotational compensatory movements

When loading clamping magazines, it is possible that both the gripper 2 as well as the Klemm magazine 6 carries out a compensatory movement. A large number of possible combinations result from the combination of the individual compensating movements. In 11 are some of these combinations for translational and in 12 shown for rotary compensatory movements.

Compensatory movements in the XY plane are absolutely necessary when clamping using a reference stop. But even with very precise positioning there are XY compliances 13 . 14 recommended to avoid jamming when clamping.

A compliance 21 in the Z direction is primarily used for process monitoring. With the help of a sensor 17 can be checked whether the Z-Off equal 21 was required for clamping or not. Becomes a Z compensation 21 used, which reacts at a force F _Z , which is greater than the required clamping force F _clamping , a collision can be detected when clamping, 13 , The Z compensation 21 thus also serves as collision protection 12 , Becomes a Z compensation 21 used, which reacts at a force F _Z , which is smaller than the required clamping force F _clamps , it can be recognized whether a clamp was attempted next to the retaining pins or whether retaining pins are missing, see 14 , Becomes a Z compensation 21 that reacts at a force F _Z > F _clamp and a Z compensation 21 , which reacts at a force F _Z <F _terminals , connected in series, the clamping can be fully monitored and at the same time a collision protection 12 will be realized, 15 ,

Rotational compliance 15 . 26-28 , also serve as protection against jamming. Especially with badly bent pens 5 are rotational compliances 15 . 26-28 , sensible.

13 shows different states when clamping using a Z compensation, which reacts at a force F _Z , which is greater than the required clamping force F _clamps .

There is a successful clamping process in the upper row and a collision between the workpiece in the lower row 3 and holding pin 5 shown. The individual states indicate:
Condition I:
The gripper is located above the retaining pins
Condition II:
Workpiece touches one or both holding pins
Condition III:
above: workpiece was clamped correctly,
below: when lowering the handling device, the Z compensation is retracted due to the collision of the workpiece and the holding pin.

14 shows different states when clamping using a Z compensation, which reacts at a force F _Z , which is smaller than the required clamping force F _clamps ;
above: clamping process completed,
below: The gripper tries to clamp next to the holding pins
Condition I:
The gripper is located above the retaining pins.
Condition II:
Handling device has lowered somewhat
Above: workpiece touches the holding pins.
Condition III:
Handling device has lowered further,
Above: Z compensation moves in due to the frictional forces between the workpiece and the holding pins.
Condition IV:
Handling device has lowered to the end position,
above: workpiece was clamped correctly,
below: Z compensation is not retracted, the workpiece was not clamped correctly.

• – Ausführen einer Sekundärbewegung beim Klemmen
• – Aufspreizen der Stifte 5
• – Reduzierung der Reibung durch Einsatz von Schmiermittel

Different clamping supports can be used to reduce the forces during clamping:

• - Execution of a secondary movement when clamping
• - Spread the pins 5
• - Reduction of friction through the use of lubricants

Secondary movements during clamping are divided into translatory and rotary secondary movements during clamping. While translatory movements are always vibrating movements, rotatory movements can be both rotating and rocking movements. Because both the gripper 2 as well as the Klemm magazine 6 can perform a secondary movement when clamping, the nine combinations result in 16 , A rotational movement of the frame 7 is usually a rocking movement.

As in 17 shown, the spreading of the holding pins 5 also done in several ways.

• – Mechanischer bzw. pneumatischer Kollisionsschutz 12 (Funktionsweise eines üblichen Kollisionsschutzes erhältlich für Industrieroboter)
• – Kollisionsschutz 12 durch Überwachung der Prozesskräfte mittels Kraft-Momenten-Sensor.

Since there is the possibility with a galvanizing rack that individual retaining pins 5 are so bent that jamming is impossible is the use of collision protection 12 required. The collision protection 12 can be between the gripper 2 and handling device 1 as well as between the clamping magazine 6 and bracket 7 of the Klemm magazine 6 are located. As collision protection 12 In principle, two versions are conceivable:

• - Mechanical or pneumatic collision protection 12 (Functioning of a normal collision protection available for industrial robots)
• - collision protection 12 by monitoring the process forces using a force-torque sensor.

A compliance 21 can also act as mechanical collision protection 12 serve.

The different variants when combining the collision protection types from grippers 2 and Klemm magazine 6 shows 18 ,

In 19 the different types of gripping are shown, like a slim workpiece 3 can be used advantageously ge. A basic distinction is made as to whether the workpiece 3 is gripped on the end face or on the outer surface. If gripping on the lateral surface, several gripping points are possible. However, at least two are sensible, since then moments no longer have to be recorded in the gripping points.

In addition to the quality of the handle, the type of gripping primarily influences the possibility of a rotary secondary movement when gripping the gripper 2 can be executed. In 20 are the different rotary secondary movements when gripping the gripper 2 listed depending on the type of gripping.

Below are some overall solutions gene presented for the automatic loading of a clamping magazine 6 with one workpiece 3 are conceivable.

It comes with total solutions, where the positions of the terminal positions are stored as absolute positions and without a reference stop or with a vertical reference stop get along, started.

In an example in 21 is the Klemm magazine 6 firmly clamped. A mechanical balance 9 is between handling device 1 and gripper 2 realized. The planar joint 9 serves on the one hand to compensate for position errors in the XY plane and on the other hand it enables a rotary compensating movement to prevent jamming due to bent rods 5 to prevent. The Z compensation 21 is primarily used for collision protection, but also for monitoring the clamping process. Since all additional clamping supports are dispensed with in this overall solution and large clamping forces are to be expected for this reason, the workpiece becomes 3 at two positions on the outer surface of the gripper 2 resorted.

In 22 a second example is shown. It corresponds to the first with the only difference that the clamping by a vibrator 11 on the gripper 2 is supported, which reduces the frictional forces between the workpiece 3 and holding pins 5 has the consequence.

The same applies to the third example in 23 , in which a rotary movement of the gripper 2 through the handling device 1 is initiated to reduce the frictional forces. In addition to the solution shown, it is also conceivable that the rotary movement when clamping by a drive between grippers 2 and handling device 1 or in the gripper 2 to realize yourself. In addition to the solutions shown, it can also be useful instead of the gripper 2 the frame 7 a rotational or vibrating movement to reduce the frictional forces when clamping.

The fourth example in 24 corresponds essentially to the first solution in 21 , The Z compensation 21 was, however, by collision protection 12 , which is usually used for welding with the help of industrial robots, replaced by the use of collision protection 12 the security against collisions is increased. However, it is no longer possible to monitor the clamping process as when using a Z compensation with sensor. The installation of a collision protection 12 between Klemm magazine 6 and bracket 7 of the Klemm magazine 6 can also be useful.

In the fifth and sixth example in 25 respectively. 26 the translatory compensatory movement is partially or completely from the frame 7 . 10 , executed. While in 25 the compensation movement in the XY plane of the clamping magazine 6 and in the Z direction from the gripper 2 is executed in 26 also the compliance 21 in the Z direction between the clamping magazine 6 and the bracket 7 of the Klemm magazine 6 realized. In both cases, the rotary compensation movement is carried out by the gripper 2 executed.

In the following in 27 and 28 The overall solutions shown will be the positioning of the gripper 2 Realized above the terminal points by a mechanical reference stop. Care should be taken to ensure that the rotational compensatory movement through the planar joint 9 is prevented during referencing, otherwise the gripper will twist 2 can come around the Z axis. The rotational compensation movement is only desired during the clamping process.

While referencing in 27 by one on the gripper 2 fixed angle 16 , which is moved in the direction of the X axis against a retaining pin, is done in 28 the gripper 2 only when opening the gripper 2 put in the right position. The arrangement in 28 allows the holding rods to be spread apart 5 as clamping support. However, care must be taken that the workpiece 3 not out of the gripper too soon 2 falls. If this is not possible, the spreading can also be carried out by means of a wedge that is moved vertically downwards or by a second gripper 2 done with special gripper fingers.

In addition to the two in the 27 and 28 total solutions shown are of course also corresponding solutions 22 and 23 possible where the clamping is supported by an additional clamping movement. The use of collision protection 12 as in 24 is just as conceivable as the implementation of translational compliance 13 . 14 between Klemm magazine 6 and bracket 7 of the Klemm magazine 6 as in 25 and 26 ,

In the in the 29 and 30 total solutions presented will be a sensor 17 for referencing the gripper 2 used. This can be, for example, an inductive, tactile or optical sensor 17 act. In 29 there is no mechanical flexibility. This requires a very precise positioning of the workpiece 3 over the clamping position. Are the retaining pins 5 very bent, can give a rotatory compliance 15 around the Z axis between grippers 2 and handling device 1 be an advantage.

A very robust overall solution shows 30 which compensate movements of the gripper despite sensor-based positioning 2 allows. Jamming of the workpiece 3 between the retaining pins 5 is extremely unlikely. Furthermore, both the presence of the retaining pins 5 a terminal position by the referencing sensor 17 as well as the clamping process itself by means of a Z compensation 21 built-in sensor be checked.

In addition to the two overall solutions listed, solutions are also possible that reduce the frictional forces during clamping by using clamping supports. Furthermore, the compensation elements can also be between the clamping magazine 6 and bracket 7 of the Klemm magazine 6 are located. By installing collision protection 12 the risk of component destruction can be further reduced.

31 explains the symbols used for joints in the previous figures.

Joints are used to connect bodies, with at least one degree of freedom (displacement or rotation) between the two bodies. Since the representation of the joints in the room is difficult, the in 31 shown and partly simplified symbols used.

The origin of the coordinate systems next to the symbols is in the center of the corresponding joint. The coordinate systems were only for a clearer presentation shown next to the symbols.

In addition to the in 31 joints were shown in 32 symbols shown for elements used in the previous figures. These are the symbols for a bracket with sensor, a reference stop, a fixed clamping and collision protection.

Claims (37)

Device for the automatic loading of Clamping magazines with work pieces With a gripper for picking up, holding and, in the clamping position, Dispensing at least one workpiece, one Handling device for moving the gripper to a first one predetermined position and then in a second direction in the clamping position of the workpiece, such as at least one mechanical compliance to allow a compensating movement between the workpiece and the handling device at least in a plane perpendicular to the second direction between the handling device and the gripper, in or on the handling device or the gripper is arranged. Device according to the preceding claim, characterized through a magazine holder for holding the clamping magazine, as well at least one other mechanical compliance to allow a compensating movement between the workpiece and the magazine holder in a plane at least perpendicular to the second direction, the between the magazine holder and the clamping magazin, in or on the Magazine holder or the clamping magazine is arranged. Device for the automatic loading of Clamping magazines with work pieces with a gripper for picking up, holding and, in the clamping position, Dispensing at least one workpiece, a handling device for moving the gripper to one first predetermined position and then in a second direction in the clamping position of the workpiece, a magazine holder for holding the clamping magazine, and at least mechanical compliance to allow for a compensatory movement between the workpiece and the magazine holder at least in a plane perpendicular to the second direction, between the magazine holder and the clamping magazine, arranged in or on the magazine holder or the clamping magazine is. Device according to the preceding claim, characterized by at least one further mechanical compliance to enable a Compensating movement between the workpiece and the handling device at least in a plane perpendicular to the second direction between the handling device and the gripper, in or on the handling device or the gripper is arranged. Device for the automatic loading of Clamping magazines with work pieces With a gripper for picking up, holding and, in the clamping position, Dispensing at least one workpiece, one Handling device for moving the gripper to a predetermined one first position and then in a second direction into the clamping position of the workpiece, such as a force-moment sensor to detect when the clamping position has been reached and controlling the movement of the handling device to the first Position and / or in the second direction in the clamping position in which the force-moment sensor in or on the gripper or the handling device is arranged. Device according to one of claims 1 to 4, characterized through a force-moment sensor Detection of reaching the clamping position and control of the movement the handling device to the first position and / or to the second Direction in the clamping position with the force-moment sensor in or is arranged on the gripper or the handling device. Device for automatically loading clamping magazines with workpieces with a gripper for picking up, holding and, in the clamping position, dispensing at least one workpiece, a handling device for moving the gripper to a predetermined first position and then in a second direction in the clamping position of the workpiece, a magazine holder for holding the clamping magazine, and a force-moment sensor for detecting the reaching of the clamping position and controlling the movement of the handling device to the first position and / or in the second direction in the clamping position wherein the force-moment sensor is arranged in or on the magazine or the magazine holder. Device according to one of claims 1 to 6, characterized through a force-moment sensor Detection of reaching the clamping position and control of the movement the handling device to the first position and / or to the second Direction in the clamping position with the force-moment sensor in or is arranged on the magazine or the magazine holder Device for the automatic loading of Clamping magazines with work pieces With a gripper for picking up, holding and, in the clamping position, Dispensing at least one workpiece, one Handling device for reinforcing the gripper in a first Direction and then in a second direction into the clamping position of the workpiece, such as a sensor for detecting the clamping position and controlling the movement the handling device in the first direction, being the Sensor arranged in or on the gripper or the handling device is. Device according to one of claims 1 to 8, characterized by a sensor for detecting the clamping position and control the movement of the handling device in a first direction to achieve the first position, the sensor in or on the gripper or the handling device is arranged. Device according to one of the preceding claims, characterized characterized that the clamping magazine has a rectangular frame with cross bars and arranged thereon Retaining pins, with at least two retaining pins each a clamping position or clamp position for a workpiece form. Device according to one of the preceding claims, characterized characterized that the predetermined first position is stored. Device according to one of the preceding claims, characterized characterized that a Control is provided to control the movement of the handling device in the first direction, to the first position and / or in the second Direction to steer. Device according to one of the preceding claims, characterized characterized in that in or on the handling device, the magazine holder, the gripper and / or the magazine has at least one stop arranged when moving the handling device in the first direction or closed the first position the workpiece in terms of the plane perpendicular to the second direction in the clamping position. Device according to one of the preceding claims, characterized characterized in that in or on the handling device, the magazine holder, the gripper and / or the magazine has at least one stop arranged when moving the handling device in the second direction, the workpiece with respect to Specifies the plane perpendicular to the second direction in the clamping position or the movement of the handling device blocked if that workpiece not regarding the plane is perpendicular to the second direction in the clamping position. Device according to the preceding claim, characterized characterized that the Workpiece itself serves as a vertical reference stop. Device according to one of the preceding claims, characterized characterized that the mechanical compliance or compensation is a planar joint. Device according to the preceding claim, characterized characterized that the planar joint translational movements in the plane perpendicular to the second direction and / or rotations around the second direction as an axis. Device according to one of the preceding claims, characterized by at least one further mechanical compliance or compensation to make it possible a compensating rotary movement between the workpiece and the handling device or the magazine and the magazine holder around the second direction as an axis between the handling device and the gripper, in the handling device or the gripper, between the magazine holder and the clamping magazine, in the magazine holder or in the clamping magazine is arranged. Device according to one of the preceding claims, characterized by at least one further mechanical resilience or compensation to enable a compensation movement between the workpiece and the handling device or between the magazine and the magazine holder in the second direction, which between the handling device and the gripper, in the handling device or the gripper, is arranged between the magazine holder and the clamping magazine, in the magazine holder or in the clamping magazine. Device according to one of the preceding claims, characterized characterized in that the further compensation in the second direction as protection against jamming, as Collision protection and / or as monitoring the workpiece position is trained. Device according to one of the preceding claims, characterized by a device for generating a secondary movement of the workpiece, the gripper and / or the magazine Device according to the preceding claim, characterized characterized that the Device for generating a secondary movement in or on the gripper, the handling device, the clamping magazine and / or the magazine holder, between the handling device and the gripper or between the clamping magazine and the magazine holder is arranged. Device according to one of the two previous Expectations, characterized in that as secondary movement a vibration and / or rotation can be generated. Device according to one of the three preceding claims, characterized characterized that the Device for generating a secondary movement is a vibrator. Device according to one of the preceding claims, characterized characterized in that the Gripper is designed such that when the handling device is moved in the second direction the clamping pins forming a clamping position be spread apart. Device according to one of the preceding claims, characterized characterized that at the handling device and / or the gripper a device for spreading apart the clamping pins forming a clamping position is arranged. Device according to the preceding claim, characterized characterized that the Device for spreading a wedge, an angle or a second gripper with suitable grip fingers. Process for the automatic assembly of optionally by means of a magazine holder clamped magazines with workpieces characterized in that the workpiece is picked up and held with a gripper, the gripper to a first predetermined position and then in moved a second direction into the clamping position of the workpiece becomes, with a compensating movement between the workpiece and the Handling device and / or between the workpiece and the Magazine holder in a plane perpendicular to the second direction allows becomes, and subsequently the workpiece is released by the gripper in the clamping position. Process for the automatic assembly of optionally by means of a magazine holder clamped magazines with workpieces characterized in that the workpiece is picked up and held with a gripper, the gripper to a first predetermined position and then in moved a second direction into the clamping position of the workpiece becomes, reaching by means of a force-moment sensor the clamping position in the plane perpendicular to the second direction detected and the movement of the handling device to the first position and / or is controlled in the second direction in the clamping position, and subsequently the workpiece is released by the gripper in the clamping position. A method according to claim 29, characterized in that by means of a force-moment sensor reaching the clamping position in the plane perpendicular to the second Direction detected and the movement of the handling device to the first position and / or is controlled in the second direction in the clamping position. Process for the automatic assembly of optionally by means of a magazine holder clamped magazines with workpieces characterized in that the workpiece is picked up and held with a gripper, the gripper in a first direction and then in a second direction in the clamping position of the workpiece is moved, the clamping position and the movement are detected with a sensor the handling device is controlled in the first direction, and subsequently the workpiece is released by the gripper in the clamping position. Method according to one of claims 29 to 31, characterized in that that with a sensor detects the clamping position and the movement of the handling device controlled in a first direction to reach the first position becomes. Method according to one of claims 29 to 33, characterized in that the predetermined first position is saved. Method according to one of claims 29 to 34, characterized in that that a Device according to one of the claims 1 to 28 is used. Use of a device and / or a method according to one of the preceding claims for the automatic loading of Tolerant clamping magazines with workpieces, for loading Coating racks for electrochemical coating or for equipping galvanizing racks. Use according to the preceding claim automatic assembly of tolerance-prone clamping magazines with workpieces of a size between 1 mm and 1000 mm, 1 mm and 100 mm or 1 mm and 10 mm.