DE2008790C - Device for the transfer of successive objects from one place to another while aligning the objects - Google Patents

Description

2 ΟΟδ

To create a device of the type mentioned at the outset, the more permissive and at the same time swift implementation of the varied Objects permitted "that are nevertheless reliable irshould be given in a prescribed orientation. ~ "~

According to the invention, this object is thereby ee-IÖM. that the gripper itself forms the rotating device and its rotation until the correction signal is extinguished he follows.

To further explain the invention below a preferred embodiment of the same on the basis of the figures together with some Variations described in more detail.

F i g. 1 shows a schematic top view of device relating to Jas;

Fig. 2 is an extract of the same device. some parts appear cut;

F ^ i g. 3 is a fine elevation of those occurring in the device Scanning and reversing device with some parts also cut; '

Figure 4 is a top plan view of the device

, alas Fig. V '

F i g. 5 is a timing diagram showing the closing

indicates times of the contacts of a clock occurring in the device;

Fig.6 is a block diagram of the electrical Control of the device, and

FIG. 7 shows the circuit of one of the blocks from the circuit diagram according to FIG. 6 '
Fi I d

to issue movements, depending on one beforehand recorded program.

The conversion device 10 forms only one c of the device according to FIG. I, which serves to make one ounce. to pick up unaligned object and to pass it on in a certain direction, uie ue objects are fed to an input point α , which comes from the output end of a kulane, e. Conveyor belt, a storage container or the like existing «. Can. At the input point 28, one ue item is picked up in order to then be fed to a / · tasis and reversing device 30. This device will be described later in detail and is shown in FIGS. ^ une. 4 ... represents. However, it suffices to know for the time being, dau au. Abiast- and reversing device 30 means for observing the exposed surface e.nes every uurcn the gripper 24 brought up ^ ^e S ^c " ^st ? ^NUt ; f!" I ve ^ and that- if the object men ' ^m

«The location. ie with * ^ine . ^r ° * ™ * ^ ££ carried by the gripper, ue lashing j

The object is taken over by the gripper, it rotates and is in the correct position. ie with its ut> crsc upwards, back to the gripper "J * ¹ ^» 5 After leaving the input point 28

ren the scanning and reversing device 30 J

the boom 16 of the um «« «n ™ h« u "g« «er«.

an orientation device 32. the denjon uc ^

For the object carried so, we are afraid that there , continue to pivot to an A

m circuit diagram according to FIG. 6. fer worn object like this, usr.chtu

The converter 30 shown in FIGS. 1 and 2 after further pivoting to an A direction 10 has a vertical column 12. the acceptance point with programmed ^B <- * W f; is guided up and down by a lifting drive 14 assumes its correct position. That can. A boom can be rotated on the column 12 from a tool ^ma ^ 16, which can be guided around the column by means of a swivel mount 18. The hub 35 e.ner Together] 'drive 14 as well as the rotary actuator 18 may be of further stand parts hjg ^ an electric motor, a hydraulic drive re.ts prefabricated structures e.nsuzt od. Like. Exist. At the free end of the boom 16, the main purpose is a vertical spindle 20 which, via a device, is used to attach an object using a reduction gear through a further direction. ^e 22 can be driven. The spindle 20 carries He, the orientation accurately and auu a downwardly extending gripper, in the illustrated, no matter which position of the case, an electromagnet, to flat objects Eibll "" ^mt

to hold or to release. An electromagnet is suitable when it comes to objects made of magnetizable material. In addition, suction heads and the like can be used indifferently. ÖS the objects magnetizable ^{Mn The} conversion device described so far has three degrees of freedom which are sufficient for the case shown. The column 12 is. as said up and down guided to the gripper 24 in different heights _»L eist ig

becomes, indifferent,

the entry position « ⁿⁿ ""^mt;

The scanning and ^^ V said in the fig. and4 »^^ a stand 36 on. the emcnmutckug at the top of the stand 36 around a horoon Oh. d.hbare ^ arm ^ trag. Am faic ^ -

₅ o a support plate 40 d.eun, angle around «ne * ™ tdle axis .r. Ouernchtu »i ^^

running. At the T

in order to create additional degrees of freedom and thus the relocating device can be used even more universally. ^TO Defsockel 26 of the relocating device contains an axis:

48 For these, an S is Be.Btig.ngv

device 44 on the

a-

the 54 to it, the other end to the Arm 38 is attached to guide the cover plate 48 in the raised position shown in Fig. 3, as long as the actuating device 50 does not come into operation. Such a spring 52 counteracts the actuating device 4 for the support plate. This pivots the support plate 40 from the cover plate 48 when the actuating device 44 is not excited path. In this case, the support plate assumes an inclined position, which is the one shown in FIG. 3 corresponds to the cover plate shown. However, as later becomes more rural, the support plate 40 takes its own inclined position as long as the axis 38 is in its normal position shown. In contrast, the inclined position of the support plate then occurs on when the arm 8 has been rotated 180 about its axis. In this case, the position of the support plate 40 corresponds to that of Cover plate 48 in FIG. 3.

An actuating device 56, which generates an up and down movement and has a return spring in its interior, is attached to the stand 36. The actuator 56 drives a Toothed rack 58 through which, in turn, a pinion 60, which is fixed on the arm 38, rotates is moved. The position shown for the parts in question corresponds to the non-energized state of the actuating device 56. If the actuating device 56 is energized, the arm 38 rotates about its own horizontal longitudinal axis around the IRO. so that the support plate 40 now comes to rest on top. At the same time, the cover plate 48 now takes its horizontal one Location a.

If the object brought up by the gripper 24 of the transfer device 10 is on the Head, it is transferred to the support plate 40 by the gripper. The gripper 24 releases the object so that it falls onto the support plate. Then the cover plate 48 pivots down, and the Arm 38 rotates 180 about its longitudinal axis, see above that the object comes to rest on the cover plate 48. Finally, the support plate 40 is lifted off to reveal the object. The gripper 24 descends with programmed movement. grabs the object and moves to the one shown Position back.

The stand 36 also carries a bracket 62, the one light source 64 with a focused beam and a sharply direction-sensitive photocell 66 pick-up Pie bathing elements M and 66 are located in a relatively low position so that they do not hinder the movements of the plates 40 and 48. the I-ichtquelte 64 is arranged so that it throws a light beam onto the underside of the object carried by the gripper 24. The reflected ray is picked up by the photocell 66. The objects are designed in such a way that they and underside have very different reflective properties. For example, if the articles do not naturally have contrasting surfaces, one of them will be matched with a covered in dark blue paint, as is common in workshop technology. If now the dark blue surface of the object is facing down. so that no or only a very slight reflection occurs, this can be taken as an indication that the object is in the right position. d. H. upside down. Provides the If the photocell detects this state, the reversing device does not function. Instead, the Gripper 24 of the transfer device on to the next station without delay. If the photocell detects

S whose, in the example given, is the light surface of the object, the gripper 24 transfers the object to the reversing device, which turns it over in the manner described, whereupon it of the gripper is resumed in order to to be continued at the next station.

The device described so far has a controller that is shown in FIG. 6 is shown. A program storage drum 70 is about a horizontal axis rotatably mounted and can be indexed step-by-step by a drum indexing device 72 will. A number of recording or scanning heads 76 are arranged along the part of the drum on the left in the figure, as is a number further recording or scanning heads 78 dem

ao the right-hand part of the drum is opposite, lsi When the drum 70 comes to a standstill in any position, the heads 76 and 78 face corresponding drum sections, which are generally referred to as "row" or "sector"

as kann.ν If the drum 70 moves over a As a result of such positions, each of the heads 76 and 78 probes one on an arc of a circle on the Drum circumference arranged sequence of records. which is referred to as "trace": the Heads 76 appear in corresponding numbers in three groups, around old significant positions of the column 12, the boom 16 and the spindle 20 can be set in a binary code. With one universal usable device of the type under consideration, the one

JS possesses such control, a group of heads 76 is provided for each degree of freedom. The heads 78 are used to record or scan various types of function signals. For example, heads 78 can control the speed and the direction of movement of the vertical column 12 and the horizontally pivotable boom 16 belong. In particular, there is a function control head 78 provided to put the device 30 into action. Another head 78 is used to control the

Gripping 24 for picking up and releasing the objects at different times accordingly the workflow of the device.

In the illustrated form of the transfer device 19, each of the possible movements, i. E.

S »feder degree of freedom, a discovering analog-to-digital converter, namely one for the different nen heights that the column 12 can assume, one for the angular positions of the boom Ii and one for the angular positions of the spindle 20

SS These analog-to-digital converters 80 (Fig. 6) provide Output signals, which in comparison circuits 82 with the in the respective "sector" of the drum 7 ( setpoint signals sampled by the heads 76 for the respective position can be compared. Another on the other hand, the numeri see the extent of discrepancies between the signals determined by the comparison circuitry 82 from the analog-to-digital converter 80 and dcmjcni gen from the relevant head 76 for this purpose It is possible to control the direction as well as the speed of the movement, with the ai ^f - »and the following digital values in the converters each being numerical values of the individual items

represent. Are the objects from the analog-digital order in the upright position in the gripper 24

set 80 specified position values with those and the relay 100 is excited, so hai another

the heads 76 match, the program contact of this relay, 100 b, is opened and thereby the

storage drum 70 normally indexed, line 102 disconnected from the power source. if the

around their "sector" for the next position and 5 photocell 66 determines that the object is attached to the

FunJ'.ionbefehle the heads 76 and 78 accessible Gripper 24 is located on the head, so takes place

close. Before this occurs, however, the relay 100 cannot be energized, thereby making contact

Function may be required, and for this purpose left 100 b closed and line 102 energized

The output line 82 a of the comparison circuit is produced.

In this case, in which the relay 98 is required as the solution of the drum switching control 84 and the relay 100 remains de-energized, is only one of two criteria that are necessary for the triggering. Various functional controls 85. Closing the contact 92 ti energizes a relay 104, which are triggered by heads 78, deliver at the same time that a relay contact 104 opens. This, in turn, if the output signal for each "sector" of the tram causes the electromagnet of the gripper 24, the tnel. to enable the advancement of the drum to 15 object so that it is on the carrying suppression until a function is carried out. plate 40 (Fig. 3) fills. A few moments later while the relocating device 10 remains in its set position, the electromagnet of the gripper 24 is stimulated again by the program control means 76, 80 and 82 in order to pick up the object again. With the further rotation of the motor 92 comes

It is assumed that the l'mset / cinrichtung ao, the contact 92 / for closing, whereby the winding line has picked up an object and led it into the position shown in development SOa of the actuating device 50 current cr-Fig.3. At this time, stops to lower the cover plate 48 onto the object just dropped on the shows the output signal of the comparison circuits support plate 40. 82 Correspondence between the position signals The contact 91g then closes and excites the winding 56a of the actuating device 56, which is also opposite the heads 76. The sector and the output signal from the analog arm 38 around its horizontal central axis around digital Umsetzem 80. which means that the gripper 180 rotates so that from now on the object has actually reached the desired position on the 24. Cover plate 48 lies. Next, the controller of the heads 78 for the function control senses 92 A and thus energizes the relay 106. It now picks up a * 35 recorded on the i rommci 76 so that its normally closed contact control signal. Thereupon the heads 78 cause 106 a to open and the winding 44 a of the actuation and the comparison device 82 to switch off the \ b; n '.: -. 40 held horizontally. As a result, the through this in turn a clock generator 90 is set in Ta support plate by the associated spring up in activity. This contains a motor 92. a 3s which is shown in FIG. 3 for the position shown for the cover plate 48 holding relay 94 and a number drawn from the motor. So that the subject is reversed and saturated clock signal contacts 92a. 91b ... 91h, further accessible to the gripper 24 again. The contact arm towards a contact arm 91k. the mil fixed contact 92ft now runs over the contact segment 92 ·. woscgmenten 92 t and 92; cooperates. The time receives power through a relay 108. The connection following the contact making of the aforementioned contacts goes 40 to that comparison circuit 82 which is responsible for the veriiaus F i g. 5 emerges. kale movement of the column 12 is responsible with the

Depending on the output signal of the Ah-related head 76, a relay 94 is energized by means of the relay push button control 88, whereby contact 108 a is interrupted, this comparison at the same time via the relay contacts 94 a holding circuit simultaneously with an additional position supply circuit for this relay and via the contact 45 is connected rather 110. Which are closed in the memory 110 ι 94 for the motor circuit. The stored value normally represents a Pwition] contact 91a is used to interrupt the holding circuit of the for the gripper 24 just above one on the ho] relay 94 in order to simultaneously, according to the rizontal and inverted cover plate 48, open a full turn Motor 92 still represents the object. The gripper 24 now moves from being closed. S ° the in F i g. 3 in this lower position

Tion closes immediately after the start of the clock cycle. In the meantime, his electromagnet 24 receives contact 92 c again, in order to allow the output signal from the feeder current, so that the to cell 66 lying on the cover plate 48 is picked up by the gripper after passing through a reinforcement 96 on the object, to allow a relay 98 to arrive, this indicates whether the contact arm 92 k leaves the contact segment of the object held by the gripper 24 in its 55 92 t, the relay 108 is de-energized again and the emergency situation is located. If this is the case, then contact 198 a closes its original position, the relay contact 98 a and causes the drum a. Thereupon the column 12 moves up again into the switching control 84 without waiting until the clock is that position which has ended the current clock cycle by the relevant bet 9f. Head 76 sampled signal is indicated, the drum 7§ value switching. The further rotation of the motor 92 thus causes the boom 16 to receive the contact segment 92 / current from the scanning and reversing device in order to feed the drum 30 to the orientation device 32 (FIG. 1) further speed control 84 in operation At the same time, the contact 98 a leads to the EiTedcrum, that the arm 16 of the Ihmetzgung a relay IW, whereby via the relay contact device according to the on the drum 70 ^ cspci-100 α and the motor-operated contact 92 e a shark 65 cherten program to the orientation device 32 reading circuit for this relay is closed. The swings. When the contact 92A opens and the contact 92 e interrupts the hold circuit kur / contact 106 includes a, 40 returns the supporting plate in front of the end of the clock cycle. It is in its essentially horizontal position. the

9 ίο

Betälieunßsvorrichtung 56 is de-energized, and also the-.nige in which the object with the

the ST reverses our spring action again exactly covers the opening of the mask. Fi g. 7 still shows c. _nc

its starting position according to FIG. 3 back. The further special embodiment for the sensor,

Cover plate 48 is raised again, and the whole thing is calculated by the fact that see e, so to speak The device is now ready for the next operation

ration of different forms to be able to capture.

The preceding description of the scanning and FIG. 7 a photocell 140 is shown, which, in the reversing device, makes it clear that if the sensor is 136 (FIG. 2). The photocell 140 held by the gripper 34 at its normal level represents only one of a matrix of photocells that mallace occupies, also the sequence of which the drum together form the feeler 136. Within the Mamel 70 stored movements without interruption, the photocells can run in rectangular or in patterns. The photo mark: a change was made. Then namely lingers 140 via an amplifier 142 with a symmetrical gripper 24 until the object is connected by the reversing circuit 144, both of which devices are rotated into its normal position. Thereby halves polarized output signals in a selector follows a vertical movement of the gripper under switch 146, which supplies as many contacts as control by the additional position memory HO. the matrix has photocells. To the circuit, after the object has been grasped again, a magnetic memory 148 with a Geneva 24 moves it back up into its ao memory core 150 in the position specified by means of two openings through the drum. three magnetic flux paths 150 a, 150 b and 15Or au & g «: - From now on, the conversion device 10 works again. Two "learning windings" 152 can, under the control of the magnetism program stored on the drum, opposite the flux path ISOa. wherein the boom 16 in the in F i g. 2 conditions to be issued when the selector switch 146 reaches the position shown above the orientation device 32 as metric circuit 144 with these windings. A centering device 32 a connects to this. The polarity depends on whether the photo and a position sensor 32ft. cell 140 receives light or not. If the switch The centering device 32 a causes folded by lateral 146, so contact the windings 154 of the Liehe guide of the object A, that the latter serving in reading the flow path 1506 with the Schaltdem smallest possible circle around a vertical turning 30 circle 144 in connection. The axis of the river path comes to rest. The axis of rotation is the self-surrounding output winding 156 provides an understanding for objects of all sizes that have the same output signal as a function of the occurrence of e ncs. The centering device 32 a has an interrogation pulse on a further winding 158 of the funnel 120, the inner wall of which widens to the flow path 150 r whenever the flow directions in the gripper, as well as a support member 122 with 35 the "reading flux path ISO b and the" storage flow a vertical sliding guide in the base of the funnel path «150a. The output signals 120. The support member 122 is printed by a spring in an output circuit 160 a with a 124 upwards, and a further spring with a small time constant is rectified. The same 126 pushes the funnel 120 upwards itself. The circuits 160 ft and 16b c receive the output funnel is slidable in a vertical tube. ^tere photocells of the matrix are connected. The position sensor 32 ft includes a vertical Via a diode 162, a control signal is sent to the stand 130 and a horizontal boom 132, which controls an amplifier 164 and an output relay 166 only horizontally between an extended position when the switch 146 to the Wicknach F i g. 2 and a retracted position, movements 154 of the relevant memory 148, in which it does not protrude into the area between the gripper 24 and the funnel 120, which corresponds to the signals of all the photocells. To this indicate that the position of the object A corresponds to the purpose of the boom 132, for example by means of a toothed information rod stored in the flow paths 150 a and a pinion from a motor 134.

driftable. 5 ° Before the orientation device is automatically

The boom 132 carries a Rolfe * 136, a function is set, it is necessary in the Spei

the pattern recognition system works. With a simple matrix, the desired position of the opposing

In this form, the sensor can store a group of statuses. This memory is used by dei

Have photocells that are individually adjustable to the totality of the individual photocells 140 dei

formed inside or outside the outline of the raft paths ISOa belonging to the counterpart matrix. To your

Standes / 1 zn, and by AND gates in a mentioned Einspeichenmg the object / Analysis steps are connected, so that an Er- on the support member 122 t, what one there

The input signal is generated when all the photo grippers 24 align with the axis of the funnel 12

cells that are outside the outline of the object. Then the gripper 24 is guided downward, si

are arranged. Receive light while it shows that it is the object including the support member

tig pushes down all photocells within this outline. The object is thereby

the subject * are covered. In the case of another funnel 120 as a result of lateral displacement until it ii

In a simple design, the feeler can use a mask to form the tightest possible circle in the center axis

have that exactly fits the outline of the object funnel, automatically centered. The coordinate

des corresponding opening, so that light 65 th of this position in a known manner i

only then hits the photocell underneath. one of the "sectors" of the drum 70 (Fig. 6) when the object is stored opposite the mask opening. The relocating device is rotated The correct orientation is accordingly actuated, so that the gripper 24 the object egg

Π 12

grabs, leads up, bäs to the middle C of the smallest signal one of the heads 78 in connection with a düi enveloping circle for the object within the up-function controls 86 and the relay 94 cingenahmestellc 34 pivots and finally can be passed so far. As I said, the counter-clocks are turned until the object, for this purpose, assumes the desired position, which contrasts with the receiving stands. The demented 5 subpages. If the object is in the speaking co-ordinates of the column 12 and the correct position, the drum 70 is switched to a suitable "sector" of the relay 78 under the traverser 16, with the drum 70 being stored. For this purpose, the next "sector" of the drum is rotated by hand into the defrosting position. Then leads device. If, on the other hand, the object has to be reversed, the gripper 24 must be returned until its axis coincides with the io. so causes the previously described ": the center axis of the funnel 120 coincides, whereupon the clock generator 90 causes the gripper 24 to move the object to which the sensor 136 is extended until it is passed under the support plate 40 (FIGS. 3 and 4). The cover plate 48 of the reversing device 30 has come to lie before the object carried by the gripper. During the pivoting of the extension arm 16 closed and reversed with the support plate, the last of which the gripper 24 is raised more firmly relative to the extension arm and the relay 104 is de-energized. The gripper 24 can be adjusted in order to supply the gripper 24 with power again so that it brings the object A into the vicinity of the sensor. If that of the additional position memory HO is lowered, the peeler 146 assumes the position shown in FIG. The counterpart now lying on the cover plate 48 causes the excitation of the learning windings 152 to take up 30 standstill, and the drum 70 continues to switch the individual flux paths 150a with one polarity.

are magnetized, which corresponds to the illumination states. If the area carried by the gripper 24 corresponds to the individual photocells 140 of the matrix. if it was in the correct position from the start, which in turn depends on the position of the object, the reversing device 3C of A will, as said, be directed. The switch 146 is then switched off for 5 transitions. If it is established from the outset that your "learning position" according to FIG. 7 is brought into the "operating tool object by the gripper only in the correct position". Can be recorded, it can even ent

In place of the memory 148 and the switch.

146 according to FIG. 7 can of course also be used. The following "sector" of the drum 70 ran

whose suitable switching means occur; 30 control signals are also received for the transmission of the opposing wall

other than the magnetic storage and comparison circuits in F1 g. 2 position shown, with the spindle

circles into consideration. 20 with the axis of the funnel 120 for Obereinstim

The mode of operation of the mung will now be briefly described below and the sensor 136 will first be reduced.

entire device with mention of further details. When lowering the gripper 24 comes the

units with regard to the circuit according to F1 g. 6 described 15 object A carried thereby on the support member

ben. The "learning processes" just mentioned are supposed to lie. The power supply to the gripper is cut

have already taken place, so that switched in individual to the horizontal shift of the Gc

"Sectors" of the drum 70 to facilitate the coordinates of the items for its centering

sitions are stored in which the gripper 24. When the gripper is lowered further, the

has to move, and continue such for the same- * o object in the smallest possible circle around the ge

ongoing control of various functions, the said axis to lie. Another drop

each have to take place. Such a radio movement of the gripper is harmless because you then

tion control, which on the basis of one of the funnels 120 together with the support member 121

Head 78 scanned program and with participation. Fin limit switch 174 (Fig. 2) is provided for this

Functional control 86 affects the 45 hen. finally to bring the gripper to a standstill

Control of the gripping 24. To the relevant after the object A is centered. Since ■ Heg Function control includes a bistable toggle switch - this switch in the control circuit of the Huban

processing 170, such as B. a level of a binary counter, to drive ^ motor 14.

Alternating excitation and de-excitation of a Re- The next program step causes the Grei

lais 172. If the contact 172 a of this relay is 50 fer 24, the object A again in the in F ie 2 ee

closed, then the gripper 24 fulfills the current to lift the indicated position, whereupon one of the heads 71

thing goes out if the contact 104 a, as before on the drum 70 in conjunction with a geeie

described, is opened. Neten relay sets the motor 134 in motion

Under the program control, the gripper moves feeler 136 under the object to drive Mi

24 to the input point 28 and descends to a 55 the subsequent function control step becomes dei

object to be grasped. The motor 22 is then set in motion to rotate the gripper

Toggle circuit 178 a trigger signal, which it operates in the function of the sensor 136 Brings state in which the relay 172 and the, as I said, from a mosaic of photo cells Grippers are excited. As a result, the associated control circuitry is established

hit object grasped by the gripper. In 60, as shown in FIG. 7 are shown. The turning university

In the course of the further program sequence, the gripper of the gripper 24 is interrupted at the moment

fer raised to the object from the input - in which the object its desired position »

place, and then to the sampling and has reached that is necessary to get it after we ^: te

Reversing device 3 · pivoted There are rer pivoting of the boom 16, in which no Drc

the objects are then examined to see whether the gripper is positioned in relation to the boom

in the correct position (top side up). This aligned in the receiving point 34 deliver zi

can be in the specified way on photoelectric can. The advancement of the drum? © erfote

Ways take place, the test process by a Si- after establishing that the object A its ge

has reached the desired position. Only then does the gripper move the object under the control of the program to the reception point and releases it there.

In the example described above, there was talk of rotating the object at the location of the scanning mosaic * or other feeler 136. However, a modification is also possible insofar as the gripper 24 can start its rotation / ur scanning at the position sensor 31b in the N'uii state of the digital encoder, which normally occurs in connection with the rotation of an object by a gripper in transfer devices . Here, the zero state is understood to mean that which prevails at the time in which the gripper 24 is located at the receiving point 34 during the previous instruction (storage of the desired position) of the pattern recognition system (FIG. 7). The control signal occurring at the output of the PoMiiop.ssensor 32 b in normal operation when the scanned object reaches the stored position does not necessarily have to result in a rotation of the object in place and

Effect place. Rather, from the Digitalko encoder for the rotary movement of the gripper 24 a Di can be taken from the capital value, which is saved: can only be used later, for example during the Pivoting the gripper over the receiving element 34. to complete the rotation. In this case pictures the encoder, motor 22 and memory form a digital follow-up system. Such a «. Training result the advantage that the entire transfer process; in

ίο finally the alignment of the objects quickly; can proceed by the scanning% organg b to the position sensor 32 can rapidly take place, noci before its dependent rotary movement of the gripping has come to a close. In addition, delay controls can be used in this case, as they are known in connection with digital follow-up systems.

Furthermore, instead of the previously mentioned photocells for scanning z. B. magnetic Pneumatic or other sensors are used, depending on which type aul for cost reasons Appears most suitable because of the shape of the object or the like.

For this purpose 2 sheets of drawings

Claims (8)

1 2 the head position of the object due to the patent claims: scanning device (64, 66) is interrupted whereupon an additional position memory (110) is sent 1. Device for transferring successive ken of the gripper to the one that has meanwhile turned Objects from one place to another 5 object to its recovery and that while aligning the items around a subsequent reboot, ene this penetrating orientation axis, with the given program again m huntction a gripper that kicks one of these counterparts at a time. 8. Device according to one of the preceding assumptions and a sensor for the orientation io claims, characterized by a memory of the Geeen- (148) received by the gripper, which stands the one determined by the sensor (136) , whose own orientation axis saves time-angle deviation as a digital value, in order to wisely bring the gripper into line with the orientation axis of this counter-dependent thereon during the stand "and continue from the sensor to a recording due to a detected misorientation at 15 points (34) or the like to rotate, a rotating device ran a correction signal, due to which the objects are engaged with the gripping 'are rotated into their target angular position, characterized in that the The gripper (24) itself forms the rotating device. The invention relates to a transfer device and their rotation from one place to the expiration of the corridor of successive objects correction signal takes place. another, aligning the objects 2. Device according to claim I, characterized in that the orientation axis penetrates this axis and that the sensor (136) is able to automatically grasp and convert one of these objects in a matrix arranged in the form of a pickup element (photocells ”5). 140) , which are connected to a memory (148) and a sensor for the orientation of the bound objects in which the contour of the counter gripper, whose own stands (A) in the target angular position, corresponds to the orientation axis at times with the Orientation signals through. the sensor itself can be stored axis of these objects are in accordance 21: and which is then to bring a comparison of 30 and, based on a detected incorrectly stored sol'angular position with the actual orientation on a rotating device, provides a correction of the angular position of each object, on the basis of which the objects in possible. Engagement with the gripper in their target angular position ge 3. Apparatus according to claim I or 2, marked turns. net by a centering device (32 u), the 35 A device with these characteristics is from the USA before the sensor (136) comes into operation, known from patent specification 3,367,476. This well-known Ge The device picked up by the gripper (24) has a set arranged on a turntable objects in relation to its axis of rotation to be centered, by a division between several trier. Stations of indexable grippers that are 4. Apparatus according to claim 3, characterized in that the centering device is able to accommodate a guide, and in a further station the information funnel (120) for the objects (A) has received sheets accessible to a sensor , in which the gripper (24) together with every one who almost places in which of the four objects currently picked up enters, the possible angular positions of the leaflet are at which the axis of rotation of the gripper with the funnel sensor is located, and then the leaflet coincides within the axis. to another station of a turning device 5. Apparatus according to claim 4, characterized in that, which draws the leaflet around a corresponding multiple, the gripper (24) rotates an electromagnetic one at an angle of 90 °, so that all leaflets are grippers when they enter the lead - Finally, a prescribed orientation funnel (120) is switched off, and that 50 is preserved. More precisely, the rotating device in the funnel experiences a counterholder (122) which is flexible compared to the counterholder (122) that has been introduced before the previously scanned blanking object is picked up, due to the correction signal one of the defects. Orientation of the leaflet corresponding rotation 6. Device according to one of the preceding and then returns with the leaflet in your claims, characterized by a starting position with a 35. Sensor such as rotating device scanning device (64, 66) equipped reversing work with mechanical stops, whereby device (30), which by the gripper (24) each one of four stops of the rotating device brought up the object (A) of the latter transfer one such of the feeler is assigned, which takes and turns around a horizontal axis, a certain, a contact-forming provided that the scanning device has detected 60 saying of the semiconductor wafer to scan. is that it is in the opposite position, ie on This known device thus forms a high-speed head. specialized institution that is intended to work with 7. Apparatus according to claim 6, characterized in that a contacting device for the half-drawing mentioned, that the movement of the gripper (24) cooperate with the ladder in a timed manner. The exception of its rotary movement for alignment 65. Contacting stations of the latter are likewise arranged depending on the object (A) located on it along the circumference of the turntable and are operated by the same grippers depending on a predetermined program. takes place, the process of which when the task of the invention is established, on the other hand, a