DE202020101533U1 - Device and its use for the production of sealing rings - Google Patents

Abstract

Device (10) for producing sealing rings (1.3) from continuous material (1), in particular from round cords or profiled continuous material, comprising
- A feed unit (20) set up for conveying and positioning the continuous material in at least one separation position (Ps), in particular when feeding in a predefined translatory feed direction (x) or at least in a predefined feed plane (xz);
- A separation unit (30) set up for separating a section (1.2) from the continuous material;
- A plurality of gripper units (40; 40a, 40b) set up for gripping and moving the continuous material or the section;
- at least one connection fluid supply device (60);
a gripper module which can be arranged in predefined positions by one or more adjusting movements and on which the gripper units can be arranged / arranged at different positions;
- A control device (50) which is coupled to the gripper module and the gripper units and is optionally also connected to at least one component from the following group:
Feed unit, separation unit and / or connection fluid supply device;
The device is set up for the controlled displacement of at least one free end (1a, 1b) of the respective section (1.2) along a movement path (BP1a, BP1b) or several movement path sections which can be predetermined by means of the gripper module and the gripper units, and to a transfer position or wetting position (Pf) and further from the transfer position or from the wetting position (Pf) to at least one subsequent process step, wherein the connecting fluid supply device (60) is arranged or can be arranged in such a way that connecting fluid (F) can be placed on the at least one free end (1a, 1a) which can be arranged in the wetting position (Pf). 1b) the respective section can be applied in a controlled manner,
and wherein the gripper module is set up to position the gripper units by means of the actuating movements in such a way that at least two of the following steps can be decoupled / decoupled from one another in terms of process: step of moving into the transfer position or into the wetting position, step of applying connecting fluid, at least one of applying of connecting fluid subsequent process step.

Description

TECHNICAL AREA

The present invention relates to a device for producing elastic, flexible sealing rings, for example O-rings made of elastomer material ( e.g. .B. Foam rubber) or special plastics, e.g. high temperature resistant plastics. A corresponding method is also affected, in particular with the highest possible degree of automation. Last but not least, the invention also relates to the use of a control device for automating such a method. The invention relates, for example, to seals for the chemical industry, for the automotive industry, for window and house technology or the like.

BACKGROUND OF THE INVENTION

Sealing rings are used in almost every area of technology, be it for sealing with regard to fluids, noise, emissions, vibrations, etc. One of the countless applications also concerns containers in which a lid has to be sealed. The materials that can be used are just as varied as the areas of application. A distinction can be made, at least roughly, between metallic or rather not or only slightly deformable materials on the one hand and elastic or flexible materials, in particular rubber or elastomers on the other hand. Rubber rings or O-rings can e.g. can be produced from round cords by cutting the round cords to the desired length and then integrally connecting them. The use of round cords, e.g. EPDM, VMQ and FKM round cords, can be used as a static seal e.g. for sealing larger pipe connections and as a cover seal in container construction. Due to the high number of pieces required in many cases, it is of interest to be able to automate the manufacture of the sealing rings as much as possible. In particular, the integral connection still has to be carried out manually for many materials or areas of application. Round cords are used in many cases directly on site, e.g. during maintenance, and put together "to measure" into a ring. For this, e.g. Cyanoacrylate or 2-component glue can be used. UV-curing adhesives can also be used.

The DE 37 39 058 A1 describes a cutting and connecting device with a welding bar, on which two free ends of a profile strand can be melted in order to then join them together.

The EP 0 567 502 B1 describes a method for producing a sealing ring, in which an insert part is used in order to be able to connect two free ends of a strand of an endless ring to one another in an abutting manner. The connection is made using a steel clamping band directly at the place of use or at the mounting position of the directional ring.

The production of sealing rings is described in further publications, for example in DE 35 32 440 A1 , DE 25 47 128 C2 , DE 2 056 460 A , DE 10 2012 024 120 A1 , DE 195 31 167 A1 , DE 10 2007 042 487 B4 , DE 25 42 436 A1 , DE 10 2007 040 077 B4 , DE 2 321 648 A1 , DE 38 29 210 A1 . In the case of corresponding devices or methods, there is in many cases a close relationship to the application: For example, the cohesive connection of free ends of a round cord takes place “in situ”, ie in the assembly position of the seal to be created. In many of these cases, for example, only a single step in the production of the rings can be automated. Or the production of the ring also includes a step, for example vulcanizing, which does not relate directly to the ring itself, but to other machine elements.

However, one possibility for the production of more or less any sealing rings that can be automated as much as possible, regardless of the type of elastic sealing material and regardless of when or where or how these are to be used later, is at least already in the publication DE 10 2016 117 544 A1 have been considered in more detail, which describes in detail a device or a method for the automated bonding of sealing rings.

Based on this state of the art, there is a need for a device or a process associated therewith, by means of which the production of sealing rings that can be automated as much as possible can be carried out in a simple manner, regardless of their intended use, in particular of rings with an individually predefined diameter, whereby especially the gripping and handling of the sealing rings to be glued or glued should be optimized.

SUMMARY OF THE INVENTION

The object is to provide a device or a method for producing sealing rings which can be implemented therewith, with which the production can be simplified and, in particular, also accelerated and designed as inexpensively as possible for large quantities. Another object is to design the device for a large number of different variants of sealing rings. Last but not least, it is a task to create a device for one To provide an efficient manufacturing process, which enables a varied process.

This object is achieved by a device according to claim 1 and by a use according to the subordinate usage claims. Advantageous developments of the invention are explained in the respective subclaims. The features of the exemplary embodiments described below can be combined with one another unless this is explicitly denied.

• - eine Vorschubeinheit eingerichtet zum Fördern und Positionieren des Endlosmaterials in wenigstens eine/r Abtrennposition), insbesondere bei Vorschub in vordefinierter translatorischer Vorschubrichtung (x) oder zumindest in einer vordefinierten Vorschubebene (xz);
• - eine Abtrenneinheit eingerichtet zum Abtrennen eines Abschnitts vom Endlosmaterial;
• - einer Mehrzahl von Greifereinheiten eingerichtet zum Greifen und Verlagern des Endlosmaterials oder des Abschnitts;
• - wenigstens eine Verbindungsfluidzuführeinrichtung;
• - ein in vordefinierten Positionen durch eine oder mehrere Stellbewegungen anordenbares Greifermodul, an welchem die Greifereinheiten an unterschiedlichen Positionen angeordnet/anordenbar sind;
• - eine Steuerungseinrichtung, die an das Greifermodul und die Greifereinheiten gekoppelt ist und wahlweise auch in Verbindung mit wenigstens einer Komponente aus der folgenden Gruppe steht: Vorschubeinheit, Abtrenneinheit und/oder Verbindungsfluidzuführeinrichtung;

wobei die Vorrichtung erfindungsgemäß eingerichtet ist zum gesteuerten Verlagern wenigstens eines freien Endes des jeweiligen Abschnitts entlang eines mittels des Greifermoduls und der Greifereinheiten vorgebbaren Bewegungspfades oder mehrerer Bewegungspfadabschnitte, bevorzugt mehrachsig vordefinierten Bewegungspfades, in eine Übergabeposition oder Benetzungsposition (Vorschub bzw. Fördern) und weiter aus der Übergabeposition oder aus der Benetzungsposition zu wenigstens einem nachfolgenden Prozessschritt (insbesondere Halten/Trocknen, Auswerfen), wobei die Verbindungsfluidzuführeinrichtung derart angeordnet oder anordenbar ist, dass Verbindungsfluid auf das in der Benetzungsposition anordenbare wenigstens eine freie Ende des jeweiligen Abschnitts gesteuert aufbringbar ist, und wobei das Greifermodul eingerichtet ist, die Greifereinheiten derart durch die Stellbewegungen zu positionieren, dass wenigstens zwei der folgenden Schritte prozessual voneinander entkoppelbar/entkoppelt sind: Schritt des Verlagerns in die Übergabeposition oder in die Benetzungsposition, Schritt des Aufbringens von Verbindungsfluid, wenigstens ein dem Aufbringen von Verbindungsfluid nachfolgender Prozessschritt (insbesondere Materialübergabe bzw. Auswerfen).This object is achieved in particular by a device for producing sealing rings from endless material, in particular from round cords or profiled endless material

• a feed unit set up for conveying and positioning the continuous material in at least one separation position), in particular when feeding in a predefined translatory feed direction (x) or at least in a predefined feed plane (xz);
• - A separation unit set up for separating a section from the continuous material;
• - A plurality of gripper units set up for gripping and moving the continuous material or the section;
• - At least one connecting fluid supply device;
• a gripper module which can be arranged in predefined positions by one or more adjusting movements and on which the gripper units can be arranged / arranged at different positions;
• - A control device which is coupled to the gripper module and the gripper units and is optionally also connected to at least one component from the following group: feed unit, separation unit and / or connecting fluid supply device;

wherein the device is set up according to the invention for the controlled displacement of at least one free end of the respective section along a movement path or a plurality of movement path sections, which can be predetermined by means of the gripper module and the gripper units, preferably multi-axis predefined movement paths, into a transfer position or wetting position (feed or conveying) and further out Transfer position or from the wetting position to at least one subsequent process step (in particular holding / drying, ejecting), wherein the connecting fluid supply device is arranged or can be arranged such that connecting fluid can be applied in a controlled manner to the at least one free end of the respective section which can be arranged in the wetting position, and wherein Gripper module is set up to position the gripper units by means of the actuating movements in such a way that at least two of the following steps can be decoupled / decoupled from one another in terms of process: Step of moving into the transfer position or into the wetting position, step of applying connecting fluid, at least one process step following the application of connecting fluid (in particular material transfer or ejection).

It has been shown that the process decoupling in particular also enables a cycle time reduction or an increase in the number of items / outputs. A particularly high quality of the cohesive (adhesive) connection can also be ensured with comparatively high cycle numbers (short cycle times).

The process decoupling can be facilitated in particular by the respective section being displaced out of the feed plane (in particular by a pivoting movement or by a translatory transverse movement), so that a subsequent section can be displaced and wetted in the feed plane without hindrance. In other words, the device can ensure a comparatively high number of cycles by means of only one connecting fluid supply device or with only one wetting position, largely independently of the curing / drying time of the connecting fluid.

The present invention can in particular also be based on that in the publication DE 10 2016 117 544 A1 Technology described add value in terms of variability and efficiency, in particular by means of a translational and / or rotary relocability of the gripper units (and thus the respective section) out of the feed plane (local decoupling). By providing several pairs of grippers, in particular in a symmetrical arrangement around a swivel axis, the process according to the invention can be further scaled in terms of even higher numbers of pieces or shorter cycle times.

It has been shown that in many applications the drying time / holding time after wetting should not be less than 5 to 8 seconds; the time range for drying can even be very wide from 1 to 15 seconds; Depending on the application, the disadvantages associated with this process step can have a very serious impact on the overall process. However, this time window, which is important for the quality of the end product, limits the time unit or achievable quantities per plant. Decoupling the wetting / drying / holding process from the upstream and / or downstream process steps is therefore particularly advantageous.

The gripper units can at least temporarily guide and / or align the respective section.

Connection fluid can optionally be applied to only one free end or to both free ends; optionally one or more connecting fluid supply devices can be provided for this.

It has been shown that the present invention not only enables an advantageous production process for round cords with a rotationally symmetrical cross-sectional profile, but is also suitable for all conceivable types of profiled continuous material, that is to say for continuous material with a non-rotationally symmetrical cross-sectional profile. This is because the feed and gripper technology described here enables a comparatively exact alignment of the strand around its longitudinal axis, that is to say with a comparatively exact circumferential angle, so that a possibly not completely suppressable angular offset in the circumferential direction when connecting the free ends can be at least minimized.

The present invention also makes it possible to specify a movement path for the gripper units or for the free ends in a comparatively variable, flexible manner or to subdivide them into individual movement path sections, in particular by moving or actuating the gripper units with one movement or actuation of the entire gripper module is superimposed. If the path of movement is in accordance with the teaching of DE 10 2016 117 544 A1 predefined by the gripper units themselves, or by the disks on which the gripper units are mounted, the path of movement according to the present invention can also be predefined along or around several axes, in particular also using freely in space, thanks to the process decoupling relocatable robot components, which can be provided on a respective gripper unit or at least on the gripper module or separately with their own stand / foot on the floor.

It has been shown that the use of a control device permits a multitude of possible variations in terms of movement path (sections) and process decoupling, and also facilitates the most exact and individualizable timing of the individual process phases. The control device can optionally be replaced by a mechanized control, that is to say by a process sequence ensured by means of mechanical components.

The previously defined object is in particular also achieved by a device for producing sealing rings from continuous material, in particular from round cords or profiled continuous material, comprising: a feed unit set up for conveying and positioning the continuous material in at least one separation position; a severing unit configured to sever a portion from the continuous material; a plurality of gripper units set up for gripping and moving the continuous material or the section, wherein the gripper units can be actuated individually or in pairs; and at least one connection fluid supply device; wherein the device is set up for controlled displacement of at least one free end of the respective section along one or more movement path sections which can be predetermined by means of the gripper units into a transfer position or wetting position and further from the transfer position or from the wetting position to at least one subsequent process step, the connecting fluid supply device being arranged in this way or It can be arranged that connecting fluid can be applied in a controlled manner to the at least one free end of the respective section which can be arranged in the wetting position, and the device is set up to position the gripper units individually or in pairs by means of adjusting movements in such a way that at least two of the following steps can be process-decoupled from each other / are decoupled: step of moving into the transfer position or into the wetting position, step of applying connecting fluid, at least one of the application Connection fluid subsequent process step. In other words: the process decoupling does not necessarily have to take place by means of a process module in a certain relative arrangement, but can e.g. also done by individual robot arms. It has been shown that the present invention also facilitates the process decoupling in that the ends of the section do not have to be displaced along a single predefined movement path, but that successive sections for the movement path can be defined by the device or by the decoupled process , in particular one movement section for each process step. Last but not least, this also enables an optimization of the motion sequence for the respective process step.

In this respect, the term “movement path” in connection with the present invention should also be understood as a chain of individually definable / predeterminable movement path sections, in particular with the individual movement path sections in different spatial areas. Alignment and / or in different room levels. In the following, the terms “movement path” and “a plurality of movement path sections strung together” are used synonymously in the description and in the claims with reference to the present invention. In other words: The term "movement path" encompasses the individual sections of the movement path from the feed level to the end of the manufacturing process (last station of the process chain, in particular ejecting the ring).

In the prior art, however, the path of movement is quite clearly predefined by the design of the device; the strand follows this predetermined movement path (in particular with the path in a geometrically continuous course) from the feed to the completion of the method (connecting and ejecting), in particular since the movement path is coupled to a rotary movement which takes place at least approximately in the feed plane. In contrast to this, the present invention enables the movement path to be broken down into different sections (at the latest from the process decoupling and shifting of the strand section out of the feed plane), with direction changes ( e.g. .B. 90 °) and superimposed translatory and rotary movements take place, so that at least some of the sections follow a geometrically freely definable line or curve, that is to say that they are neither location-based nor geometrically predefined in terms of device technology.

According to one exemplary embodiment, the gripper module is set up to position the gripper units at least two different positions by means of the adjusting movements in such a way that the step of moving to the transfer position or wetting position can be process-decoupled / decoupled from the step of applying connecting fluid, in particular by local separation into different levels.

According to one exemplary embodiment, the gripper module is set up to position the gripper units at least two different positions by means of the adjusting movements in such a way that the step of applying connecting fluid can be process-decoupled / decoupled from a process step following the application of connecting fluid. This also makes it possible to at least partially overcome the temporal disadvantages associated with the drying of the connecting fluid (in particular up to two-digit seconds per sealing ring).

According to one exemplary embodiment, the gripper module is set up to simultaneously position the gripper units at least two different positions by means of the adjusting movements, in particular in planes spaced apart from one another transversely to the feed direction, such that the handling of a first section wetted with connecting fluid from the step of applying connecting fluid to one further section can be decoupled / decoupled in terms of process. This also makes it possible to overlay the advance of further sections with the wetting and drying.

According to one exemplary embodiment, the gripper module has two, three or four groups of gripper units, in particular in each case with at least two gripper units. Depending on the number of groups, different intermediate positions can be approached and the degree of process decoupling of individual steps can be scaled. The number of groups can also be even greater, especially if the gripper module is designed as a rotary module with a comparatively large scope and comparatively many rotary positions (in particular individually adjustable, e.g. 30 ° or 45 °).

According to one exemplary embodiment, the groups of gripper units are arranged at different circumferential positions with a circumferential angular offset of 90 ° and / or 180 °. The individual gripper units are preferably arranged at a distance from one another in the tangential direction, but the circumferential position can be defined via the angular position of the corresponding actuator. Two groups with a circumferential angular offset of 180 ° or three or four groups with a circumferential angular offset of 90 ° or 120 ° are preferably provided. This also provides the greatest possible local decoupling. Optionally, three groups with a circumferential angular offset of at least approximately 120 ° can also be provided.

According to one exemplary embodiment, a respective group of gripper units has two gripper units, in particular with gripper pairs in a symmetrical arrangement in pairs. It has been shown that the respective section can be handled in a sufficiently predefined manner by means of a pair of grippers with the respective gripper unit in the region of the respective free end.

According to one embodiment, the gripper units are arranged in pairs at different circumferential positions, in particular with a circumferential angular offset of 90 ° and / or 180 °.

According to one exemplary embodiment, the gripper module has a turntable, which is arranged at least approximately in a horizontal orientation and on which the gripper units are arranged. Optionally, the gripper module can also have a rotating plate arranged in a plane not equal to the horizontal plane, on which the gripper units are arranged.

According to one exemplary embodiment, the handling of a first section to be wetted with connecting fluid and / or the application of connecting fluid takes place in a first plane, in particular in an at least approximately vertical plane, at least one process step following the step of applying connecting fluid, in particular the handling of the respective one Section directly after the application, takes place in a second plane, in particular in a horizontal plane, in particular with the second plane in at least approximately orthogonal alignment relative to the first plane, in particular with the second plane defined by the arrangement / alignment of a rotary plate on which the Gripper units are attached. This local decoupling also provides advantages with regard to the arrangement of the individual structural components.

According to one embodiment, the device is set up to ensure the process decoupling of the handling of a respective wetted section from the upstream process steps in that the respective section is pivoted by means of the gripper module in a plane which is at an angle to a handling plane in which the wetting is carried out, in particular at an angle of at least approximately 90 ° (lateral pivoting away from the device components for carrying out the wetting process), in particular with the pivot plane defined by the arrangement / alignment of a rotary plate to which the gripper units are attached. This also enables the use to be limited to only one connection fluid supply device or a minimum number of connection fluid supply devices, so that the difficulties associated with drying connection fluid can be largely avoided. In other words, the connection fluid to be applied is conveyed over a large proportion of the time, and thus the connection fluid supply device tends to dry out or block with respect to the supply.

According to one exemplary embodiment, the device has at least one actuating drive for specifying the actuating movement (s) of the gripper module, the actuating drive being decoupled / uncouplable from one or more drives for specifying the position of the respective section until the wetting process. The gripper module can in particular be actuated independently of an actuation of a respective gripper unit. This enables further procedural optimizations, in particular a superimposition of individual translatory positioning movements of a respective gripper unit and a rotary positioning movement of the entire gripper module together with the gripper units.
At least one actuating drive for specifying the actuating movement (s) of the gripper module can be clocked with one or more drives for specifying the position of the respective section until the wetting process, that is to say it can be regulated in coordination with these drives.
The device can have a drive unit which comprises at least one actuator for the individual displacement of individual gripper units or pairs of grippers into or from a / the feed plane and at least one actuator for pivoting or relative repositioning of all gripper units relative to the feed plane, the individual drives are each coupled to the control device.
One / the drive unit of the device can have a plurality of actuators for the gripper units, at least two of which can be actuated simultaneously in the translatory actuation / movement direction independently of an optionally superimposed actuation movement of the entire gripper module or a rotary plate of the gripper module.
A / the drive unit of the device can have at least one translatory actuator for a respective gripper unit or a respective pair of grippers and at least one rotary actuator for a rotary plate of the gripper module to which the gripper units are attached.

The device can be set up for a temporally overlapping actuation and displacement of the gripper units both in the translational and in the rotational direction, the rotary actuating movement optionally taking place about an axis of rotation of a respective gripper unit and / or about a pivot axis of the gripper module.

According to one exemplary embodiment, a / the rotary plate of the gripper module has an actuator for moving to / specifying predefined rotary positions, in particular with an angular offset of 10 °, 20 °, 30 °, 45 ° or 90 °.
A / the rotating plate of the gripper module can be pivotally mounted about an at least approximately vertically aligned pivot axis, in particular for a pivot angle of at least 180 °.

According to one exemplary embodiment, the gripper module is constructed with mirror symmetry with regard to the arrangement and / or configuration of the gripper units, in particular with two gripper pairs arranged opposite one another and symmetrically relative to one / the pivoting / rotating axis of the gripper module (two gripper units in each case).

According to one embodiment, the gripper units are below a / the rotary plate of the Arranged gripper module, especially hanging. Last but not least, this also favors the guidance of the exposed section between the gripping points.

According to one exemplary embodiment, a / the rotating plate of the gripper module is arranged in an intermediate intermediate position between a feed plane (xz) and a material transfer plane (xz), in particular in the case of a swivel mounting around a swivel axis arranged at least approximately at half the transverse distance. This intermediate position enables effective process decoupling with only a few actuating movements, with further process steps optionally being able to be provided at further intermediate positions or circumferential positions.

According to one embodiment, the gripper module shifts the respective wetted section or the sealing ring from a feed or wetting plane (xz) into an at least approximately orthogonal or parallel transfer plane (yz, xz). Above all, this also enables effective local decoupling and can thus also create freedom of movement for actuators and for handling the section or ring.

According to an exemplary embodiment, a / the respective gripper unit is rotatably mounted about a longitudinal axis of the gripper unit. This degree of freedom of movement also enables, in particular, an advantageous combination of individual translation and rotation movements per gripper unit. Optionally, only one gripper head is rotatably mounted.

According to one exemplary embodiment, a / the respective gripper unit is aligned along an axis at an angle to the feed direction (x), in particular in the transverse direction (y) at least approximately orthogonally to the feed direction (x), in particular when the respective gripper unit is rotatably supported about this axis. This orientation favors decoupling.

According to one embodiment, a respective gripper unit or two gripper units are mounted together as gripper pairs, each translationally displaceable in the transverse direction, in particular at least approximately orthogonally to the feed direction (x), in particular for picking up / transferring a respective section (in particular picking up in the feed plane (xz) and transferring into a transfer plane orthogonal or parallel to the feed plane). This favors local decoupling from the feed plane already in an early phase of the process, in particular immediately after gripping or when first handling the section which has just been cut off / cut to length.

According to one embodiment, the feed unit has at least one pneumatic unit and / or electric motor unit and is set up to support or accomplish the feed of the continuous material and / or the respective section in a pneumatic and / or electrical manner, in particular the feed for positioning the continuous material relative to the gripper units, in particular in / on the gripper units. The feed can also be set bidirectionally. The feed unit can also have a plurality of rollers or belt conveyors, each of which can be actuated via individually controllable electric motors. In this way, the feed can also be regulated and readjusted along the entire section or strand. In other words: the drive units can be controlled individually for bidirectional feed.

According to one embodiment, the feed unit is set up for bidirectional translatory displacement of the continuous material and / or the respective section, in particular for displacement back into the final translational relative position relative to the respective gripper units, in particular before gripping the continuous material or the respective section.
The device can be designed to specify at least one intermediate intermediate translational position for the continuous material or the respective section when the continuous material and / or the respective section is advanced. Last but not least, this also favors untwisting of the strand section, so that the free ends can be glued to one another with particularly little torsion. Untwisting or twist-free arrangement of the strand is particularly useful especially when handling profiled sealing material.

According to one embodiment, the device can also have at least one robot arm, on which at least one gripper unit is mounted, in particular with the robot arm supported on the gripper module, in particular on / on the turntable of the gripper module. A robot guidance of a respective gripper unit or of gripper pairs largely freely in space and flexible with regard to two or three spatial axes can further increase the process variability.

The process decoupling can be further intensified by means of one or more robot arms; In particular, a robot arm enables even greater freedom of movement and also further decoupling of any movement paths predefined in terms of device technology; a robot arm can facilitate an individual definition of successive movement path sections, each with its own geometry, the individual Movement path sections can also merge into one another discontinuously.

A respective robot arm can position at least one gripper unit, optionally also two gripper units of a pair of grippers.

For example, two to four robots or robotic arms are provided on a turntable. The respective robot or robot arms can also be supported on the floor (stand assembly) and optionally also mobile with regard to the stand position. On a respective robot arm, e.g. Single or double grippers must be installed.

According to one exemplary embodiment, the device is set up to rotate the gripper module or a / the rotating plate of the gripper module back and forth in a rotational manner between the at least two different circumferential positions for process-related decoupling of the process steps following the wetting process and / or in the case of a predefined uniform direction of rotation on the at least two position different circumferential positions. These drive / control variants also make it easy to convert from two to three or more circumferential positions.

According to an advantageous exemplary embodiment, the feed unit is set up to guide the endless material to a first gripper unit and past the first gripper unit to at least one further gripper unit, in particular with pneumatic support, in that the endless material is guided back and forth. This also makes it easier to grip both free ends of the section in a simple manner, in particular in a state that is as torsion-free as possible. Feeding back and forth (feed back and forth) can minimize a twist or twist in the continuous material or in the respective section. For example, the free ends are gripped in such a position that the free ends protrude slightly from the gripper units.

According to an advantageous exemplary embodiment, the device has electrical gripper units and uses the gripper module to define at least one intermediate position for guiding and handling the respective section.

According to an advantageous embodiment, when the continuous material or a respective section is fed, air-assisted (pneumatic) conveying takes place, in particular when the continuous material or section is fed at least in sections through a pipe section or a tube.

According to an advantageous exemplary embodiment, the device is set up for conveying out the continuous material or a respective section for untwisting, in particular in that the feed takes place beyond the wetting position and back again before wetting.

According to an advantageous exemplary embodiment, the device is set up for decoupling the individual process steps of feed, separation, wetting, holding, depositing / ejecting, in particular by means of the gripper module and the gripper units arranged in groups.

According to an advantageous embodiment, the device for feeding the continuous material or a respective section has at least one belt conveyor, in particular a friction-locked belt conveyor with at least one peripheral belt, preferably with two peripheral belts in frictional contact with the continuous material.

According to an advantageous exemplary embodiment, the device ensures, by means of a dancer unit, that the course of the endless material is tapered to form directed loops, in particular on at least one material section between gripper units.

According to an advantageous embodiment, the device comprises at least two pairs of gripper units, each of which can be shifted from the wetting position into a connecting position in which the two free ends of the respective section can be brought into contact with one another, the pairs of gripper units preferably being at 90 ° or 180 ° are circumferentially offset from one another on a rotary plate of the gripper module. In this way, with a comparatively low (only double or triple) redundancy, a strong effect with regard to cycle time improvement can be ensured.

ITEM At least one of the aforementioned tasks is in particular also achieved by a device for producing sealing rings from continuous material, in particular a device according to one of the preceding claims, comprising: a feed unit set up for conveying and positioning the continuous material in at least one separation position, with feed in a predefined feed plane (xz); a severing unit configured to sever a portion from the continuous material; a plurality of gripper units arranged in pairs arranged for gripping and moving the continuous material or the section; at least one connection fluid supply device; a gripper module that can be arranged in predefined positions by one or more adjusting movements which the gripper units are arranged / can be arranged in pairs at different positions; and a control device which is coupled to the gripper module and the gripper units and is optionally also connected to at least one component from the following group: feed unit, separating unit and / or connecting fluid supply device; the device being set up for the controlled displacement of the two free ends of the respective section in each case along a predeterminable multiaxial movement path (or along a plurality of predeterminable movement path sections) into a wetting position and further from the wetting position to at least one subsequent process step (in particular connecting and ejecting) , wherein the gripper module is set up to position the gripper units by means of the adjusting movements such that at least two of the following steps can be decoupled / decoupled from one another in terms of process: step of moving from the feed plane into the wetting position, step of applying connecting fluid (wetting), at least one process step subsequent to the application of connection fluid comprising connecting the free ends (and thereby clearing the wetting position); the device being set up for arranging the gripper units at different positions by means of rotary adjusting movements of the gripper module; the respective gripper unit being mounted in a translationally displaceable manner on the gripper module; the respective section being handled in at least three or four successively approached planes or positions, at least comprising the feed plane, the wetting plane / position, the connecting plane / position. This enables numerous of the advantages mentioned above to be realized, in particular thanks to the double process decoupling of the individual process steps. The control device can optionally be replaced by a mechanized control, that is to say by a process sequence ensured by means of mechanical components.

At least one of the aforementioned tasks is also achieved by a control device set up to control a device for producing sealing rings from continuous material, in particular set up to control a device described above, the control device comprising a data memory in which are stored: position data of a zero position of at least two gripper units, position data of at least one wetting position, position data of a connection position, data relating to a movement path or individual movement path sections of the gripper units, data relating to an actuating movement of a gripper module on which the gripper units are arranged, and / or data relating to the properties of at least one type of continuous material , wherein the control device has a communication interface to at least one of the following components of the device: feed unit, separation unit, gripper units, gripper module, connecting fluid supply device, and wherein the control device is set up, by specifying the actuating movement of the gripper module and by actuating the gripper units, a process decoupling at least of the process of applying connecting fluid (wetting) and / or the process of shifting the free ends into the wetting position to ensure further process steps. This enables the manufacturing process to be controlled / regulated with regard to a large number of parameters, in particular with regard to the point in time and the direction of translatory and / or rotary adjusting movements of the individual gripper units and / or the gripper module.

At least one of the above-mentioned objects is also achieved by using a control device in a device for producing sealing rings from continuous material, in particular in a previously described device, for specifying at least one wetting position and a connecting position of free ends of a respective cut-off section of the continuous material and for actuation of at least one drive unit for moving gripper units for simultaneous handling of at least two sections and for specifying an actuating movement of a gripper module on which the gripper units are arranged, in particular for specifying a pivoting movement of a gripper module in an at least approximately horizontal plane. In this way, important process steps for the connection of the ends can be automated and decoupled from one another. The (adhesive) connection can be produced reproducibly and inexpensively in large quantities. This facilitates e.g. also a random quality control.

At least one of the aforementioned tasks is also solved by using a mechanized controller for defining a process sequence by means of mechanical components in a device for producing sealing rings from continuous material, in particular in a device described above, for specifying at least one wetting position and a connection position from free ones Ends of a respective cut-off section of the continuous material, wherein a plurality of gripper units are moved by means of the mechanized control for simultaneous handling of at least two sections from a feed plane and for process decoupling for positioning the ends of the respective section in the wetting position and further in the connection position , especially in at least three different levels. This provides the aforementioned advantages, in particular a particularly robust type of control.

At least one of the above-mentioned objects is also achieved by using a gripper module in a device for producing sealing rings from continuous material, in particular from round cords or profiled continuous material, in particular in a previously described device, for arranging gripper units at different positions by adjusting movements of the gripper module in such a way, that at least two of the following steps can be decoupled / decoupled from one another in terms of process: step of moving the continuous material into a transfer position or into a wetting position, step of applying connecting fluid in the wetting position, at least one process step following the application of connecting fluid (in particular material transfer or ejection) . This provides the aforementioned advantages.

The aforementioned object is also achieved by using a gripper module arranged between a feed plane (xz) and a connection / adhesive plane in a device for producing sealing rings from continuous material, in particular from round cords or profiled continuous material, in particular in a previously described device, for arrangement of gripper units at different positions by means of rotary positioning movements of the gripper module in such a way that at least two of the following steps can be decoupled / decoupled from one another in terms of process: step of moving the continuous material into a transfer position or into a wetting position, step of applying connecting fluid in the wetting position, at least one of them Application of connecting fluid subsequent process step; the respective gripper unit being mounted on the gripper module so as to be translationally displaceable. By also translationally shifting the gripper units in a time overlap to a rotation of the gripper module, a particularly large amount of process time can be saved, that is to say a large number of pieces per time unit can be realized.

The aforementioned object is also achieved by a sealing ring made of continuous material, in particular manufactured using a previously described device, the sealing ring being produced by a fully automated process with at least partially overlapping cycle times in at least two of the subsequent successive process steps with regard to an individual Section and / or with respect to successively produced sections, in that a separated section of the continuous material is gripped in a feed plane by gripper units of a gripper module, which move the section out of the feed plane (clearing the feed plane), the free ends of the section then using the gripper units in a wetting position is shifted, in particular by pivoting the gripper units by means of a gripper module, wetting them with connecting fluid and then by means of the gripper units n and / or the gripper module can be moved further (clearing the wetting level / position), in particular first up to a connection position and then up to a transfer / ejection position, so that the section is produced in at least three or four successively approached levels or positions . This provides the aforementioned advantages. The sealing ring is particularly characterized by a particularly clean and resilient joint, because the connection and drying can also be optimized with regard to the individual process (adhesive, continuous material, diameter of the strand), especially in terms of time, even with large quantities. Last but not least, the sealing ring is particularly characterized by a particularly low twist (particularly low twist), in particular thanks to the bidirectional feed movement in the feed plane, before gripping the free ends.

The aforementioned object is also achieved by using a device for producing sealing rings from continuous material, in particular from round cords or profiled continuous material, in particular a previously described device, for defining at least three or four successively approached positions or levels for handling a respective separated section of the Endless material in locally decoupled successive process steps, at least comprising a feed plane, a wetting plane / position, a connecting plane / position, the individual planes or positions being approached by means of gripper units which move at least in one spatial direction or in one direction of movement (in particular rotationally) via a gripper module arranged centrally, in particular centrally, between these levels or positions, at least two sections overlapping in time in these three or vi positions or levels are handled. This provides the aforementioned advantages.

• - Fördern und Positionieren des Endlosmaterials in wenigstens eine/r Abtrenn- bzw. Schneideposition;
• - Abtrennen eines Abschnitts vom Endlosmaterial in der Schneideposition;
• - Greifen und Verlagern des Abschnitts mittels wenigstens einer Greifereinheit;

wobei erfindungsgemäß vorgesehen ist, dass durch translatorische und/oder rotatorische Verlagerung der wenigstens einen Greifereinheit eine prozessuale Entkopplung erfolgt, wobei die wenigstens eine Greifereinheit an einem Greifermodul angeordnet ist und derart mittels des Greifermoduls positioniert wird, dass wenigstens zwei der folgenden Schritte prozessual voneinander entkoppelbar/entkoppelt sind: Schritt des Verlagerns in die Übergabeposition oder in die Benetzungsposition, Schritt des Aufbringens von Verbindungsfluid, wenigstens ein dem Aufbringen von Verbindungsfluid nachfolgender Prozessschritt. Dies liefert zuvor genannte Vorteile.At least one of the aforementioned tasks is in particular also achieved by a method for producing elastic, flexible, in particular elastomer sealing rings from continuous material, in particular from round cords or profiled continuous material, comprising the steps:

• - Conveying and positioning the continuous material in at least one cutting or cutting position;
• - cutting off a section from the continuous material in the cutting position;
• - Gripping and moving the section by means of at least one gripper unit;

it is provided according to the invention that a process-related decoupling takes place by translational and / or rotary displacement of the at least one gripper unit, the at least one gripper unit being arranged on a gripper module and being positioned by means of the gripper module in such a way that at least two of the following steps can be process-decoupled from each other / are decoupled: step of moving into the transfer position or into the wetting position, step of applying connecting fluid, at least one process step following the application of connecting fluid. This provides the aforementioned advantages.

Controlled displacement of at least one free end of the respective section takes place along a plurality of movement path sections which can be predetermined by means of mechanical components and / or by means of the control device and / or about one or more axes into a transfer position or wetting position (feed or conveying) ) and further from the transfer position or from the wetting position to at least one subsequent process step, the connecting fluid being applied in a controlled manner to the at least one free end of the respective section which can be arranged in the wetting position.

The individual successive movement path sections can merge into one another continuously and discontinuously (in particular an abrupt change of direction). A single movement path, which is not subdivided into several sections, is to be understood as a movement path in the narrower sense, in particular as described in relation to a circular path in the prior art.

In other words: the section is moved after the separation from the feed plane (in particular due to discontinuous interruption or deviation of the movement path) and there is controlled shifting of at least one free end of the section along a plurality of also according to the desired procedural or local Decoupling of predeterminable movement path sections into and / or from a wetting position, the following step optionally taking place in a plane parallel to the feed plane or in a plane at an angle to the feed plane, in particular at an angle of 30 °, 45 ° or 90 °: application of Connection fluid to the at least one free end arranged in the wetting position. This enables the advantages mentioned above to be realized, in particular an effective procedural local and temporal decoupling of successive method steps and thus early release of the feed level. At least two or three sealing rings can be produced simultaneously or at least overlapped in time. Optionally, the process decoupling can be further scaled by defining further intermediate positions between the feed plane and the ejection of the sealing rings produced, in order to produce more than three sealing rings with a time overlap in the one process with the one device.

The method can be carried out by adjusting movements along or around a multiplicity of axes in different planes, in particular about a pivoting / rotating axis which is laterally offset from the feed plane (in particular a purely rotational positioning movement of the entire gripper module) and around individual ones which run at least approximately transversely to the feed plane Axes (in particular translatory positioning movement of the respective gripper unit). For example, the swivel axis is aligned exactly parallel to the feed plane and orthogonal to the feed direction (x), so it does not intersect the feed plane. Depending on the number of intermediate positions for the gripper units or for the entire gripper module, the translational movement axis of the gripper units can be aligned perpendicular to the feed plane in at least one or two of the rotational positions. In other words, the device according to the invention defines several axes of movement outside the feed plane, in particular the axis of rotation of the gripper module and individual translatory actuating axes for the gripper units, and these axes can also be used for advantageous local process decoupling.

Figure list

• 1, 8 jeweils in einer Seitenansicht quer zur x-Richtung eine Vorrichtung mit Greifermodul, in unterschiedlichen Betriebszuständen (Greifereinheiten ausgefahren in Vorschubebene bzw. eingezogen in Richtung Greifermodul);
• 2, 7 jeweils in einer Draufsicht ein Greifermodul einer Vorrichtung, in unterschiedlichen Betriebszuständen;
• 3, 4, 5, 6 die Vorrichtung jeweils in einer perspektivischen Seitenansicht, in unterschiedlichen Betriebszuständen, wobei die 3 und 4 sowie 5 und 6 jeweils denselben Betriebszustand zeigen;
• 9A, 9B, 9C jeweils in einer seitlichen oder perspektivischen Detailansicht einzelne Komponenten der Vorrichtung;
• 10 in einer perspektivischen Detailansicht eine relative Position einer Greifereinheit der Vorrichtung nach erfolgtem Greifen des Strangs;
• 11 in einer perspektivischen Seitenansicht einzelne für den Vorschub des Endlosmaterials vorgesehene Komponenten der Vorrichtung, insbesondere in einer Anordnung in einer Vorschubebene xz, insbesondere stromauf vom Benetzungs-Prozess, insbesondere gemäß einem weiteren Ausführungsbeispiel;
• 12 in aufeinanderfolgenden schematischen Seitenansichten einzelne Phasen bzw. Momentaufnahmen des Betriebszustandes von Komponenten der Vorrichtung zum Zuführen (Vorschub) von Endlosmaterial;
• 13 ein Verfahrensschaubild zur Veranschaulichung einzelner Schritte eines mittels der erfindungsgemäßen Vorrichtung realisierbaren Prozesses.

The invention is described in more detail in the following drawing figures, reference being made to the further drawing figures for reference signs which are not explicitly described in a respective drawing figure. In accordance with exemplary embodiments of the invention, the entire device or individual components thereof are shown:

• 1 , 8th each in a side view transverse to the x-direction, a device with gripper module, in different operating states (gripper units extended in the feed plane or retracted in the direction of the gripper module);
• 2nd , 7 in each case a top view of a gripper module of a device, in different operating states;
• 3rd , 4th , 5 , 6 the device in a perspective side view, in different operating states, the 3rd and 4th 5 and 6 each show the same operating state;
• 9A , 9B , 9C each in a side or perspective detail view of individual components of the device;
• 10th a perspective detailed view of a relative position of a gripper unit of the device after gripping the strand;
• 11 in a perspective side view, individual components of the device provided for the feed of the continuous material, in particular in an arrangement in a feed plane xz, in particular upstream of the wetting process, in particular according to a further exemplary embodiment;
• 12 in successive schematic side views, individual phases or snapshots of the operating state of components of the device for feeding (feeding) continuous material;
• 13 a process diagram to illustrate individual steps of a process that can be implemented by means of the device according to the invention.

Furthermore, with 14A , 14B in a side and a front view, in each case in a schematic representation, reference is made to an adhesive device according to the prior art.

DETAILED DESCRIPTION OF THE FIGURES

The figures are first described together. Special features are explained individually with reference to individual reference symbols in connection with the respective figure.

Continuous material 1 is called a strand 1.1 (especially round cord or profiled endless material) fed to an automatable process. For the production of a sealing ring 1.3 can the strand 1.1 each cut or cut to length so that a section 1.2 with two free ends 1a , 1b is present. this section 1.2 can be handled automatically by means of gripper units for applying connecting fluid F and to put down or eject the glued ring 1.3 . One or more measuring devices can be used 2nd monitor and document the process, in particular comprehensively one or more first sensors 2.1 , in particular angle measuring units or rotary encoders, one or more time recording units 2.2 , one or more optical measuring units 2.3 , in particular each in the form of a camera, one or more pressure sensors 2.4 , in particular integrated in a respective gripper unit. These sensors are mentioned by way of example and can be useful for a process control / regulation desired or useful for each application.

A device 10th for the production of sealing rings is used to carry out the process. The device 10th has in particular: a feed unit 20th , especially with pneumatic feed / support, a plurality of rollers 21st ; 21a , 21b , 21c , 21d , in particular rollers at a first to fourth or further longitudinal position (s), one or more webs or guides or sliding contours 23 , one or more limit switches, one dancer unit 26 or a dance on the path of movement of the strand to the gripper units, a relocatable towing eye 27th , a separation unit or cutting unit 30th with a knife, cutter or saw 31 or the like, and a gripper module 40 with at least two redundant gripper units 40a , 40b , in particular first and second gripper units, each a pair of grippers 40ab form in a predefined or predefinable position / circumferential position. A turntable (preferably horizontal orientation) 70 or a rotating plate (not necessarily horizontal orientation) of the gripper module 40 and a turntable base, especially with the first and second gripper interface 70a , 70b (here in the opposite arrangement, i.e. for a 180 ° rotation), are used to hold and position the respective gripper units, the rotary table 70 in a pivot / swivel bearing 71 (or axis of rotation) is mounted and can be positioned with the gripper units in predefined (circumferential) positions. The cycle times for the respective movement can also be decoupled or superimposed. For easier feeding of the strand 1.1 the gripper units can each have a passage 41 or have a receptacle for the corresponding strand section to be gripped.

As far as the feed plane is concerned, this is referred to as a movement path. Because of the process and local decoupling according to the invention, all subsequent handling stations for the strand or section of the endless material are referred to as individual successive movement path sections.

The individual roles 21st the feed unit 20th can also be integrated in belt conveyors.

The following components are used for process automation: Control device 50 , Arithmetic unit 51 , Data storage 52 , Input / output unit 53 , in particular with visual user interface, communication interface 54 , especially for wireless communication. Instead of wireless interfaces, a wired communication interface can also be provided. By means of the control device 50 can the drive unit 80 can be controlled, and the actuation of individual drives can be regulated, in particular the actuation of actuators 81a , 81b for the gripper units or gripper pairs (in particular linear motors) and one or more stepper motors 82 for a rotating / swiveling movement of the gripper module. By means of the control device 50 a temporally superimposed translation and rotation actuating movement can also be regulated.

Different movement path sections can be defined to describe the individual movements (dashed lines in 7 , 8th , 12 ): Movement path sections BP1a , BP1b a respective free end of the section after gripping (in particular largely according to the movement path of the respective gripper head); Movement path BP1.1 of the strand, in particular before gripping, in particular exclusively in one or two dimensions in the feed plane xz; Movement path BP40 the gripper module, in particular on a circular path or about a rotation / pivot axis; Movement path or movement path sections BP40AB the (respective) gripper unit or the respective gripper pair.

At the beginning of the process, a zero position can be set for each of the movable components, in particular also for the free end of the continuous material P0 To be defined. In a cut / cut position Ps the strand is cut to length. Connecting fluid F is by means of a connecting fluid supply device 60 via at least one feed unit 61 in the wetting position Pf (or their axial extension / projection) applied to the free end. After wetting, the free ends can be in a connecting position or pressing position PP can be relocated, whereby a process-related or local decoupling can again take place, in particular in that the wetted section is displaced out of the wetting plane, for example into a plane orthogonal to it or into a parallel opposite plane.

The process can be monitored and regulated in different control points with regard to individual aspects. The following should be mentioned in particular: first point of regulation R1 , especially regarding gripping and position detection or position control; second regulation point R2 , especially with regard to cutting / cutting parameters; third regulation point R3 , in particular position detection or control; fourth regulation point R4 , in particular with regard to the type or amount of the connecting fluid applied; fifth regulation point R4 , especially regarding publishing and contacting.

The process can be divided into the following steps, the steps according to the invention being able to be carried out at least partially overlapping in time: step S1 , especially conveying / feeding and positioning and gripping; step S2 , in particular severing, optionally also gripping; step S3 , in particular moving at least one free end into the wetting position; step S4 , in particular application of connecting fluid; step S5 , in particular connecting the free ends of the section; step S6 , translational and / or rotary displacement of the gripper units and the section, in particular turning / pivoting the gripper module or rotary table; step S7 , in particular transferring the sealing ring from the gripper module; step S8 , in particular ejecting the sealing ring; optional step S9 comprising swiveling back or rotating the gripper module.

Directions are given here according to the following coordinate system: longitudinal direction or feed direction x, in particular in the horizontal plane; Transverse direction y, in particular in the horizontal plane (in particular orthogonal to the feed direction maintained until cutting off); Height direction z or vertical. The feed of the strand 1.1 up to the handover and handling by the gripper units, this preferably takes place exclusively in a feed plane xz.

In 7 , 8th the following rotation angles are illustrated: rotation angle α the gripper module or the turntable; Angle of rotation α1 (in particular 180 °) from a first to a second rotational position for handling the section; Angle of rotation α2 (in particular 90 °) between a first, second and third rotational position.

In 1 is the gripper module 40 arranged in an intermediate position between a wetting plane (xz) and an opposite connection plane (xz). The strand section 1.2 is hanging in the by the arrangement of the feeder 60 defined wetting level. The respective section can be shifted from one level to the other by means of the gripper units by means of a 180 ° rotary / pivoting movement. Optionally, there is also a translational displacement of the gripper units, so that the individual movement path sections of the free or connected ends of the respective section optionally run in a circular, elliptical or three-dimensional manner in space.

2nd describes the process decoupling by referring to the local separation of the individual steps. The wetting takes place in one plane or at a point opposite the feed plane xz (right gripper pair), and the connection and optionally also ejection of the rings is optionally carried out in an intermediate position (translational and / or rotary approach). The wetting level through the arrangement of the feed unit 61 can be defined. Optionally, the feed unit 61 be shifted, especially in the transverse direction y. For example, a connection can take place in a position in which the two gripper units on the corresponding side of the module are withdrawn, and ejection can take place, for example, after the module has been pivoted through 90 °. Alternatively, other combinations of translatory and rotary actuating movements can be selected; an optimal combination in each case also depends on the number of pairs of grippers.

3rd shows a situation in which both gripper pairs 40ab the respective section 1.2 keep it open, i.e. without contact of the free ends. The left pair of grippers 40ab has the section 1.2 just taken from the feed plane xz, whereby the two gripper units have not yet turned the free ends to each other (section is still arranged in a U-shape with ends pointing outwards), and the pair of right grippers is already pointing the free ends upwards into the Wetting position.

In 4th are already in for 3rd shown situation further individual drive components of the drive unit 80 indicated, especially actuators 81a , 81b for an individual translatory movement of the respective gripper unit or a pair of grippers, and a stepper motor 82 or the action axis for the stepper motor to set a rotary / swivel movement of the gripper module. The respective drives can communicate wirelessly and / or wired with the control device, in particular centrally via the drive unit 80 .

The 1 to 4th show the gripper units in a closed state, in which the gripper heads grip and hold the strand. The gripper units are set up for at least three gripping positions, in particular open, semi-open and closed. When open, the gripper units drop or eject the ring. In the semi-open position, the gripper units form a guide contour; The gripper units are preferably set at least in the feed plane during the feed of the strand in the semi-open position, the strand being guided in the respective longitudinal section by means of the gripper heads.

5 illustrates a situation with two gripper units arranged in the feed plane, each of which is set in the semi-open position, the gripper heads being arranged in alignment and each forming a passage for guiding the supplied strand section. In 5 are also the control device 50 and related components 51 , 52 , 53 , 54 indicated for operation and communication.

With the arrangement according to 6 the gripper units of the left pair of grippers are translationally displaced into the feed plane xz, in particular in an aligned arrangement with the axis of movement of the strand, and in an open or semi-open position. In 6 respectively. 8th are also the measuring device 2nd as well as associated or in communication sensors 2.1 (Rotation angle measurement), 2.2 (Time measurement), 2.3 (Position measurement), 2.4 (Pressure measurement), whereby the arrangement of the sensors can largely be freely selected and adapted to the respective process. The measuring device 2nd is in communication (especially wireless) with the control device 50 .

7 illustrates individual movement path sections, with rotary actuating movements optionally comprising turning (movement in only one direction of rotation) or pivoting (back and forth).

According to the in 8th shown arrangement there is a pivoting or rotating the gripper module 40 180 ° from the wetting position Pf in the connecting / pressing position PP . The same movement leads an already empty pair of grippers (no section or ring is held) from the connection / pressing position PP back to the wetting position Pf or from a transfer position back to a gripping position in the feed plane xz. In other words: after gluing, there can be a translational shift from the connecting / pressing position PP and, optionally, after turning back / swiveling or simultaneously, a translational displacement up to the feed plane can take place. For this purpose, one or more translational target positions can be / are specified for the respective gripper unit or for the respective gripper pair.

9A illustrates that the respective gripper unit has an opening or a receptacle in an open state 41 for the strand section 1.2 forms. In 9A are form-fitting leadership elements 42 (in particular sliding contours or linear guides) for specifying translatory movement paths or movement path sections with regard to the positioning of the respective gripper unit. 9A also illustrates the use of optical Sensors (especially laser buttons) in connection with the wetting process.

9B , 9C illustrate individual phases of gripper actuation. In the in 9B The situation shown is the gripper unit 40a in the open or semi-open state (especially the intermediate position for guiding the strand), and in 9C the gripper unit has gripped the strand (closed position). The 9B , 9C also show pipe sections or the like extensive guide contours to support the guidance or the advancement of the strand, especially in combination with pneumatic conveying.

10th describes the arrangement of a gripper unit with a strand section gripped, that is to say in the closed (accessing) state. The free ends 1a , 1b of the section 1.2 point away from each other in opposite directions; the gripper units have not yet been rotated about their own longitudinal axis towards one another. In particular shows 10th a section of a takeover / gripping shaft, that is, the interface from the feed level to the gripper module, or from a translatory conveyance to a free displacement of the strand section in space. 10th can be used as a detailed view of the in 4th shown situation.

11 illustrates a dance 26 with towing eye 27th on the movement path in the feed plane xy, in particular in an implementation on a further device 10th according to a further embodiment. This embodiment example also provides an alternative embodiment of the separation unit 30th . For the sake of clarity, the dances in the 1 to 8th not shown. In the 11 Features shown can also in the arrangement according to the 1 to 8th be realized.

12 describes individual phases 1 ) to 12 ) a supply of strand / endless material, also in particular with reference to the embodiment of 11 , the phases preferably all being carried out in the feed plane xz. It is not absolutely necessary to implement all of these phases. However, it has been shown that these phases, in combination with one another, enable a particularly advantageous preparation or preparation of the strand material before gripping, in particular in order to minimize twist and to keep the joint as clean as possible. These phases therefore all fall under the step S1 .

phase 1 ) shows a zero position P0 in which the feed unit 20th is not yet active. In phase 2nd ) becomes the feed unit 20th activated. phase 3rd ) includes conveying the continuous material or the strand to the separation unit 30th , whereby the free end can be cut off at the beginning of a batch of continuous material (calibration of the zero position). From phase 4th ) an automated cycle (retracted state of the system) begins for the respective material batch, in particular with the conveying of the strand to the second gripper unit. In the subsequent phases, individual roles of the feed unit can be controlled and regulated in such a way that the strand can be retightened, in particular also under the action of the dancer unit 26 . phase 5 ) shows that of the dancer unit 26 upstream rollers in the open position (no contact with the strand); this enables the strand to be conveyed by pulling over the last rollers and thereby threading into the second gripper unit as precisely as possible. In phase 6 ) All rolls convey the strand according to the desired length or the desired ring diameter, in the sense of unwinding from the material stock. phase 7 ) shows the separation at the desired length; the rollers are stationary at this moment (no feed). phase 8th ) includes conveying the strand to the desired end position relative to the first gripper unit (depending on the arrangement of the separation unit, this step can also be omitted). In phase 9 ) the first (left) gripper unit is closed, and the towing eye 27th acts on the strand and pulls the first end of the strand back into the second (right) gripper unit, which closes at the right moment. In phase 10th ) the towing eye can be relieved (moved upwards) and opened so that the strand can be released and shifted out of the feed level for subsequent process steps using the gripper units or the gripper module and decoupled from the step of feeding material. The effect / support by means of a towing eye can optionally be supported by pneumatic conveying.

13 describes individual aspects of a manufacturing process or individual process steps involved with the device 10th are realizable. In 13 Variants of a possible sequence of a method according to the invention are illustrated schematically, with emphasis on individual steps, which are preferably carried out in relation to a respective section in the chronology described, but can overlap, because the individual process steps can be decoupled from one another. A strict chronology is therefore no longer necessary.

First, there is a first step S1 conveying a strand 1.1 of the continuous material (control of the feed unit 20th ) up to at least one gripper unit 40a , 40b and positioning the strand 1.1 according to a desired length of a section to be cut 1.2 relative to one Cutting unit 30th , namely in a cutting position Ps (Feed stop). For example, a length of 20cm or 25cm from the strand 1.1 be unwound.

In a first point of regulation R1 the conveying and positioning can be regulated, in particular by specifying parameters to a / the feed unit 20th so the first step S1 in particular with regard to a specific position (feed stop) or its regulation or also with regard to a conveying speed or a contact pressure of rollers or a belt / belt section of a belt conveyor of the feed unit against the sealing material.

In order to make it easier to grip the free end, a web or a sliding contour or linear guide can be provided, which serves as a sliding support for the strand. The web can be aligned with the gripper unit. It has been shown that guides in the form of tubes are also advantageous, particularly in combination with pneumatic conveying or support.

During or at the end of the first step S1 is the strand 1.1 in a cutting position Ps , in which the section of the desired length can later be separated from the strand. The step 1 can also include gripping and positioning or holding a free end of the strand in position. The gripping can include a first gripping of the free end or the rear end in the feed direction and a second gripping of the strand or the front / first end in the feed direction. The first gripping can be coordinated with the feed. In particular, at the point of regulation R1 a signal from a limit switch or a light barrier or the like position transmitter is output that a free end of the strand has now reached a zero position in which the strand can be gripped by a respective gripper unit. The feed for the first gripping and / or second gripping can optionally be stopped (positioning).

According to one embodiment, the first control point comprises R1 a control loop for a mechanism for moving a web or a sliding / guiding contour for positioning the strand.

This can be followed in a second step S2 the section is severed or the strand is severed, in particular by one or two knives guided orthogonally to the strand 31 the cutting unit 30th .

In a second point of regulation R2 In particular, cutting parameters can also be monitored, for example an applied force, a speed of movement of the knife and / or the geometry of the cutting edge generated, for example by means of at least one optical measuring unit 2.3 . If the cutting edge is not clean, especially not even, the first step can be taken S1 can be repeated (semicolon). In particular, the strand can be cut to length again, in particular after the strand section to be rejected has been ejected / blown out. At the end of the second step S2 So there is a cut section with cut edges or free ends, which are suitable for a material connection.

In a third step S3 can then grab the severed free end and move the section 1.2 take place, in particular in such a way that both free ends of the section can be wetted by means of connecting fluid. The free end can be gripped in step S1 or S2 be done. In a third point of regulation R3 In particular, the shifting of the free ends can also be regulated, in particular by means of continuous position detection or regulation. The free ends can be displaced in particular on paths predetermined by the gripper units, in particular at least in sections also on circular paths, in particular with an opposite angle of rotation. The gripper units can be moved towards each other (reduction of the x-distance). At the end of the third step S3 are the free ends for connecting fluid F accessible, in particular with their end faces facing upwards and aligned in an at least approximately horizontal plane.

From step S3 process decoupling can already take place, in particular by pulling the respective section in a translatory direction out of the feed plane by means of the gripper units, in particular in a direction transverse to the feed plane. In other words: Simultaneously to step S3 the process can be started for a further strand section with steps S 1 and S2, so that there are no disadvantages in terms of cycle times.

As soon as the free end or ends in the wetting position Pf can be arranged in a fourth step S4 connecting fluid is applied, in particular in a plane orthogonal or parallel to the feed plane (process decoupling, in particular by rotating / pivoting the gripper module). In a fourth point of regulation R4 the application can be regulated in particular with regard to the type or amount of the connecting fluid applied. At the end of the fourth Step S4 the free end or ends are set up to be connected to each other. In order to avoid any cycle time disadvantages due to the desired / required drying period, the further process for the respective section can also be decoupled from the previous process steps at this point. A drying time period can also be used for moving the gripper units from the wetting position to a connection position.

Up to the fifth step S5 In this case, process and local decoupling can already take place at two points, in particular on the one hand by translatory displacement of the gripper units (in particular pulling back the gripper heads), and on the other hand also by pivoting the gripper module. In other words: Also or at the same time at the same time as step S4 and or S5 For example, the process can have several temporally superimposed steps, so that a cycle time optimization can take place.

In a fifth step S5 the free ends of the section are connected, in particular comprising shifting from the wetting position into the connecting position, as a result of which the free ends can be contacted. The displacement can also be carried out or at least supported by a rotary movement, in particular by a rotary movement about a respective longitudinal axis of the corresponding gripper unit. For this purpose, the respective gripper unit can be guided in one or more linear guides; at least one of the gripper units of a respective group of gripper units is preferably adjustable in the x, y and / or z direction; the two gripper units of a respective pair of grippers are preferably aligned or fixed relative to one another via catch / sword pins.

In a fifth point of regulation R5 On the one hand, the shifting into the connection position can be monitored / regulated (which can be done in the manner already described above), on the other hand the contacting of the free ends can be monitored, in particular with regard to the relative alignment with one another, and / or with regard to a contact pressure and / or a dwell time in the connection position. For example, optical measuring units or pressure sensors can be used. At the end of the fifth step S5 So there is a material connection, by means of which a ring was formed from the section.

It should be emphasized that gripping the profile ends in the desired position may already be sufficient to define all further positions of the free ends during the process. According to one design of the process, the grippers only have to be closed once. The corresponding position of the free ends can thus be / be specified both for the application of adhesive and for the contacting or pressing together. To optimize or regulate the gripping and an optional optional adjustment of the strand, an optical control can be carried out, in particular by means of cameras arranged in the area of the zero positions or aligned with them, or generally optical sensors (e.g. also laser buttons or the like). This configuration of the method enables a high degree of accuracy, and the effort for adjustment and repositioning or corrections can be minimized.

In a sixth step S6 Depending on the desired process decoupling, there is a translational and / or rotary displacement of the gripper units and the section. The step S6 can be carried out at at least two points or at least two times during the process, in particular after gripping and before wetting, and in particular after wetting or gluing and before ejecting / transferring.

In step S7 the section or ring is transferred. The step S7 can also be done simultaneously with step S8 be carried out, however, the process can optionally be expanded by further assembly of the ring or the like measure, so that after step S5 , S6 the process does not necessarily have to be ejected or ended. The step S7 can optionally also include opening or releasing the at least one gripper unit. The respective gripper unit can also be opened in such a way that it is ejected, or at least slips out of the ring.

The step S8 may include ejection, especially before the gripper units are moved back. The step S8 can include a control point in which ejection is regulated, in particular with regard to the type or time of the release of the sealing ring by the gripper unit (s), and / or in which the type or time and / or the speed of the movement are regulated.

In step S9 a gripper unit can be moved or the respective gripper unit moved back to the zero position, in particular at least two gripper units in each case synchronously with one another. step S9 can also be done after step S7 be carried out. At the end of the step S9 are the gripper units 40a , 40b each again arranged in the zero position and set up to grip a newly fed strand section.

In 13 direct arrows are indicated between the individual steps, below Bypassing the control points, which is intended to emphasize that individual control points can also be skipped, depending on whether the device can / should be preset in this regard or whether the control loop should only be carried out on a random basis.

The 14A , 14B illustrate a system according to the prior art, in which the strand 1.1 is unwound from the continuous material spool in a feed plane, cut to the desired length and by two gripper units 40a , 40b whereupon the free ends (or at least one free end) are / are shifted into a wetting position by means of two disks, to each of which one of the gripper units is fastened, in order then to be rotated into a contact / connection position by means of the disks, in which the free ends can be glued together on the face. This process sequence essentially takes place on the feed level. The panes can be loaded with a new strand section as soon as the gripper units have ejected / ejected the bonded section (after a drying / holding time). Based on this state of the art, the person skilled in the art has to take some measures in order to be able to improve the cycle time.

In the description of the figures above, reference was made primarily to a gripper module which has a turntable on which the gripper units are mounted and by means of which the gripper units can be rotated. Optionally, the gripper units can also be arranged on a gripper module which has one or more robot arms for free positioning of the respective gripper unit in space. Robot arms can be used for particularly variable, flexible positioning in space, particularly with regard to all three spatial axes. It has been shown that the combination of translatory displacement of the gripper units and rotary positioning movement of the turntable can already achieve a very good cycle time or a high number of units per unit of time; with regard to further optimization or scaling of the device 10th However, it can be advantageous to arrange the individual gripper units or gripper pairs on a robot arm. According to a variant, the robot arms are also supported on a turntable, by means of which a respective rotation / swivel position can be specified for the purpose of process and local decoupling of the process steps. In this way, several robot arms can be arranged in a space-saving manner, and the movement options of the individual arms can be designed to be comparatively slim in terms of technology and costs.

In summary, it can be mentioned that in the production of sealing rings from elastic, flexible, in particular elastomer material, according to the state of the art, in many cases up to now some process steps had to be carried out manually, in particular gluing free ends of a section separated from continuous material. Attempts have already been made to at least partially automate the bonding process and the associated preparatory and postprocessing steps, in particular in accordance with those in the publication DE 10 2016 117 544 A1 Devices and methods described, however, no particularly large number of items or a particularly advantageously minimized cycle time can be achieved by means of the devices available to date. The present invention provides an apparatus and a technical teaching for a method, which not only enables the free ends to be fed, cut to length and in particular cohesively connected, but also ensures a particularly short cycle time and high output can, so that the production can also be further optimized in terms of cost.

Reference symbol list

1

Continuous material

1a, 1b

free end

1.1

Strand, round cord or profiled endless material

1.2

section

1.3

Sealing ring

2nd

Measuring device

2.1

first sensor, in particular angle measuring unit or rotary encoder

2.2

Time recording unit

2.3

optical measuring unit, in particular camera

2.4

Pressure sensor, especially integrated in the gripper unit

10th

Device for the production of sealing rings

20th

Feed unit, especially with pneumatic feed / support

21; 21a, 21b, 21c, 21d

Role, especially first to fourth role

23

Bridge or guide or sliding contour

26

Dancer unit or dancer

27th

Towing eye

30th

Separation unit or cutting unit

31

knife

40

Gripper module

40a, 40b

Gripper unit, in particular first and second gripper units

40ab

Pair of grippers in predefined circumferential position

41

Passage or intake for strand section

42

form-fitting guide element

50

Control device

51

Arithmetic unit

52

Data storage

53

Input / output unit, especially with a visual user interface

54

Communication interface, especially for wireless communication

60

Connection fluid supply device

61

Feed unit

70

Turntable (preferably horizontal orientation) or rotating plate (not necessarily horizontal orientation)

70a, 70b

Rotary table base, especially first and second gripper interface

71

Pivot / swivel bearing or axis of rotation

80

Drive unit

81a, 81b

Actuator, especially linear motor

82

Stepper motor for rotary / swivel movement

BP1a, BP1b

Path of movement (sections) of a free end of the section after gripping

BP1.1

Path of movement of the strand, especially before gripping

BP40

Path of movement of the gripper module

BP40AB

Movement path (sections) of the (respective) gripper unit

F

Connecting fluid

Pf

Wetting position

Ps

Detach or cut position

P0

Zero position

PP

Connection position or pressing position

R1

first control point, especially with regard to gripping and position detection or position control

R2

second control point, especially with regard to cutting / cutting parameters

R3

third control point, in particular position detection or control

R4

fourth control point, in particular with regard to the type or amount of the connecting fluid applied

R5

fifth point of regulation, especially with regard to publishing and contacting

S1

step 1 , especially conveying / feeding and positioning and gripping

S2

step 2nd , especially detaching, optionally also gripping

S3

step 3rd , in particular moving at least one free end into the wetting position

S4

step 4th , in particular application of connecting fluid

S5

step 5 , in particular connecting the free ends of the section

S6

step 6 , translational and / or rotational displacement of the gripper units and the section, in particular turning / pivoting the gripper module or rotary table

S7

step 7 , in particular transferring the sealing ring from the gripper module

S8

step 8th , in particular eject the sealing ring

S9

either swiveling back or rotating the gripper module

x

Longitudinal direction or feed direction, especially in the horizontal plane

y

Transverse direction, especially in the horizontal plane

e.g.

Height direction or vertical

α

Angle of rotation of the gripper module or the turntable

α1

Angle of rotation from a first to a second rotational position in each case for handling the section

α2

Angle of rotation between a first, second and third rotational position

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 3739058 A1 [0003]
• EP 0567502 B1 [0004]
• DE 3532440 A1 [0005]
• DE 2547128 C2 [0005]
• DE 2056460 A [0005]
• DE 102012024120 A1 [0005]
• DE 19531167 A1 [0005]
• DE 102007042487 B4 [0005]
• DE 2542436 A1 [0005]
• DE 102007040077 B4 [0005]
• DE 2321648 A1 [0005]
• DE 3829210 A1 [0005]
• DE 102016117544 A1 [0006, 0013, 0018, 0122]

Claims (48)

Device (10) for producing sealing rings (1.3) from continuous material (1), in particular from round cords or profiled continuous material, comprising - A feed unit (20) set up for conveying and positioning the continuous material in at least one separation position (Ps), in particular when feeding in a predefined translatory feed direction (x) or at least in a predefined feed plane (xz); - A separation unit (30) set up for separating a section (1.2) from the continuous material; - A plurality of gripper units (40; 40a, 40b) set up for gripping and moving the continuous material or the section; - at least one connection fluid supply device (60); a gripper module which can be arranged in predefined positions by one or more adjusting movements and on which the gripper units can be arranged / arranged at different positions; - A control device (50) which is coupled to the gripper module and the gripper units and is optionally also connected to at least one component from the following group: Feed unit, separation unit and / or connection fluid supply device; The device is set up for the controlled displacement of at least one free end (1a, 1b) of the respective section (1.2) along a movement path (BP1a, BP1b) or several movement path sections which can be predetermined by means of the gripper module and the gripper units, and to a transfer position or wetting position (Pf) and further from the transfer position or from the wetting position (Pf) to at least one subsequent process step, wherein the connecting fluid supply device (60) is arranged or can be arranged in such a way that connecting fluid (F) can be placed on the at least one free end (1a, 1a) which can be arranged in the wetting position (Pf). 1b) the respective section can be applied in a controlled manner, and wherein the gripper module is set up to position the gripper units by means of the actuating movements such that at least two of the following steps can be decoupled / decoupled from one another in terms of process: step of shifting to the transfer position or into the wetting position, step of applying connecting fluid, at least one of applying of connecting fluid subsequent process step. Device (10) for producing sealing rings (1.3) from continuous material (1), in particular from round cords or profiled continuous material, comprising - A feed unit (20) set up for conveying and positioning the continuous material in at least one separation position (Ps); - A separation unit (30) set up for separating a section (1.2) from the continuous material; - A plurality of gripper units (40; 40a, 40b) set up for gripping and moving the continuous material or the section, wherein the gripper units can be actuated individually or in pairs; - at least one connection fluid supply device (60); The device is set up for the controlled displacement of at least one free end (1a, 1b) of the respective section (1.2) along one or more movement path sections (BP1a, BP1b) which can be predetermined by the gripper units into a transfer position or wetting position (Pf) and further from the transfer position or from the wetting position (Pf) to at least one subsequent process step, wherein the connecting fluid supply device (60) is arranged or can be arranged in such a way that connecting fluid (F) on the at least one free end (1a, 1b) of the respective one which can be arranged in the wetting position (Pf) Section can be applied in a controlled manner, and the device is set up to position the gripper units individually or in pairs by adjusting movements in such a way that at least two of the following steps can be decoupled / decoupled from one another in terms of process: step of moving to the transfer position or into the wetting position, step of Application of connection fluid, at least one process step following the application of connection fluid. Device after Claim 1 or 2nd , wherein the gripper module positioning the gripper units is set up to position the gripper units at least two different positions by means of the actuating movements such that the step of moving to the transfer position or wetting position can be process-decoupled / decoupled from the step of applying connecting fluid , especially by local separation at different levels. Device according to one of the preceding claims, wherein the gripper module is set up to position the gripper units by means of the actuating movements at at least two different positions such that the step of applying connecting fluid can be process-decoupled / decoupled from a process step following the application of connecting fluid. Device according to one of the preceding claims, wherein the gripper module is set up to position the gripper units simultaneously by means of the adjusting movements in at least two different positions, in particular in planes spaced apart from one another transversely to the feed direction, such that the handling of a first section wetted with connecting fluid from the step of Applying connecting fluid to a further section is process-decoupled / decoupled. Device according to one of the preceding claims, wherein the gripper module has two, three or four groups of gripper units, in particular each with at least two gripper units. Device according to one of the preceding claims, wherein the groups of gripper units are arranged at different circumferential positions with a circumferential angular offset of 90 ° and / or 180 °. Device according to one of the preceding claims, wherein a respective group of gripper units has two gripper units, in particular with gripper pairs in a symmetrical arrangement in pairs. Device according to one of the preceding claims, wherein the gripper units are arranged in pairs at different circumferential positions, in particular with a circumferential angular offset of 90 ° and / or 180 °. Device according to one of the preceding claims, wherein the gripper module has a rotating table arranged at least approximately in a horizontal orientation, on which the gripper units are arranged; or wherein the gripper module has a rotating plate arranged in a plane not equal to the horizontal plane, on which the gripper units are arranged. Device according to one of the preceding claims, wherein the handling of a first section to be wetted with connecting fluid and / or the application of connecting fluid takes place in a first plane, in particular in an at least approximately vertical plane, and wherein at least one process step downstream of the step of applying connecting fluid , in particular the handling of the respective section directly after the application takes place in a second plane, in particular in a horizontal plane, in particular with the second plane in at least approximately orthogonal alignment relative to the first plane, in particular with the second plane defined by the arrangement / alignment a rotating plate to which the gripper units are attached. Device according to one of the preceding claims, wherein the device is set up to ensure the process decoupling of the handling of a respective wetted section from the upstream process steps in that the respective section is pivoted by means of the gripper module in a plane which is at an angle to a handling plane , in which the wetting is carried out, in particular at an angle of at least approximately 90 °, in particular with the swivel plane defined by the arrangement / alignment of a rotary plate to which the gripper units are attached. Device according to one of the preceding claims, the device having at least one actuating drive for specifying the actuating movement (s) of the gripper module, the actuating drive being decoupled from one or more drives for specifying the position of the respective section until the wetting process / can be decoupled. Device according to one of the preceding claims, wherein at least one actuating drive for specifying the actuating movement (s) of the gripper module is clocked with one or more drives for specifying the position of the respective section until the wetting process, that is to say can be regulated in coordination with these drives . Device according to one of the preceding claims, wherein the device has a drive unit which has at least one actuator for the individual displacement of individual gripper units or pairs of grippers in or out of a / the feed plane and at least one actuator for pivoting or relative repositioning of all gripper units Relative to the feed plane, wherein the individual drives are each coupled to the control device. Device according to one of the preceding claims, wherein a / the drive unit of the device has a plurality of actuators for the gripper units, each of which at least two simultaneously in a translational actuation / movement direction independently of an optionally superimposed actuation movement of the entire gripper module or a rotary plate of the Gripper module can be actuated; Device according to one of the preceding claims, wherein / the drive unit of the device has at least one translatory actuator for a respective gripper unit or a respective pair of grippers and has at least one rotary actuator for a rotary plate of the gripper module to which the gripper units are attached ; Device according to one of the preceding claims, wherein the device is set up for a temporally overlapping actuation and displacement of the gripper units both in the translational and in the rotational direction, the rotary actuating movement optionally about an axis of rotation of a respective gripper unit and / or about a pivot axis of the Gripper module takes place. Device according to one of the preceding claims, wherein a / the rotary plate of the gripper module has an actuator for moving to / specifying predefined rotational positions, in particular with an angular offset of 10 °, 20 °, 30 °, 45 ° or 90 °. Device according to one of the preceding claims, wherein a / the rotary plate of the gripper module is pivotally mounted about an at least approximately vertically aligned pivot axis, in particular for a pivot angle of at least 180 °. Device according to one of the preceding claims, wherein the gripper module is constructed with mirror symmetry with regard to the arrangement and / or configuration of the gripper units, in particular with two gripper pairs arranged opposite one another and symmetrically relative to a / the pivot / rotation axis of the gripper module. Device according to one of the preceding claims, wherein the gripper units are arranged below a / the rotating plate of the gripper module, in particular hanging. Device according to one of the preceding claims, wherein a / the rotary plate of the gripper module is arranged in an intermediate intermediate position between a feed plane (xz) and a transfer plane (xz), in particular in the case of a pivoting bearing at least approximately at a half transverse distance arranged pivot axis. Device according to one of the preceding claims, wherein the gripper module shifts the respective wetted section from a feed or wetting plane (xz) to an at least approximately orthogonal or parallel transfer plane (yz, xz). Device according to one of the preceding claims, wherein a / the respective gripper unit is rotatably mounted about a longitudinal axis of the gripper unit. Device according to one of the preceding claims, wherein a / the respective gripper unit is aligned along an axis at an angle to the feed direction (x), in particular in the transverse direction (y) at least approximately orthogonal to the feed direction (x), in particular in the case of rotatable mounting about this axis respective gripper unit. Device according to one of the preceding claims, wherein a respective gripper unit or two gripper units are mounted together as gripper pairs, each translationally displaceable in the transverse direction, in particular at least approximately orthogonally to the feed direction (x), in particular for receiving / transferring a respective section. Device according to one of the preceding claims, wherein the feed unit has at least one pneumatic unit and / or electric motor unit and is set up to support or accomplish the feed of the continuous material and / or the respective section in a pneumatic and / or electrical manner, in particular the feed for positioning of the endless material relative to the gripper units, in particular in / on the gripper units. Device according to one of the preceding claims, wherein the feed unit is set up for bidirectional translational displacement of the continuous material and / or the respective section, in particular for displacement back into the final translational relative position relative to the respective gripper units, in particular before gripping the respective section. Device according to one of the preceding claims, wherein the device is set up to specify at least one intermediate intermediate translational position for the respective section when feeding the continuous material and / or the respective section. Device according to one of the preceding claims, wherein the device has at least one robot arm on which at least one gripper unit is mounted, in particular with the robot arm supported on the gripper module, in particular on / on the turntable of the gripper module. Device according to one of the preceding claims, wherein the device is set up to pivot the gripper module or a / the rotating plate of the gripper module for process decoupling of the process steps downstream of the wetting process back and forth between the at least two different circumferential positions and / or with a predefined uniform Position the direction of rotation at the at least two different circumferential positions. Device according to one of the preceding claims, wherein the device has electrical gripper units and defines at least one intermediate position for guiding and handling the respective section by means of the gripper module. Device according to one of the preceding claims, wherein when the continuous material or a respective section is fed, air-assisted conveying takes place, in particular when the section is fed at least in sections through a pipe section or a tube. Device according to one of the preceding claims, wherein the device is set up for conveying the continuous material or a respective section for untwisting, in particular in that the advance takes place before the wetting beyond the wetting position and back again. Device according to one of the preceding claims, the device being set up for decoupling the individual process steps in terms of cycle time, feed, separation, wetting, holding, depositing / ejecting, in particular by means of the gripper module and the gripper units arranged in groups. Device according to one of the preceding claims, wherein the device for feeding the continuous material or a respective section has at least one belt conveyor, in particular a friction-locked belt conveyor with at least one circumferential belt, preferably with two circumferential belts in frictional contact with the endless material. Device according to one of the preceding claims, wherein the device ensures, by means of a dancer unit, that the course of the endless material is danced to form a directed loop, in particular on at least one material section between gripper units. Device according to one of the preceding claims, wherein the feed unit (20) is set up to guide the continuous material (1) to a first gripper unit (40a) and past the first gripper unit to at least one further gripper unit (40b), in particular with pneumatic support, by guiding the continuous material back and forth. Device according to one of the preceding claims, wherein the device comprises at least two pairs of gripper units (40a, 40b), each of which can be shifted from the wetting position into a connecting position (Pp) in which the two free ends of the respective section can be brought into contact with one another , wherein the pairs of gripper units are preferably offset from one another by 90 ° or 180 ° in the circumferential direction on a rotary plate of the gripper module. Device for producing sealing rings from continuous material, in particular device according to one of the preceding claims, comprising: - A feed unit (20) set up for conveying and positioning the continuous material in at least one / r separation position (Ps), with feed in a predefined feed plane (xz); - A separation unit (30) set up for separating a section (1.2) from the continuous material; - A plurality of gripper units (40; 40a, 40b) arranged in pairs arranged for gripping and moving the continuous material or the section; - at least one connection fluid supply device (60); a gripper module which can be arranged in predefined positions by one or more adjusting movements and on which the gripper units can be arranged / arranged in pairs at different positions; - A control device (50) which is coupled to the gripper module and the gripper units and is optionally also connected to at least one component from the following group: Feed unit, separation unit and / or connecting fluid supply device; The device is set up for the controlled displacement of the two free ends (1a, 1b) of the respective section (1.2) along a specifiable multiaxial movement path (BP1a, BP1b) or several movement path sections into a wetting position (Pf) and further from the wetting position (Pf ) to at least one subsequent process step, the gripper module being set up to position the gripper units by means of the actuating movements in such a way that at least two of the following steps can be decoupled / decoupled from one another in terms of process: step of shifting from the feed plane into the wetting position, step of applying connecting fluid , at least one process step following the application of connecting fluid, comprising connecting the free ends; the device being set up for arranging the gripper units at different positions by means of rotary adjusting movements of the gripper module; the respective gripper unit being mounted in a translationally displaceable manner on the gripper module; the respective section being handled in at least three or four successively approached planes or positions, at least comprising the feed plane, the wetting plane / position, the connecting plane / position. Control device (50) set up to control a device for producing sealing rings (1.3) from continuous material (1), in particular set up to control a device (10) according to one of the preceding claims, wherein the control device comprises a data memory (52) in which is stored are: position data of a zero position (P0) of at least two gripper units (40), position data of at least one wetting position (Pf), position data of a connection position (Pp), data relating to a movement path (BP40) or several movement path sections of the gripper units, Data relating to an actuating movement of a gripper module on which the gripper units are arranged and / or data relating to the properties of at least one type of endless material (1), the control device (50) having a communication interface to at least one of the following components of the device: feed unit (20), separation unit (30), gripper units (40), gripper module, connecting fluid supply device (60), and wherein the control device is set up, by specifying the actuating movement of the gripper module and by actuating the gripper units, a process-related decoupling of at least the process of applying To ensure connection fluid and / or the process of moving the free ends into the wetting position (s) of further process steps. Use of a control device (50) in a device for producing sealing rings from continuous material, in particular in a device (10) according to one of the preceding claims, for specifying at least one wetting position (Pf) and a connecting position (Pp) of free ends (1a, 1b ) of a respective cut section (1.2) of the continuous material and for controlling at least one drive unit (80) for moving gripper units (40) for simultaneous handling of at least two sections and for specifying an actuating movement of a gripper module on which the gripper units are arranged , in particular for specifying a pivoting movement of a gripper module in an at least approximately horizontal plane. Use of a mechanized control for defining a process sequence by means of mechanical components in a device for producing sealing rings from continuous material, in particular in a device (10) according to one of the preceding Claims 1 to 41 , for specifying at least one wetting position (Pf) and a connecting position (Pp) of free ends (1a, 1b) of a respective cut-off section (1.2) of the continuous material, wherein by means of the mechanized control a plurality of gripper units (40) for the simultaneous handling of at least two sections are shifted from a feed plane and are shifted for process decoupling to position the ends of the respective section in the wetting position and further in the connection position, in particular in at least three different planes. Use of a gripper module in a device (10) for producing sealing rings (1.3) from continuous material (1), in particular from round cords or profiled continuous material, in particular in a device (10) according to one of the Claims 1 to 41 , for arranging gripper units at different positions by means of adjusting movements of the gripper module such that at least two of the following steps can be decoupled / decoupled from one another in terms of process: step of moving the continuous material into a transfer position or into a wetting position, step of applying connecting fluid in the wetting position, at least a process step following the application of connecting fluid. Use of a gripper module arranged between a feed plane (xz) and a connection / adhesive plane in a device (10) for producing sealing rings (1.3) from continuous material (1), in particular from round cords or profiled continuous material, in particular in a device (10) one of the Claims 1 to 41 for arranging gripper units at different positions by means of rotary positioning movements of the gripper module in such a way that at least two of the following steps can be decoupled / decoupled from one another in terms of process: step of moving the continuous material into a transfer position or into a wetting position, step of applying connecting fluid in the wetting position, at least one process step following the application of connecting fluid; the respective gripper unit being mounted on the gripper module so that it can be displaced in translation. Use of a device (10) for producing sealing rings (1.3) from continuous material (1), in particular from round cords or profiled continuous material, in particular a device (10) according to one of the Claims 1 to 41 , for defining at least three or four successively approached positions or levels for handling a respective separated section of the continuous material in locally decoupled successive process steps, at least comprising a feed level, a wetting level / position, a connection level / position, the individual Levels or positions are approached by means of gripper units which are positioned at least in one spatial direction or in one direction of movement via a gripper module arranged centrally, in particular centrally, between these planes or positions, at least two sections overlapping in time in these three or four positions or Levels are handled. Sealing ring made of continuous material, in particular produced by means of a device according to one of the Claims 1 to 41 , wherein the sealing ring is produced by a fully automated process with at least partially overlapping cycle times in at least two of the subsequent successive process steps with respect to a single section and / or with regard to successively produced sections, in that a separated section of the continuous material is gripped in a feed plane by gripper units of a gripper module, which shift the section out of the feed plane, the free ends of the section then being moved into a wetting position by means of the gripper units, in particular by the gripper units be pivoted by means of a gripper module, wetted with connecting fluid and then further displaced by means of the gripper units and / or the gripper module, in particular first up to a connection position and then up to a transfer / ejection position, so that the section follows at least three or four consecutively approached levels or positions.

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