EP0312854A1 - Feeder device for work pieces - Google Patents

Feeder device for work pieces Download PDF

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Publication number
EP0312854A1
EP0312854A1 EP88116600A EP88116600A EP0312854A1 EP 0312854 A1 EP0312854 A1 EP 0312854A1 EP 88116600 A EP88116600 A EP 88116600A EP 88116600 A EP88116600 A EP 88116600A EP 0312854 A1 EP0312854 A1 EP 0312854A1
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EP
European Patent Office
Prior art keywords
transport
storage box
insert
workpieces
edge
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP88116600A
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German (de)
French (fr)
Inventor
Klaus Korte
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Stucki Kunststoffwerk und Werkzeugbau GmbH
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Stucki Kunststoffwerk und Werkzeugbau GmbH
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Publication of EP0312854A1 publication Critical patent/EP0312854A1/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
    • B65D81/02—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage
    • B65D81/05—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage maintaining contents at spaced relation from package walls, or from other contents
    • B65D81/127—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage maintaining contents at spaced relation from package walls, or from other contents using rigid or semi-rigid sheets of shock-absorbing material
    • B65D81/133—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage maintaining contents at spaced relation from package walls, or from other contents using rigid or semi-rigid sheets of shock-absorbing material of a shape specially adapted to accommodate contents, e.g. trays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D21/00—Nestable, stackable or joinable containers; Containers of variable capacity
    • B65D21/02—Containers specially shaped, or provided with fittings or attachments, to facilitate nesting, stacking, or joining together
    • B65D21/0209—Containers specially shaped, or provided with fittings or attachments, to facilitate nesting, stacking, or joining together stackable or joined together one-upon-the-other in the upright or upside-down position
    • B65D21/0212—Containers presenting local stacking elements protruding from the upper or lower edge of a side wall, e.g. handles, lugs, ribs, grooves

Definitions

  • the invention relates to a feed device for workpieces to robots, automatically working loading devices, assembly devices and the like.
  • Robots which automatically assemble workpieces, are becoming increasingly popular in industry.
  • the workpieces to be assembled must be presented to the gripping devices of the robots in an exact position so that the robot, which is used to working with millimeter precision, can also grip the workpieces in the correct manner and insert them into the processing machine, the assembly machine or the like.
  • sheet metal has been used as a feed device for workpieces to robots, into which depressions are pressed by means of expensive molds into which the workpieces are inserted.
  • At the corners of these sheets feet or stands are attached in the form of pipe pieces, angle iron pieces or the like, so that when stacking several such feeders one above the other direction can be exactly above the other.
  • this feeder device has the advantage that it is not suitable for transport by truck and railways, since stacks of such feeder devices cannot be transported without the risk that the stacks slide against one another and the workpieces slip together during transport.
  • a feeder device for workpieces to robots which consists of plastic-molded frames in which inserts made of thermoformed plastic film, which can be produced cheaply, are inserted. These are U-shaped at their edge and overlap the edge of the frame, in addition they are secured by the fact that the edge of the frame carries projections which engage in holes in the thermoformed film.
  • These feed devices are very suitable for light workpieces that are stored at a greater distance from one another in depressions in the plastic film.
  • thermoforming film bulges downwards, which has the disadvantage that it is transported on country roads and railroad tracks the workpieces are moved out of their deepened storage spaces by vibrations and has the further disadvantage that robots can no longer remove the workpieces from the uppermost of a feeding device standing in a stack, because the height of the individual workpieces is too different.
  • the present invention overcomes the disadvantages of the prior art. It is the object of the present invention to provide a feed device which can be produced cheaply, the parts of which do not deform and / or distort under the load of the workpieces, so that robots can unpack the uppermost feed device properly even when the feed devices are stacked.
  • the invention is that the feed device is formed by a transport and storage box made of plastic with a stable bottom and at least one insert made of thermoformed plastic film, the outer walls of which bear closely against the walls of the transport and storage box and the depressions are in the form of the ones to be inserted Workpieces and preferably as part of these recesses outward extensions of these recesses for gripping fingers gripping the workpiece.
  • thermoformed plastic film can have almost any shape, in particular In particular, outward extensions of these depressions can be provided as part of the depressions for the workpieces to be inserted, so that gripping fingers that grip the workpiece can laterally grip this workpiece. Such depressions have so far either been the reason for a wide-ranging spacing of the workpieces or the deformation of the deep-drawn plastic film inserts. Such deformations can no longer occur.
  • several inserts made of thermoformed plastic film can be set in the same transport and storage box, for example two or three inserts in a row next to each other or four or six inserts in two or even three rows .
  • This feed device is inexpensive to manufacture. Because the transport and storage boxes can be produced in large numbers, which means that the high costs of producing a mold for this transport and storage box can be passed on to this large number of boxes, while the inserts made from thermoformed plastic film can be produced very cheaply because of the Costs for such a form are relatively very low.
  • the transport and storage boxes can be made with a low side wall height, which also lowers the molding cost, and it frames can then be placed on this transport and storage box if this is necessary due to the height of the workpieces.
  • the frames can be produced in the same shape as the transport and storage box, only where the bottom of the transport and storage box is located in the mold is a molded element filling this space inserted into the mold. In this way, the frames have identical dimensions to the side walls of the transport and storage box.
  • the insert made of deep-drawn plastic film has an edge which is U-shaped in cross section and which either lies against the inner wall of the transport and storage box and / or adjacent inserts or covers the edge of the transport and storage box.
  • the upward-facing edge of the transport and storage box has upward projections and the edge of the insert that overlaps this edge and preferably also the bottom of the stacked transport and storage box or the frame placed on the location of the projections having.
  • the interior of the transport and storage box by at least one Inner wall or a pair of closely spaced inner walls is divided. If the transport and storage boxes are each intended to accommodate several inserts, these inserts receive a particularly secure stand within the transport and storage box through this inner wall or this pair of inner walls.
  • inclined surfaces are arranged in the surface of the insert, next to which there are support surfaces reaching to the bottom.
  • the transport and storage box consists of a base and four side walls 2 firmly connected to it. On these side walls 2 there are ribs 3, as well as preferably on the underside of the base, for stabilizing the shape of the box. Centering openings 4 are also located here. in order to bring the box into the correct position in relation to the loading and / or unloading robot, pockets 5 for engaging transport tools for the box and a coding field 6 for receiving a code which, for example which may contain manufacturing dates. On the upper edge 7 there are projections 8. At corresponding points in a box stacked above, there are 9 recesses 10 in the lower edge. This ensures that a large number of boxes are stacked one on top of the other and prevents the boxes from slipping against one another.
  • an insert 11 can be used, which is supported with its side edges against the inner walls of the transport and storage box (FIG. 2), several inserts 12 can also be used in such a transport and storage box, who deal with their an edge against the inner wall of the transport box, with its other edges against each other (Fig. 3), it can also be used a single insert 13 which covers the upper edge 7 of the box (Fig. 4).
  • the insert 11 of FIG. 2 has a series of depressions 14 for receiving workpieces 15. These recesses 14 also have lateral extensions 16 which enable the gripper fingers of the robot to grip the workpiece laterally and also partially from below.
  • the edge 17 of this insert is U-shaped in cross section and is supported against the inside of the side walls 2. In this way, the workpieces are given a secure hold in a secure position.
  • two inserts 12 with different recesses 14 for different workpieces 15 are used in the transport and storage box.
  • the depressions 14 have lateral extensions 16.
  • the edge 17 is U-shaped in cross section. This edge is supported partly against the inside of the side walls 2 and partly against the adjacent edge 17 of the adjacent insert 12.
  • a single insert 13 is provided in the transport and storage box. This overlaps the upper edge 7 of the transport and storage box. This insert 13 therefore has recesses where the upper edge of the transport and storage box bears projections 8.
  • two frames 19 are placed on the transport and storage box 18. These frames are made in the same shape as the transport and storage box, but have no bottom. They therefore have the same shape as the side walls 2 of the transport and storage box 18. These frames 19 are interconnected and connected to the transport and storage box 18 by spring clips.
  • the transport and storage box of increased height produced in this way also has an insert 21 in which workpieces 15 are set. In this case, the edge of the insert 21 is not U-shaped, so that the side walls of the insert 21 rest directly on the side walls of the transport and storage box 18 and the frame 19.
  • the insert 22 is designed so that it has an inclined surface 23 on which the cylindrical workpieces 15 lie. If the lowest workpiece 15A is removed, the next workpiece 15B rolls into the previous position of the workpiece 15A, the other workpieces follow. Here, too, projections are provided in the recess 14 so that the J-shaped gripper 24 of the robot can remove the workpiece.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stackable Containers (AREA)
  • Details Of Rigid Or Semi-Rigid Containers (AREA)

Abstract

A device for feeding workpieces to robots, automatically operating feed devices, assembly devices and the like, wherein the object is to provide a feeder device which is inexpensive to manufacture and whose parts are not deformed and/or distorted under the load of the workpieces, so that robots can unload the respectively uppermost feeder device satisfactorily, even in the case of feeder devices situated in a stack. The feeder device is formed by a transport and storage box made of plastic with a sturdy bottom and at least one insert made of deep-drawn plastic film, the outside walls of which insert rest snugly against the walls of the transport and storage box, and which insert has indentations in the form of the workpieces to be inserted and preferably, as part of said indentations, outwardly directed widenings of said indentations for gripper fingers engaging on the workpiece. <IMAGE>

Description

Die Erfindung betrifft eine Zubringevorrichtung für Werkstücke zu Robotern, automatisch arbeitenden Be­schickungsvorrichtungen, Montagevorrichtungen und der­gleichen.The invention relates to a feed device for workpieces to robots, automatically working loading devices, assembly devices and the like.

In der Industrie führen sich Roboter, die Werkstücke selbsttätig montieren, immer mehr ein. Die zu montie­renden Werkstücke müssen den Greifvorrichtungen der Roboter in exakter Lage vorgelegt werden, damit der Roboter, der millimetergenaues Arbeiten gewohnt ist, die Werkstücke auch in der richtigen Weise anpacken und in die Bearbeitungsmaschine, die Montagemaschine oder dergleichen einbringen kann. Bisher benutzt man als Zubringevorrichtung für Werkstücke zu Robotern Bleche, in die mittels teuerer Formen in Pressen Vertiefungen eingedrückt werden, in die die Werkstücke eingelegt werden. An den Ecken dieser Bleche sind Füße bzw. Stän­der in Form von Rohrstücken, Winkeleisenstücken oder dergleichen angebracht, damit beim Übereinanderstapeln mehrerer derartiger Zubringevorrichtungen eine Vor­ richtung exakt über der anderen stehen kann. Die Her­stellung dieser Zubringevorrichtungen ist teuer und aufwendig, da die Formen das sehr widerstandsfähige Blech verformen müssen und da die Formen nicht univer­sell sein können, denn für jede Art der Montage oder Zubringung von bereits geringfügig unterschiedlichen Teilen sind andere Bleche in anderer Gestaltung zu for­men. Darüber hinaus weist diese Zubringevorrichtung den Vorteil auf, daß sie für den Transport mit Lastwagen und Eisenbahnen nicht geeignet ist, da sich Stapel von solchen Zubringevorrichtungen nicht ohne die Gefahr transportieren lassen, daß die Stapel gegeneinander und die Werkstücke untereinander während des Transportes verrutschen.Robots, which automatically assemble workpieces, are becoming increasingly popular in industry. The workpieces to be assembled must be presented to the gripping devices of the robots in an exact position so that the robot, which is used to working with millimeter precision, can also grip the workpieces in the correct manner and insert them into the processing machine, the assembly machine or the like. So far, sheet metal has been used as a feed device for workpieces to robots, into which depressions are pressed by means of expensive molds into which the workpieces are inserted. At the corners of these sheets feet or stands are attached in the form of pipe pieces, angle iron pieces or the like, so that when stacking several such feeders one above the other direction can be exactly above the other. The production of these feed devices is expensive and complex, since the molds have to deform the very resistant sheet metal and because the molds cannot be universal, because for each type of assembly or feed of parts that are already slightly different, different metal sheets have to be shaped in a different design. In addition, this feeder device has the advantage that it is not suitable for transport by truck and railways, since stacks of such feeder devices cannot be transported without the risk that the stacks slide against one another and the workpieces slip together during transport.

Diese Mängel beseitigt eine Zubringevorrichtung für Werkstücke zu Robotern, die aus aus Kunststoff geform­ten Rahmen besteht, in die billig herstellbare Ein­sätze aus tiefgezogener Kunststoffolie eingesetzt wer­den. Diese sind an ihrem Rand U-förmig ausgebildet und übergreifen den Rand des Rahmens, zusätzlich sind sie noch dadurch gesichert, daß der Rand des Rahmens Vor­sprünge trägt, die in Löcher der Tiefziehfolie ein­greifen. Diese Zubringevorrichtungen eignen sich sehr gut für leichte Werkstücke, die mit größerem Abstand voneinander in Vertiefungen der Kunststoffolie gelagert sind. Sobald jedoch schwere Werkstücke in der Tief­ziehfolie gelagert werden und/oder wenn auch leichtere Werkstücke dicht nebeneinander gelagert werden, ist das Gewicht der Werkstücke so groß, daß sich die Tief­ziehfolie nach unten hin auswölbt, was beim Transport über Landstraßen und Eisenbahnstrecken den Nachteil hat, daß die Werkstücke aus ihren vertieften Lager­plätzen durch Erschütterungen herausbewegt werden und den weiteren Nachteil hat, daß Roboter nicht mehr aus der obersten einer in einem Stapel stehenden Zubringe­vorrichtung die Werkstücke entnehmen können, weil die Höhenlage der einzelnen Werkstücke zu unterschiedlich ist.These deficiencies are remedied by a feeder device for workpieces to robots, which consists of plastic-molded frames in which inserts made of thermoformed plastic film, which can be produced cheaply, are inserted. These are U-shaped at their edge and overlap the edge of the frame, in addition they are secured by the fact that the edge of the frame carries projections which engage in holes in the thermoformed film. These feed devices are very suitable for light workpieces that are stored at a greater distance from one another in depressions in the plastic film. However, as soon as heavy workpieces are stored in the thermoforming film and / or if lighter workpieces are stored close to each other, the weight of the workpieces is so great that the thermoforming film bulges downwards, which has the disadvantage that it is transported on country roads and railroad tracks the workpieces are moved out of their deepened storage spaces by vibrations and has the further disadvantage that robots can no longer remove the workpieces from the uppermost of a feeding device standing in a stack, because the height of the individual workpieces is too different.

Die Nachteile des Standes der Technik beseitigt die vorliegende Erfindung. Es ist die Aufgabe der vorlie­genden Erfindung, eine billig herstellbare Zubringe­vorrichtung zu schaffen, deren Teile sich nicht unter der Last der Werkstücke verformen und/oder verziehen, so daß Roboter auch bei im Stapel stehenden Zubringe­vorrichtungen die jeweils oberste Zubringevorrichtung einwandfrei entpacken können.The present invention overcomes the disadvantages of the prior art. It is the object of the present invention to provide a feed device which can be produced cheaply, the parts of which do not deform and / or distort under the load of the workpieces, so that robots can unpack the uppermost feed device properly even when the feed devices are stacked.

Die Erfindung besteht darin, daß die Zubringevorrich­tung durch einen aus Kunststoff gefertigten Transport- und Lagerkasten mit stabilem Boden und mindestens einem Einsatz aus tiefgezogener Kunststoffolie gebildet wird, dessen Außenwandungen dicht an den Wandungen des Trans­port- und Lagerkastens anliegen und der Vertiefungen von der Form der einzulegenden Werkstücke und vorzugs­weise als Teil dieser Vertiefungen nach außen gerich­tete Erweiterungen dieser Vertiefungen für am Werk­stück anfassende Greiffinger aufweist.The invention is that the feed device is formed by a transport and storage box made of plastic with a stable bottom and at least one insert made of thermoformed plastic film, the outer walls of which bear closely against the walls of the transport and storage box and the depressions are in the form of the ones to be inserted Workpieces and preferably as part of these recesses outward extensions of these recesses for gripping fingers gripping the workpiece.

Durch das Zusammenwirken dieses Transport- und Lager­kastens mit dem Einsatz aus tiefgezogener Kunststoff­folie wird erreicht, daß der Boden der tiefgezogenen Kunststoffolie sich bei der Beladung mit gewichtige­ren Werkstücken und während des Transportes nicht durchwölben kann, so daß die Werkstücke einwandfrei gelagert den Roboter erreichen. Dabei kann die Tief­ziehfolie nahezu beliebige Gestalt aufweisen, insbe­ sondere können als Teil der Vertiefungen für die einzulegenden Werkstücke nach außen gerichtete Er­weiterungen dieser Vertiefungen vorgesehen sein, da­mit am Werkstück anfassende Greiffinger dieses Werk­stück seitlich anfassen können. Derartige Vertiefun­gen waren bisher entweder Anlaß für ein weiträumiges Auseinanderliegen der Werkstücke oder Anlaß für eine Verformung der tiefgezogenen Einsätze aus Kunststoff­folie. Derartige Verformungen können nun nicht mehr vorkommen. - Es wird der weitere Vorteil erreicht, daß in ein- und demselben Transport- und Lagerkasten auch mehrere Einsätze aus tiefgezogener Kunststoff-­Folie eingestellt werden können, z.B. zwei oder drei Einsätze in einer Reihe nebeneinander oder vier oder sechs Einsätze in zwei oder auch drei Reihen.The interaction of this transport and storage box with the insert made of thermoformed plastic film ensures that the bottom of the thermoformed plastic film cannot bulge when loaded with heavier workpieces and during transport, so that the workpieces reach the robot properly stored. The thermoformed film can have almost any shape, in particular In particular, outward extensions of these depressions can be provided as part of the depressions for the workpieces to be inserted, so that gripping fingers that grip the workpiece can laterally grip this workpiece. Such depressions have so far either been the reason for a wide-ranging spacing of the workpieces or the deformation of the deep-drawn plastic film inserts. Such deformations can no longer occur. - There is the further advantage that several inserts made of thermoformed plastic film can be set in the same transport and storage box, for example two or three inserts in a row next to each other or four or six inserts in two or even three rows .

Diese Zubringevorrichtung ist billig herstellbar. Denn die Transport- und Lagerkästen können in großer Stückzahl hergestellt werden, wodurch die hohen Kosten der Herstellung einer Form für diesen Transport- und Lagerkasten auf diese Vielzahl von hergestellten Kästen umgelegt werden können, während die Einsätze aus tief­gezogener Kunststoffolie sehr preiswert herstellbar sind, weil die Kosten für eine derartige Form rela­tiv sehr gering sind.This feed device is inexpensive to manufacture. Because the transport and storage boxes can be produced in large numbers, which means that the high costs of producing a mold for this transport and storage box can be passed on to this large number of boxes, while the inserts made from thermoformed plastic film can be produced very cheaply because of the Costs for such a form are relatively very low.

Um die Herstellungskosten für den Transport- und Lager­kasten durch die Herstellung großer Stückzahlen noch weiter zu erniedrigen, kann es zweckmäßig sein, minde­steins einen auf den Transport- und Lagerkasten aufge­setzten und vorzugsweise an diesem befestigten Rahmen vorzusehen. Dann können die Transport- und Lagerkästen mit niedriger Seitenwandhöhe hergestellt werden, wo­durch auch die Formkosten niedriger werden, und es können dann Rahmen auf diesen Transport- und Lager­kasten aufgesetzt werden, wenn dieses wegen der Höhe der Werkstücke erforderlich wird. Die Rahmen können dabei in derselben Form wie der Transport- und Lager­kasten hergestellt werden, lediglich dort, wo sich der Boden des Transport- und Lagerkastens in der Form befindet, wird ein diesen Raum ausfüllendes Formelement in die Form eingelegt. Auf diese Weise weisen die Rahmen identische Abmessungen mit den Seitenwänden des Transport- und Lagerkastens auf.In order to further reduce the manufacturing costs for the transport and storage box by producing large quantities, it may be expedient to provide at least one frame placed on the transport and storage box and preferably attached to it. Then the transport and storage boxes can be made with a low side wall height, which also lowers the molding cost, and it frames can then be placed on this transport and storage box if this is necessary due to the height of the workpieces. The frames can be produced in the same shape as the transport and storage box, only where the bottom of the transport and storage box is located in the mold is a molded element filling this space inserted into the mold. In this way, the frames have identical dimensions to the side walls of the transport and storage box.

Zweckmäßig ist es, Zentrierlöcher, -ausnehmungen oder -vorsprünge an den Außenseiten der Seitenwände oder der Unterseite des Bodens des Transport- und Lager­kastens und/oder der Rahmen vorzusehen.It is expedient to provide centering holes, recesses or projections on the outer sides of the side walls or the underside of the bottom of the transport and storage box and / or the frame.

Vorteilhaft ist es, wenn der Einsatz aus tiefgezo­gener Kunststoffolie einen im Querschnitt U-förmig gestalteten Rand aufweist, der entweder an der Innen­wandung des Transport- und Lagerkastens und/oder an benachbarten Einsätzen anliegt oder den Rand des Transport- und Lagerkastens überfaßt.It is advantageous if the insert made of deep-drawn plastic film has an edge which is U-shaped in cross section and which either lies against the inner wall of the transport and storage box and / or adjacent inserts or covers the edge of the transport and storage box.

Vorteilhaft kann es weiter sein, wenn der nach oben gerichtete Rand des Transport- und Lagerkastens nach oben gerichtete Vorsprünge und der diesen Rand über­greifende Rand des Einsatzes und vorzugsweise auch der Boden des darüber gestapelten Transport- und La­gerkastens oder des aufgesetzten Rahmens am Ort der Vorsprünge Ausnehmungen aufweist.It can also be advantageous if the upward-facing edge of the transport and storage box has upward projections and the edge of the insert that overlaps this edge and preferably also the bottom of the stacked transport and storage box or the frame placed on the location of the projections having.

Weiter ist es vorteilhaft, wenn der Innenraum des Transport- und Lagerkastens durch mindestens eine Innenwand oder ein Paar von dicht nebeneinander ange­ordneten Innenwänden unterteilt ist. Sind die Transport- und Lagerkästen jeweils für die Aufnahme mehrerer Ein­sätze vorgesehen, so erhalten diese Einsätze durch diese Innenwand bzw. dieses Paar von Innenwänden einen besonders sicheren Stand innerhalb des Transport- und Lagerkastens.It is also advantageous if the interior of the transport and storage box by at least one Inner wall or a pair of closely spaced inner walls is divided. If the transport and storage boxes are each intended to accommodate several inserts, these inserts receive a particularly secure stand within the transport and storage box through this inner wall or this pair of inner walls.

Für Roboter, die mehrere Werkstücke immer wieder an derselben Stelle entnehmen sollen, kann es zweckmäßig sein, daß in der Oberfläche des Einsatzes Schrägflächen angeordnet sind, neben denen bis zum Boden reichende Abstützflächen befindlich sind.For robots, which are to remove several workpieces at the same point again and again, it may be expedient that inclined surfaces are arranged in the surface of the insert, next to which there are support surfaces reaching to the bottom.

Das Wesen der Erfindung ist nachstehend anhand eines in der Zeichnung schematisch dargestellten Ausführungs­beispieles näher erläutert. Es zeigen:

  • Fig. 1 eine Seitenansicht des Transport- und Lagerkastens,
  • Fig. 2 einen Querschnitt durch einen Transport- und Lagerkasten mit einem Einsatz, der sich gegen die Innenwand des Transport- und Lagerkastens abstützt,
  • Fig. 3 einen Querschnitt durch einen Transport- und Lagerkasten mit mehreren Einsätzen, die sich gegen die Innenwand des Transport- und Lager­kastens abstützen,
  • Fig. 4 einen Querschnitt durch den Transport- und Lagerkasten mit einem Einsatz, der den Rand des Kastens überfaßt,
  • Fig. 5 eine Seitenansicht eines Transport- und Lager­kastens, der mit zwei rahmenförmigen Auf­ sätzen eine Erhöhung seiner Seitenwände erhal­ten hat,
  • Fig. 6 einen Querschnitt durch diesen Kasten,
  • Fig. 7 einen Querschnitt durch einen Kasten mit einem Einsatz, auf dem die Werkstücke auf einer Schrägfläche in die Abnahmestellung rutschen.
The essence of the invention is explained below with reference to an embodiment shown schematically in the drawing. Show it:
  • 1 is a side view of the transport and storage box,
  • 2 shows a cross section through a transport and storage box with an insert which is supported against the inner wall of the transport and storage box,
  • 3 shows a cross section through a transport and storage box with several inserts which are supported against the inner wall of the transport and storage box,
  • 4 shows a cross section through the transport and storage box with an insert which covers the edge of the box,
  • Fig. 5 is a side view of a transport and storage box with two frame-shaped received an increase in its side walls,
  • 6 shows a cross section through this box,
  • Fig. 7 shows a cross section through a box with an insert on which the workpieces slip on an inclined surface in the removal position.

Der Transport- und Lagerkasten besteht aus einem Bodenl und vier mit diesem fest verbundenen Seitenwänden 2. An diesen Seitenwänden 2 befinden sich, ebenso wie vorzugsweise an der Unterseite des Bodens auch, Rip­pen 3 für die Formstabilisierung des Kastens, hier be­finden sich ebenfalls Zentrieröffnungen 4, um den Kasten in die richtige Stellung gegenüber dem Be­schickungs- und/oder Entnahmeroboter zu bringen, Ta­schen 5 für das Angreifen von Transportwerkzeugen für den Kasten sowie ein Codierfeld 6 für die Aufnahme eines Codes, der z.B. die Herstellungsdaten enthalten kann. Auf dem oberen Rand 7 befinden sich Vorsprünge 8. An entsprechenden Stellen eines darüber gestapelten Kastens befinden sich im unteren Rand 9 Ausnehmungen 10. Hierdurch wird ein exaktes Stapeln einer Viel­zahl von Kästen übereinander erreicht sowie ein Ver­rutschen der Kästen gegeneinander unterbunden.The transport and storage box consists of a base and four side walls 2 firmly connected to it. On these side walls 2 there are ribs 3, as well as preferably on the underside of the base, for stabilizing the shape of the box. Centering openings 4 are also located here. in order to bring the box into the correct position in relation to the loading and / or unloading robot, pockets 5 for engaging transport tools for the box and a coding field 6 for receiving a code which, for example which may contain manufacturing dates. On the upper edge 7 there are projections 8. At corresponding points in a box stacked above, there are 9 recesses 10 in the lower edge. This ensures that a large number of boxes are stacked one on top of the other and prevents the boxes from slipping against one another.

In einen derartigen Transport- und Lagerkasten kann ein Einsatz 11 eingesetzt werden, der sich mit seinen Seitenkanten gegen die Innenwandungen des Transport- und Lagerkastens abstützt (Fig. 2), es können auch mehrere Einsätze 12 in einen solchen Transport- und Lagerkasten eingesetzt werden, die sich mit ihrer einen Kante gegen die Innenwand des Transportkastens, mit ihren anderen Kanten gegeneinander abstützen (Fig. 3), es kann auch ein einziger Einsatz 13 einge­setzt werden, der den oberen Rand 7 des Kastens über­faßt (Fig. 4).In such a transport and storage box, an insert 11 can be used, which is supported with its side edges against the inner walls of the transport and storage box (FIG. 2), several inserts 12 can also be used in such a transport and storage box, who deal with their an edge against the inner wall of the transport box, with its other edges against each other (Fig. 3), it can also be used a single insert 13 which covers the upper edge 7 of the box (Fig. 4).

Der Einsatz 11 der Fig. 2 weist eine Reihe von Ver­tiefungen 14 für die Aufnahme von Werkstücken 15 auf. Diese Vertiefungen 14 weisen noch seitliche Erweite­rungen 16 auf, die es den Greiffingern des Roboters ermöglichen, das Werkstück seitlich und auch teil­weise von unten anzufassen. Der Rand 17 dieses Ein­satzes ist im Querschnitt U-förmig gestaltet und stützt sich gegen die Innenseite der Seitenwände 2 ab. Den Werkstücken wird auf diese Weise ein sicherer Halt in gesicherter Lage gegeben.The insert 11 of FIG. 2 has a series of depressions 14 for receiving workpieces 15. These recesses 14 also have lateral extensions 16 which enable the gripper fingers of the robot to grip the workpiece laterally and also partially from below. The edge 17 of this insert is U-shaped in cross section and is supported against the inside of the side walls 2. In this way, the workpieces are given a secure hold in a secure position.

Im Ausführungsbeispiel der Fig. 3 sind zwei Ein­sätze 12 mit unterschiedlichen Vertiefungen 14 für unterschiedliche Werkstücke 15 in den Transport- und Lagerkasten eingesetzt. Auch hier weisen die Vertie­fungen 14 seitliche Erweiterungen 16 auf. Auch ist hier der Rand 17 im Querschnitt U-förmig ausgebildet. Dieser Rand stützt sich teils gegen die Innenseiten der Seitenwände 2, teils gegen den benachbarten Rand 17 des benachbarten Einsatzes 12 ab.In the embodiment of FIG. 3, two inserts 12 with different recesses 14 for different workpieces 15 are used in the transport and storage box. Here, too, the depressions 14 have lateral extensions 16. Here too, the edge 17 is U-shaped in cross section. This edge is supported partly against the inside of the side walls 2 and partly against the adjacent edge 17 of the adjacent insert 12.

Im Ausführungsbeispiel der Fig. 4 ist in den Trans­port- und Lagerkasten ein einziger Einsatz 13 vor­gesehen. Dieser übergreift den oberen Rand 7 des Transport- und Lagerkastens. Daher weist dieser Ein­satz 13 dort, wo der obere Rand des Transport- und Lagerkastens Vorsprünge 8 trägt, Ausnehmungen auf.In the embodiment of FIG. 4, a single insert 13 is provided in the transport and storage box. This overlaps the upper edge 7 of the transport and storage box. This insert 13 therefore has recesses where the upper edge of the transport and storage box bears projections 8.

Im Ausführungsbeispiel der Fig. 5 und 6 sind auf den Transport- und Lagerkasten 18 zwei Rahmen 19 aufge­setzt. Diese Rahmen sind in der gleichen Form wie der Transport- und Lagerkasten hergestellt, weisen jedoch keinen Boden auf. Sie weisen daher die gleiche Form wie die Seitenwände 2 des Transport- und Lagerkastens 18 auf. Diese Rahmen 19 sind untereinander und mit dem Transport- und Lagerkasten 18 durch aufgesetzte federnde Klammern miteinander verbunden. Der auf diese Weise hergestellte Transport- und Lagerkasten ver­größerter Höhe weist ebenfalls einen Einsatz 21 auf, in den Werkstücke 15 eingestellt sind. In diesem Falle ist der Rand des Einsatzes 21 nicht U-förmig aus­gebildet, damit die Seitenwandungen des Einsatzes 21 unmittelbar an den Seitenwänden des Transport- und Lagerkastens 18 und der Rahmen 19 anliegen.In the embodiment of FIGS. 5 and 6, two frames 19 are placed on the transport and storage box 18. These frames are made in the same shape as the transport and storage box, but have no bottom. They therefore have the same shape as the side walls 2 of the transport and storage box 18. These frames 19 are interconnected and connected to the transport and storage box 18 by spring clips. The transport and storage box of increased height produced in this way also has an insert 21 in which workpieces 15 are set. In this case, the edge of the insert 21 is not U-shaped, so that the side walls of the insert 21 rest directly on the side walls of the transport and storage box 18 and the frame 19.

In Fig. 7 ist der Einsatz 22 so gestaltet, daß er eine Schrägfläche 23 aufweist, auf der die zylindri­schen Werkstücke 15 liegen. Ist das am Tiefsten ge­legene Werkstück 15A entnommen, so rollt das nächst folgende Werkstück 15B in die bisherige Lage des Werkstückes 15A, die übrigen Werkstücke folgen. Hier sind in der Vertiefung 14 ebenfalls Vorsprünge vorge­sehen, damit der J-förmige Greifer 24 des Roboters das Werkstück entnehmen kann.In Fig. 7, the insert 22 is designed so that it has an inclined surface 23 on which the cylindrical workpieces 15 lie. If the lowest workpiece 15A is removed, the next workpiece 15B rolls into the previous position of the workpiece 15A, the other workpieces follow. Here, too, projections are provided in the recess 14 so that the J-shaped gripper 24 of the robot can remove the workpiece.

Liste der Bezugszeichen:List of reference numerals:

  • 1 Boden1 floor
  • 2 Seitenwand2 side wall
  • 3 Rippe3 rib
  • 4 Zentrieröffnung4 centering opening
  • 5 Tasche5 pocket
  • 6 Codierfeld6 coding field
  • 7 oberer Rand7 top margin
  • 8 Vorsprung8 head start
  • 9 unterer Rand9 lower margin
  • 10 Ausnehmung10 recess
  • 11 Einsatz11 use
  • 12 Einsatz12 use
  • 13 Einsatz13 use
  • 14 Vertiefung14 deepening
  • 15 Werkstück15 workpiece
  • 16 Erweiterung16 extension
  • 17 Rand17 margin
  • 18 Transport- und Lagerkasten18 transport and storage box
  • 19 Rahmen19 frames
  • 20 Klammer20 brackets
  • 21 Einsatz21 use
  • 22 Einsatz22 use
  • 23 Schrägfläche23 sloping surface
  • 24 Greifer24 grippers
  • 25 Abstützfläche25 support surface

Claims (8)

1. Zubringevorrichtung für Werkstücke zu Robotern, automatisch arbeitenden Beschickungsvorrichtungen, Montagevorrichtungen und dergleichen,
gekennzeichnet durch
einen aus Kunststoff gefertigten Transport- und Lagerkasten (1,2) mit stabilem Boden (1) und min­destens einem Einsatz (11,12,13,21,22) aus tiefge­zogener Kunststoffolie, dessen Außenwandungen dicht an den Wandungen (2) des Transport- und Lagerkastens anliegen und der Vertiefungen (14) von der Form der einzulegenden Werkstücke (15) und vorzugsweise als Teil dieser Vertiefungen nach außen gerichtete Er­weiterungen (16) dieser Vertiefungen (14) für am Werkstück (15) anfassende Greifer (24) des Roboters aufweist.1. Feeding device for workpieces to robots, automatically working loading devices, assembly devices and the like,
marked by
a transport and storage box (1, 2) made of plastic with a stable base (1) and at least one insert (11, 12, 13, 21, 22) made of deep-drawn plastic film, the outer walls of which are close to the walls (2) of the transport and bearing box and have the depressions (14) of the shape of the workpieces (15) to be inserted and preferably as part of these depressions outward extensions (16) of these depressions (14) for grippers (24) of the robot gripping the workpiece (15) . 2. Zubringevorrichtung nach Anspruch 1,
gekennzeichnet durch
mindestens einen auf den Transport- und Lagerkasten (18) aufgesetzten und vorzugsweise an diesem be­festigten Rahmen (19).2. feeding device according to claim 1,
marked by
at least one frame (19) placed on the transport and storage box (18) and preferably attached to it. 3. Zubringevorrichtung nach Anspruch 1 und 2,
dadurch gekennzeichnet,
daß der Rahmen (19) identische Abmessungen wie die Seitenwände (2) des Transport- und Lagerkastens (18) aufweist.3. feeding device according to claim 1 and 2,
characterized,
that the frame (19) has identical dimensions as the side walls (2) of the transport and storage box (18). 4. Zubringevorrichtung nach Anspruch 1,
gekennzeichnet durch
die Anordnung von Zentrierlöchern (4), -ausnehmungen oder -vorsprünge an den Außenseiten der Seitenwände (2) oder der Unterseite des Bodens (1) des Transport- und Lagerkastens.4. feeding device according to claim 1,
marked by
the arrangement of centering holes (4), recesses or projections on the outer sides of the side walls (2) or the underside of the bottom (1) of the transport and storage box. 5. Zubringevorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß der Einsatz (11,12,13,21,22) aus tiefgezogener Kunststoffolie einen im Querschnitt U-förmig gestal­teten Rand (17) aufweist, der entweder an der Innenwandung des Transport- und Lagerkastens und/oder an benachbarten Einsätzen anliegt, oder den Rand (7) des Transport- und Lagerkastens überfaßt.5. feeding device according to claim 1,
characterized,
that the insert (11, 12, 13, 21, 22) made of deep-drawn plastic film has a cross-sectionally U-shaped edge (17) which either lies on the inner wall of the transport and storage box and / or on adjacent inserts, or the Covered edge (7) of the transport and storage box. 6. Zubringevorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß der nach oben gerichtete Rand (7) des Trans­port- und Lagerkastens nach oben gerichtete Vor­sprünge (8) und der diesen Rand (7) übergreifende Rand des Einsatzes (13) und vorzugsweise auch der Boden (1) des darüber gestapelten Transport- und Lagerkastens oder des aufgesetzten Rahmens (19) am Ort der Vorsprünge (8) Ausnehmungen (10) aufweist.6. feed device according to claim 1,
characterized,
that the upward edge (7) of the transport and storage box upward projections (8) and this edge (7) overlapping edge of the insert (13) and preferably also the bottom (1) of the stacked transport and storage box or the attached frame (19) at the location of the projections (8) has recesses (10). 7. Zubringevorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß der Innenraum des Transport- und Lagerkastens durch mindestens eine Innenwand oder ein Paar von dicht nebeneinander angeordneten Innenwänden unter­teilt ist.7. feeding device according to claim 1,
characterized,
that the interior of the transport and storage box is divided by at least one inner wall or a pair of closely spaced inner walls. 8. Zubringevorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß in der Oberfläche des Einsatzes (22) Schräg­flächen (23) angeordnet sind, neben denen bis zum Boden reichende Abstützflächen (25) befindlich sind.8. feed device according to claim 1,
characterized,
that inclined surfaces (23) are arranged in the surface of the insert (22), next to which support surfaces (25) reaching to the bottom are located.
EP88116600A 1987-10-21 1988-10-07 Feeder device for work pieces Withdrawn EP0312854A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3735540 1987-10-21
DE19873735540 DE3735540A1 (en) 1987-10-21 1987-10-21 FEEDING DEVICE FOR WORKPIECES

Publications (1)

Publication Number Publication Date
EP0312854A1 true EP0312854A1 (en) 1989-04-26

Family

ID=6338738

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88116600A Withdrawn EP0312854A1 (en) 1987-10-21 1988-10-07 Feeder device for work pieces

Country Status (2)

Country Link
EP (1) EP0312854A1 (en)
DE (1) DE3735540A1 (en)

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US5394986A (en) * 1993-03-01 1995-03-07 Hokkai Can Co., Ltd. Can end tray

Families Citing this family (2)

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Publication number Priority date Publication date Assignee Title
DE19723443C2 (en) * 1997-06-04 2000-03-09 Fraunhofer Ges Forschung Device and method for loading and emptying a workpiece carrier for workpieces that can be arranged in rows, preferably ring-shaped or tubular, for storing, temporarily storing and making available the workpieces
DE29805741U1 (en) 1998-03-28 1998-06-10 Maschinenfabrik Goebel Gmbh, 64293 Darmstadt Positioning device

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GB1079953A (en) * 1964-07-27 1967-08-16 Yves Tricault Improvements in or relaitng to packages for food and like containers
NL6916029A (en) * 1969-10-23 1970-01-26
DE8701682U1 (en) * 1987-02-04 1987-05-21 Stucki Kunststoffwerk und Werkzeugbau GmbH i.K., 32107 Bad Salzuflen Transport, storage and stacking device
US4705169A (en) * 1986-10-14 1987-11-10 Lebo Peerless, Inc. Multiple cassette storage tray
EP0259672A1 (en) * 1986-09-09 1988-03-16 Stucki Kunststoffwerk und Werkzeugbau GmbH. Crate for components

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DE7120053U (en) * 1971-05-22 1971-09-30 Spumalit-Anstalt Plastic pallet
CH647184A5 (en) * 1980-08-15 1985-01-15 Reishauer Ag PALLET FOR TRANSPORTING AND STORING WORKPIECES.
DE3506989C3 (en) * 1985-02-27 1991-03-07 Stahl Gmbh & Co Maschf METHOD FOR MAGAZINE AND HANDLING STRETCHED PARTS

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Publication number Priority date Publication date Assignee Title
GB1079953A (en) * 1964-07-27 1967-08-16 Yves Tricault Improvements in or relaitng to packages for food and like containers
NL6916029A (en) * 1969-10-23 1970-01-26
EP0259672A1 (en) * 1986-09-09 1988-03-16 Stucki Kunststoffwerk und Werkzeugbau GmbH. Crate for components
US4705169A (en) * 1986-10-14 1987-11-10 Lebo Peerless, Inc. Multiple cassette storage tray
DE8701682U1 (en) * 1987-02-04 1987-05-21 Stucki Kunststoffwerk und Werkzeugbau GmbH i.K., 32107 Bad Salzuflen Transport, storage and stacking device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5394986A (en) * 1993-03-01 1995-03-07 Hokkai Can Co., Ltd. Can end tray
EP0613829B1 (en) * 1993-03-01 1997-06-04 Hokkai Can Co., Ltd. Can end tray

Also Published As

Publication number Publication date
DE3735540C2 (en) 1992-07-30
DE3735540A1 (en) 1989-05-03

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