EP2611555B1 - Bending-straightening machine for a long workpiece, device for feeding in and removing said workpiece and method for bend-straightening long workpieces - Google Patents

Description

FIELD OF THE INVENTION

The invention relates to a feeding and Abführvorrichtung for a bending machine according to claim 1 and a method for bending of long workpieces according to claim 8. The bending machine is provided for a long workpiece with two height and distance variable, a processing line defining detection devices. The two detection devices support the long workpiece at least between the bending steps in different tool positions, in particular at the workpiece ends, in approximately horizontal position and allow a rotary drive about the workpiece axis to Biegerichtvorgänge in different rotational angular positions of the long workpiece enable. The bending machine has at least two in the longitudinal direction of the workpiece between the detection devices at a distance from each other - viewed in the longitudinal direction of the workpiece - arranged jambs for supporting the workpiece against the directionally pressing on the workpiece straightening forces. At least one straightening stamp is directed from the opposite side of the strait amirs between the straightening anvils against the workpiece and generates the straightening forces. The straightening die and the directional anvils are along the workpiece along the processing line and possibly - but not necessary - also moved beyond. A device for feeding and discharging the long workpiece for the bending levels allows its supply and removal in and out of the processing line.

TECHNOLOGICAL BACKGROUND

Manually controlled straightening equipment for steel bars used in steelworks and processing plants are usually equipped with a motorized roller conveyor to move and straighten the bar for straightening through the straightening press. The rods to be straightened usually have a round cross-section with a diameter between 80 and 450 mm and lengths between 2 m and 30 m. They are transported rolling on the so-called roller conveyors from a feed position to the straightening position and from there to a discharge position horizontally, ie also in the area of the processing line. Generic Biegerichtmaschinen u. A. in the DE 25 24 310 A as well as in the scriptures DE 197 25 033 C1 . DE 20 2006 008 001 U . JP 57001520 A and DE 40 22 951 A1 described. The bending machine acts in a horizontal direction on the bar steel resting on the roller conveyor during the entire procedure. Thus, by advancing and retracting on the roller conveyor each longitudinal position of the workpiece to be bent. The circumferential angle of the workpiece is changed for example by so-called chain turners, so that the bending is possible not only in all longitudinal positions but also in all angular or circumferential positions of the workpiece. Such bending machines are offered for example by the company Röcher GmbH & Co. KG in Netphen. The bending lights of resting on a roller conveyor long workpieces has accuracy limits, inter alia, because the elastic recovery of the long workpiece after each bending step are hindered by frictional forces between the workpiece and the roller conveyor.

It is therefore to bending machines ( DE 101 44 135 C1 ), in which the long workpiece, at least between the bending steps in different workpiece positions, is supported vertically only at its ends. For this purpose, a detection device is used, which also allows a rotation of the workpiece about its longitudinal axis and which define a processing path in the straightening press. The straightening press can be moved along the workpiece, which is supported only at its ends, into the respectively desired bending-jaw positions. For detecting workpieces of different lengths, the detection devices are variable in distance along the machining path. The workpiece to be machined can in principle be inserted by means of a crane device into its supports on the detection devices. This labor-intensive loading operation of the bending machine can be simplified by the detection means having pivot means which permit to detect a workpiece adjacent to the processing line and parallel to it and in an approximately 180 degree pivoting step from the feed position transverse to its longitudinal direction into the processing line to pivot into the bending machine. Currently in use is the radial supply with walking beam or the like. The latter Biegerichtmaschinen from which the invention proceeds are sold by the applicant as a series ASV-L. The bending process takes place automatically over the entire workpiece length and with high precision.

PRESENTATION OF THE INVENTION

In order to enable a simple linking of a generic bending machine with a production and / or processing line for long workpieces and in particular to integrate the straightening system in a continuous line production is the supply and discharge device for a bending machine with the features of claim 1 proposed. Accordingly, it is provided that in extension of the processing line on at least one head end thereof excludes a horizontal conveyor for the long workpiece in a straight extension of the machining section. At least one of the two detection devices has a gripping head. The gripping head permits frictional gripping of an end region of the long workpiece conveyed by the horizontal conveying means. It is further provided to draw in the non-directional workpiece by means of the gripping head and a drive means in the processing section. For discharging the long workpiece from the bending machine, the gripping head pushes the directed workpiece onto the same or an opposite horizontal conveyor in a straight extension of the processing line. Accordingly, at least one of the detection devices can be moved virtually along the entire processing path along with the long workpiece held by its gripping head along the processing path. It may be provided the machining of workpieces of different lengths, with lengths of 3 m to 40 m, in particular from 4 m to 30 m, may be provided. As with MAE's ASV-L Series Bending Machines, the two workpiece end detectors can be height-adjustable to lower the workpiece to the anvils of the bending machines in its various bending positions. In principle, however, the directional anvils can instead be raised to support the long workpiece and remain lowered between the bending steps during the longitudinal process of the bending machine along the processing path. As in the DE 101 44 135 C1 and the series ASV-L provided by MAE, the workpiece is detected by the two detection devices regardless of its length at the ends, supported and rotated in any desired rotational position about the longitudinal direction of the workpiece.

The invention is also a processing machine, and a method for continuous line production or processing of long workpieces according to claims 7 or 8, which are each of independent inventive importance.

BRIEF DESCRIPTION

Fig. 1

eine Biegerichtmaschine in Seitenansicht ohne Werkstück;

Fig. 2 A/B

dieselbe Biegerichtmaschine in einer Zuförderposition (Fig. 2A) und in der Werkstückgreifposition (Fig. 2B);

Fig. 3 A-E

dieselbe Biegerichtmaschine mit einem Werkstück in seiner Biegerichtposition: vor dem Schließen des zweiten Greifkopfes (Fig. 3A), mit beiden Greifköpfen geschlossen (Fig. 3B), mit geöffnetem zweiten Greifkopf (Fig.3C) sowie in Aussicht von oben (Fig. 3D) und während des Abführens des langen Werkstücks (Fig. 3E);

Fig. 4 A-E

eine alternative Ausführungsform einer Bearbeitungsstation für lange Werkstücke als Sequenz in Ansicht von oben;

Fig. 5

eine optionale Erfassungseinrichtung für eine Biegerichtmaschine nach Figuren 1 bis 4;

Fig. 6

eine alternative Erfassungseinrichtung für die Linienbearbeitung von langen Werkstücken;

Fig. 7A-C

von der Erfassungseinrichtung nach Figur 6 den Greifkopf in Stirnseitenansicht zur Bearbeitung länglicher Werkstücke unterschiedlicher Querschnittsformen;

Fig. 8

eine alternative Bauart (O-Form) einer Biegerichtmaschine in stirnseitiger, schematischer Darstellung; sowie

Fig. 9

eine Aufsicht auf eine seitlich offene Biegerichtmaschine (C-Form) in stark vereinfachter, schematischer Darstellung.

In the drawing show

Fig. 1

a bending machine in side view without workpiece;

Fig. 2 A / B

the same bending machine in a feed position ( Fig. 2A ) and in the workpiece gripping position ( Fig. 2B );

Fig. 3 AE

The same bending machine with a workpiece in its Biegerichtposition: before closing the second gripping head ( Fig. 3A ), closed with both gripping heads ( Fig. 3B ), with opened second gripping head ( Figure 3C ) and in view from above ( Fig. 3D ) and during the removal of the long workpiece ( Fig. 3E );

Fig. 4 AE

an alternative embodiment of a processing station for long workpieces as a sequence in top view;

Fig. 5

an optional detection device for a bending machine according to FIGS. 1 to 4 ;

Fig. 6

an alternative detection device for the line processing of long workpieces;

Fig. 7A-C

from the detection device FIG. 6 the gripping head in front view for processing elongated workpieces of different cross-sectional shapes;

Fig. 8

an alternative type (O-shape) of a bending machine in frontal, schematic representation; such as

Fig. 9

a view of a laterally open bending machine (C-shape) in a highly simplified, schematic representation.

DETAILED DESCRIPTION OF EMBODIMENTS

How out FIG. 1 it can be seen that a bending machine designated overall by 100 comprises a press frame 1 which can be moved horizontally along guide rails 4, 4A, 4B and has a vertically acting straightening head 1A and distance-adjustable vertically acting straightening jambs 1 B, 1C. Two detection devices 2A, 2B are, like the press frame 1, longitudinally displaceable along the guide rails 4, 4B of a machine base 5. Alternatively it can be provided that the press frame 1 is arranged stationary, which is not shown in the figures.

The detection devices 2A and 2B define, together with the straightening head 1A and the directional protuberances 1B and 1C, a processing line WP which is shown in dot-dash lines and which coincides with the workpiece W clamped for machining ( Figure 3A-C ). Accordingly, the processing zone defined by the straightening head 1A and the directional aprons 1B, 1C is a part of the processing path WP. Due to the movability of the press frame 1 along the processing path WP and the parallel thereto guide rails 4, 4A, 4B, the bending zones along the processing line can shift accordingly. The processing path WP is (by definition) wholly or partially by the provided on the detection means 2A and 2B and otherwise described in more detail below gripping heads 8A, 8B for supporting and for the rotary drive of the horizontally disposed workpiece W. Consequently, the processing path WP is at least long as the longest possible machinable in the bending machine workpiece W together with the length of the gripping heads.

Of course, in order to straighten existing deformations on the workpiece end, it is also possible to drive the straightening press beyond the gripping head and to drive the straightening anvil (s) under the workpiece end projecting out of the gripping head.

In left and right extension EPA and EPB of the processing path WP extends at least one head end WPA and / or WPB the processing line WP depending on a horizontal conveyor 3, as above all FIGS. 1 to 4 can be seen, for. B. as roller table 3A, 3B. Likewise, a horizontal conveyor 3 can extend only in one of the two extensions EPA or EPB (not shown).

In the in FIG. 2A / B shown basic position of the detection devices 2A, 2B are the gripping zones of the gripping heads 8A, 8B with its center, in particular with its center of rotation, approximately in the center of the workpiece W. Due to the height variability of the detection devices, which are realized for example by a height variability of the gripping heads can, the gripping head is adjusted or preset according to the thickness of the workpiece W in height and thus adapted the gripping head to the height of the workpiece center relative to the roller table 3A, 3B. In principle, the horizontal conveyor 3 can be adjusted in height. How out FIG. 2A / B, the workpiece W is moved beyond the end of the roller table 3A during advancement in the direction of the processing path WP, so that it protrudes with respect to the roller table. In this case, the right-hand end of the workpiece is advanced by the gripping head 8A of the left-hand detection device 2A into the gripping zone of the gripping head 8B in the right-hand detection device 2B. Then the gripping or clamping means of the second gripping head 8B are moved up against the end zone of the workpiece W which encompasses the right-hand workpiece end WB and braced with it. The gripping head 8B together with the workpiece W is then moved to the right by means of the right-hand detection device 2B along the processing path WP. For this purpose, a suitable drive is provided. Meanwhile the gripping means of the left detection device 2A remain open, so that the workpiece can be guided more or less freely through the left detection device 2A.

Out FIG. 3A It can be seen that the gripping head 8B is in frictional connection to the workpiece W and is already displaced along the guide rail 4B as far to the right as the workpiece length requires to be subsequently clamped at its left end zone (WA) by the gripping head 8A as well to be able to, as in FIG. 3B shown for straightening operations. The gripping heads 8A / 8B are rotatable about the workpiece longitudinal axis, so that the workpiece can be measured and bent in the usual way. For this purpose, the press frame 1 moves along the processing path WP, in order to reach all the required Biegerichtpositionen along the workpiece. For the post-processing of the workpiece W required pushing out of the workpiece W from the processing section WP, the workpiece W can either in the in FIG. 2A / B are pushed back or advanced in the opposite direction on the opposite roller table 3B, as in FIGS. 4 shown. For this purpose, the corresponding detection device moves the gripper head (in the embodiment the left) along the processing path WP with the gripper head 8A closed and the gripper head 8B open to the right.

In order with the gripping head hindering contours of the press frame 1, z. As the Richtambossen or the straightening head to dodge, it may be necessary that the workpiece W, for example, along the vertical directional arrows 45, raised and / or lowered. Alternatively or additionally, the anvils 1 B, 1 C and / or the straightening head 1 A can be moved in particular in the vertical direction so that a feeding in or out of the workpiece W or passing at least one gripping head is possible.

A plan view of a bending machine, in particular according to the FIGS. 3A to 3C , is out Figure 3D seen. For example, when feeding in or out or when positioning or centering the workpiece W the contours of the Press frame 1 with its components such as the straightening head 1A and / or the Richtambossen 1 B, 1C to be able to dodge, it may be useful if the gripping heads 8A, 8B and the detection devices 2A, 2B in the horizontal direction according to the direction arrows 40 across the processing line WP are movable. Movability of the gripping heads 8A, 8B or the detection devices 2A, 2B in all spatial directions, in particular in the vertical direction (height adjustability), in the axial direction (WP) and / or in the horizontal direction along the directional arrows 40 (as, for example, in FIG FIG. 9 ), ie essentially perpendicular to the guide rails 4A, 4B and also rotartoric about the center of rotation of the gripper head 8A, 8B, also serves for the centering of the workpiece W in the device (100) required for the bending work.

The transport sequence after FIGS. 4A-4E illustrate the horizontal conveying of the long workpiece in an alternative embodiment: FIG. 4A shows a situation of the feed of a long workpiece W including its length measurement. According to the result of the length measurement, as shown in Fig. 4B, the position of two or more roller blocks 30 located between the detectors 2A / B is adjusted along the guide rail 4B of the workpiece length. The belonging to the roller blocks 30 horizontal support means 33 may, in principle, also be formed as support rollers, as they are also used for the roller table 3A / 3B. Out FIG. 4C It can be seen how, with the barrier 20 open, the long workpiece W, supported by the horizontal support means 33, is displaced into the detection position of the gripping heads. Subsequently, the horizontal support means 33 from its position below the processing section WP in an in Figure 4D withdrawn position shown. Thereupon, the processing of the long workpiece W may be performed in various machining positions, such as with a bending machine, while the long workpiece is temporarily clamped at its end portions by the gripping heads 8A and 8B. Out Figure 4E As can be seen, after the long workpiece has been machined, it can be displaced together with the roller blocks (30) and the detection devices 2A / B as a whole (in the drawing to the right). During subsequent removal via a roller conveyor 3B, the workpiece support on the again under the processing line WP displaced horizontal support means 33 take place. A still unprocessed long workpiece of different length and / or different cross-section is already driven up in this illustration by the roller conveyor 3A up to a lock 20 for the next processing cycle.

How out FIG. 5 can be seen as a gripping head a three-point support using rollers, as they are already used in the series ASV-L by MAE. But are preferred novel gripping heads as in FIGS. 6 and 7 are shown and described below.

FIGS. 6 and 7A-C show a gripping head 8 in the manner of a two-jaw chuck. A base housing 11 is connected via vertically movable guide scales 12 to the FIGS. 1 to 4 known detection devices 2A, 2B attached and this height adjustable. The base housing 11 has a large center recess 11 A for pushing through to be machined workpieces W. On its side facing the machining section WP, a turntable 13 adjoins the base housing 11 and carries a rotary head 14 that is rotatable in its circumferential direction through 360 °. The turntable 13 is suitable for at least partially passing the workpiece W insofar as it comprises a substantially closed, ring-like component on the circumference, but in the middle at least one opening or a variable passage. The rotation between the base housing 11 and rotary head 14 via a circumferential toothing and a geared motor (not shown), wherein the rotary head 14 can rotate relative to the base housing 11 by 360 ° or endlessly. The rotary head 14 accommodates two motor-driven spindles 15A, 15B in lateral and in the present and in this case preferred non-centric alignment. Each of the two spindles is connected to one of two opposing jaws 18A, 18B, which are independently adjustable along guide rails 16A, 16B and with guide carriages 17A, 17B. The guide rails 16A, 16B may be disposed on one of the sides of the workpiece W or (as shown) on different sides. The jaws fix the workpiece W, which can drive through the open construction for loading and unloading in the axial direction without collision through the chuck. Gripping heads with features of the aforementioned type are of independent inventive importance.

How out FIGS. 7A-C can be seen, with one and the same jaw pair clamping round, square, rectangular but also other polygonal cross-sectional shapes of the workpiece possible. Without manual intervention, a large clamping range is covered, such as round and square bars in the size range 120 to 150 mm or rectangular to 120 x 600 mm. The independent adjustability of upper and lower jaw balances the different jaw geometries 19A, 19B (prismatic top and bottom straight) and workpiece cross-sections. Jaws with features of the aforementioned type are of independent inventive importance.

In the figures, although the gripping heads are shown with two different clamping jaws from each other; but it is also possible to use instead three or more different jaws without leaving the inventive concept.

For round bars, the prismatic jaw is turned downwards for better centering. Particularly advantageous is the free rotation. Round rods can thus be measured in a rotating manner and form errors can be better filtered out. The concentricity error vectors on round bars can be positioned exactly upwards, so that the straightening process runs optimally.

An end-face and schematic view of a bending machine 100 with closed machine frame 120, the FIG. 8 be removed. Within the frame 120, a guide rail 4B is arranged, along which the gripping heads 8A, 8B and / or the detection devices 2A, 2B are movable. In order in particular to avoid the contours of the anvils 1 B, 1 C and / or the straightening head 1 A, the gripping heads 8 A, 8 B along the directional arrows 40, 45 vertically, ie in height and / or horizontally, ie substantially perpendicular to the line of action of the straightening head 1 A within the frame 120 movable.

A schematic and highly simplified representation of a view of a preferably open to one side bending machine 100, the FIG. 9 can be removed, wherein the frame of the machine in profile can have an approximately C-shaped configuration. The introduction of the workpiece W can take place along the processing path WP. This corresponds to a path along the dashed line. Alternatively, the workpiece along the path according to the solid line in FIG. 9 are first arranged parallel to the processing line in front of the press frame 1 (ie, before the opening of the C-shaped frame), before it is then moved along the directional arrow 40 in the processing position, so that its position after this horizontal movement coincides with the processing section WP. Collisions of the gripping heads 8A, 8B with the anvils or the straightening head can thus be avoided. LIST OF REFERENCE NUMBERS 1 press frame 17A carriages 1A straightening head 17B carriages 1B straightening anvil 18A jaw 1C straightening anvil 18B jaw 2A detector 19A prismatic jaw geometry 2 B detector 19B straight jaw geometry 3 Horizontal funds 20 barrier 3A roller table 30 rollerstands 3B roller table 33 Horizontal proppant 4 guide rails 40 horizontal directional arrow 4A / B guide rails 45 vertical directional arrow 5 machine base 100 Leveler 8th gripper head 120 machine frame 8A gripper head 8B gripper head EPA renewal 11 Headers EPB renewal 11A central recess W workpiece 12 scales guide WA Workpiece end 13 slewing ring WB Workpiece end 14 turret WP processing path 15A spindle WPA Head of the machining section 15B spindle 16A guide rail WPB Head of the machining section 16B guide rail

Claims (8)

1. A feeding and removing device for feeding and/or removing a long workpiece (W) along a processing line into a processing position or from a processing position of a processing machine, such as a straightening machine,
   wherein the long workpiece (W), in particular its two ends, are temporarily carried by one detection means (2A, 2B) each,
   wherein a horizontal conveying means (3) for the long workpiece (W) adjoins at least one head end (WPA, WPB) of the processing line (WP) in a straight elongation (EPA, EPB) of the processing line (WP),
   wherein at least one of the detection means (2A, 2B) exhibits a gripping head (8A, 8B) for frictionally gripping an end region of the workpiece (W) brought in by the horizontal conveying means, as well as driving means for pulling the undirected workpiece (W) into the processing line (WP) and pushing out the directed workpiece onto the at least one horizontal conveying means with the gripping head, and
   wherein the height of the gripping head (8A, 8B) can be adjusted by means of at least one guiding wagon (12) on the detection means (2A, 2B) for the ends (WA, WB) of the long workpiece (W,
   characterized in that
   the at least one horizontal conveying means (3) is a roller bed (3A, 3B), that the gripping head (8A, 8B) can be turned around a center of rotation of the gripping head (8A, 8B),
   that the gripping head can be adjusted to the height of the workpiece center relative to the at least one horizontal conveying means (3) or the at least one horizontal conveying means (3) can be adjusted to the height of the workpiece center relative to the gripping head, that the gripping head (8A, 8B) exhibits two clamping jaws (18A, 18B) that can be adjusted independently of each other and turned around a center of rotation of the gripping head, and
   that a rotating head (14) carrying the clamping jaws (18A, 18B) is coupled with an internally hollow base housing (11) by means of an internally hollow live ring (13) for guiding through at least sections of the workpiece (W),
   wherein the gripping head can be unconstrainedly displaced on the long workpiece (W) during a processing step, trailing the gripped workpiece end (WA, WB).
2. The feeding and removing device according to claim 1, characterized in that guiding rails (16A, 16B) for the clamping jaws (18A, 18B) that run past the long workpiece (W) to be clamped are provided on the side, in particular on varying sides, of the gripping head.
3. The feeding and removing device according to claim 1 or 2, characterized in that the clamping geometries of the two clamping jaws (18A, 18B) differ from each other.
4. The feeding and removing device according to one of claims 1 to 3, characterized in that the clamping jaw (18A) exhibits a prismatic clamping geometry (19A), and the other clamping jaw (18B) exhibits a flat clamping geometry (19B).
5. The feeding and removing device according to one of claims 1 to 4, characterized in that roller blocks (30) situated between the two detection means (2A, 2B) and traversable parallel thereto are provided.
6. The feeding and removing device according to claim 5, characterised in that horizontal support means (33) are provided for feeding and removing the long workpiece (W) that can optionally be displaced under the processing line (WP).
7. A straightening machine for a long workpiece with two detection means (2A, 2B) for rotationally driving and temporarily supporting a horizontally arranged workpiece (W), in particular at its end regions, at least for time intervals between the straightening steps in varying workpiece positions,
   with a longitudinal press frame (1) with at least two straightening anvils (1B, 1C) arranged in the longitudinal direction of the workpiece (W) between the detection means (2A, 2B) spaced one apart from each other as viewed in the longitudinal direction of the workpiece (W) for supporting the workpiece (W) against the straightening forces pressing on the workpiece (W) in the transverse direction, and
   with at least one straightening stamp (straightening head 1A), which is directed from the side lying opposite the straightening anvils (1B, 1C) against the workpiece (W) between the straightening anvils, and generates the straightening forces,
   wherein the press frame (1) can be displaced along the workpiece the workpiece (W) can be displaced along the press frame (1), and
   wherein the detection means (2A, 2B) can be adjusted in terms of height and/or distance, if desired,
   in which the straightening means in conjunction with the detection means define a processing line (WP), and in which a rail guide (4; 4A) is potentially provided, on which the press frame (1) can traverse along the workpiece (W),
   characterized by
   a device for feeding and removing the long workpieces (W) according to one of claims 1 to 6.
8. A method for straightening long workpieces by means of a pressing unit that can traverse along the workpiece (W), in which, between the bending steps performed in varying positions on the long workpiece, the detection means (2A, 2B) that can be adjusted in terms of height and distance support the end regions (WA, WB) of the long workpiece and potentially turn it around a horizontal rotational axis,
   characterized in that
   the long workpiece is horizontally traversed by means of a horizontal conveying means (3) extending in the elongation of the processing line (WP) until the beginning or until close to the beginning of the processing line, wherein the long workpiece is rolled in the horizontal conveying means (3) designed as a height-adjustable roller bed, pushed forward through a rotatable gripping head (8A, 8B) of a first detection means (2A) and up until the a second detection means (2B) lying adjacent thereto, wherein the gripping head (8A, 8B) can be turned around a center of rotation of the gripping head, wherein the gripping head (8A, 8B) exhibits two clamping jaws (18A, 18B) that can be adjusted independently of each other and turned around a center of rotation of the gripping head, and wherein a rotating head (14) carrying the clamping jaws (18A, 18B) is coupled with an internally hollow base housing (11) by means of an internally hollow live ring (13) for guiding through at least sections of the workpiece,
   non-positively gripped by a gripping head (8A, 8B) of the second detection means (2B) in the area of the leading workpiece end,
   pulled in by means of the second gripping head (8A, 8B) along guides arranged parallel to the processing line from the accompanying detection means (2A, 2B) into the processing line (WP),
   once processing is complete, pushed out of the processing line onto the feeding horizontal conveying means (3) or onto a discharging horizontal conveying means (3) lying opposite the feeding horizontal conveying means (3) in a straight elongation of the processing line (WP) by means of one of the gripping heads (8A, 8B), wherein the gripping head (8A, 8B) is unconstrainedly displaced on the long workpiece during a processing step, trailing the gripped workpiece end, and
   adjusted in terms of height with the gripping head (8A, 8B) by means of at least one guiding wagon (17A, 17B) on the detection means (2A, 2B) for the ends (WA, WB) of the long workpiece (W), wherein the gripping head (8A, 8B) is adjusted to the height of the workpiece center relative to at least one horizontal conveying means (3) or that at least one horizontal conveying means (3) is adjusted to the height of the workpiece center relative to the gripping head (8A, 8B).

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