EP2810724A1 - Device and method for conveying machined workpieces from a production plant - Google Patents

Abstract

A device (100) for removing processed workpieces from a production plant comprises a plurality of successively arranged intermediate stations (120.1... 120.3) with stationary trays and a plurality of transfer devices (140.2... 140.3) for transporting one or more workpieces from a first one the intermediate stations to a second of the intermediate stations, wherein the workpiece or workpieces from a stationary storage of the first intermediate station (120.1 ... 120.2) lifted and stored on a stationary storage of the second intermediate station (120.2 ... 120.3). The device (100) further comprises a plurality of removal devices (151.1 ... 3, 152.1 ... 3) for removing one or more workpieces, which are stored on one of the stationary shelves of the intermediate stations (120.1 ... 3) and the Transporting this workpiece or these workpieces into a workpiece tray (161.1 ... 161.3, 162.1 ... 162.3). The intermediate stations (120.1... 3) and converting devices (140.2... 140.3) are designed and arranged so that workpieces completed by the production facility can be successively moved successively into the intermediate stations (120.1... 3) arranged one behind the other, wherein one orientation the workpieces is maintained.

Description

The invention relates to a device and a method for removing processed, positionally oriented workpieces from a production plant, wherein the production plant z. B. may be a press, in particular a large-scale transfer press, a press line, a transfer press or the like.

State of the art

In the course of the technological development of production plants, in particular of presses such as large-scale progressive presses, press lines or transfer presses, as are typically used for the automotive industry, productivity has been increased considerably in recent years. As a result, today's production speed is often no longer limited by the production speed of the actual production line but by the speed with which the workpieces or press parts produced by the production lines can be conveyed away from the line.

For example, in the past, it has been customary to remove the press-produced pressings either manually or by tools individually controlled by an operator from a discharge station of the press and convey them away from the press for further processing.

In order to accelerate the conveyance of the workpieces away from the press, transportation systems are also known today in which this removal process is at least partially automated.

So it is z. B. known to deposit the workpieces produced by the press on a conveyor belt, which then conveys the workpieces away from the press. Subsequently, the workpieces are picked up manually and stacked in receptacles (racks). It is also known to determine the position and position of the workpieces on the conveyor belt by means of a video camera and to transmit them to an unloading robot. The unloading robot then grips the workpieces on the basis of the position and position data received by the video camera, removes them from the conveyor belt and stacks them in a suitable workpiece container, for B. in a frame. As soon as the workpiece container is filled with the workpieces produced by the press, it is z. B. transported by means of a forklift or crane from the stacking away.

Next example shows the DE 198 50 964 A1 (Müller-Weingarten ) a device for the transport of workpiece parts, which adhere to the last processing stage of a Large step-press connects. The workpieces are placed after the press through an empty level on a, preferably designed as a clock conveyor, conveyor, with specific part-specific templates are provided to obtain a defined support of the workpieces. The templates are then lowered, whereby the parts on an underlying parts storage of a transport device, eg. B. a trolley, come to rest. Subsequently, the parts are transported in a transport step to the subsequent transport stage within the cycle conveyor (eg a control stage or the end-side removal stage). In the last transport stage, the part can be picked up correctly by an industrial robot and placed in a stacking magazine.

The WO 2006/047902 A1 (Güdel Group) discloses a transport system provided with a workpiece transport device comprising a workpiece carriage, a workpiece carriage track, a first unloader and a second unloader. The workpiece carriage is designed to receive and transport at least one workpiece produced by a production facility and to be movable back and forth along the workpiece carriage path optionally between a workpiece carriage loading position and a first or a second workpiece carriage unloading position. The workpiece carriage loading position is located in the immediate vicinity of the production line, the first workpiece carriage unloading position further away from the production line, and the second workpiece carriage unloading position further away from the production line. The first unloader is for unloading a workpiece from the workpiece carriage which is in the first workpiece carriage unloading position while the second unloading device is for unloading a workpiece from the workpiece carriage at the second workpiece carriage unloading position. The two unloading devices can be operated simultaneously and independently of each other.

The EP 1 072 542 B1 (ThyssenKrupp Drauz ) relates to a stacking plant for presses for sheet metal forming. This comprises a conveyor belt with a plurality of strip-shaped sub-conveyor belts, four stacking stations arranged on both sides of the conveyor belt and four stacking robots associated therewith. The transfer press initially places the finished pressed parts on a shelf. The conveyor belt connects to the shelf. Two removal robots place the parts on the rack in the working cycle of the press the conveyor belt off; The conveyor then transports the parts in the working cycle of the press to the first stacking stations. Parallel to the conveyor belt, one container loading line and two container conveyor lines are set up on each side, they pick up the empty or full containers. Four stacking stations are arranged one behind the other on each container loading path, and in each case two stacking robots are mounted suspended between each two opposite stacking stations, above the conveyor belt. The parts are taken alternately in the different stations of the conveyor belt.

The known devices have a complicated structure. It has also been shown that the maintenance of the workpiece orientation and the location and location exact removal make high demands both on the mechanical transport devices as well as their control.

Presentation of the invention

The object of the invention is to provide a the above-mentioned technical field associated device for removing processed workpieces from a production plant, which copes with high production rates, has a simple structure and allows a location and location accurate removal of the workpieces. A further object of the invention is to provide a corresponding method for removing processed workpieces from a production plant.

1. a) eine Mehrzahl von hintereinander angeordneten Zwischenstationen mit ortsfesten Ablagen;
2. b) eine Mehrzahl von Umsetzeinrichtungen zum Transportieren eines oder mehrerer Werkstücke von einer ersten der Zwischenstationen zu einer zweiten der Zwischenstationen, wobei das Werkstück oder die Werkstücke von einer ortsfesten Ablage der ersten Zwischenstation abgehoben und auf eine ortsfeste Ablage der zweiten Zwischenstation abgelegt wird;
3. c) eine Mehrzahl von Entnahmeeinrichtungen zum Entnehmen eines oder mehrerer Werkstücke, die auf einer der ortsfesten Ablagen der Zwischenstationen abgelegt sind und zum Transportieren dieses Werkstücks oder dieser Werkstücke in eine Werkstückablage.

The solution of the problem is defined by the features of claim 1. According to the invention, the device comprises

1. a) a plurality of successively arranged intermediate stations with fixed shelves;
2. b) a plurality of transfer means for transporting one or more workpieces from a first of the intermediate stations to a second of the intermediate stations, wherein the workpiece or workpieces is lifted from a stationary storage of the first intermediate station and stored on a stationary storage of the second intermediate station;
3. c) a plurality of removal means for removing one or more workpieces, which are stored on one of the stationary shelves of the intermediate stations and for transporting this workpiece or these workpieces in a workpiece tray.

The intermediate stations and converting devices are designed and arranged such that position-oriented workpieces, in particular formed parts, which have been completed by the production plant, can be successively successively moved into the successively arranged intermediate stations, an orientation of the workpieces being maintained.

The intermediate stations are arranged one behind the other, d. H. a workpiece is first stored in a tray of a first intermediate station, said first intermediate station is the output of the production plant closest. If the workpiece is not taken directly from a removal device of the first clipboard and transported to a workpiece tray, the workpiece is detected by a conversion device and transported to the next intermediate station. This next intermediate station is opposite the output of the production plant with respect to the first intermediate station. Again, the workpiece is either removed from a removal device of the second intermediate station or transported by a further conversion device to a third intermediate station (if present).

One or more workpieces are transported per transport step, in particular as many as were completed during a production step. Depending on the type and design of the production plant, this number may change from one step to the next, but is usually constant in the course of a production run.

1. a) Entnehmen eines Werkstücks aus der Produktionsanlage;
2. b) Transportieren des Werkstücks auf eine ortsfeste Ablage einer ersten Zwischenstation, wobei eine Orientierung des Werkstücks beibehalten wird;
3. c) Abheben des Werkstücks von der ortsfesten Ablage der ersten Zwischenstation;
4. d) Transportieren des Werkstücks zu einer zweiten Zwischenstation, wobei die Orientierung des Werkstücks beibehalten wird;
5. e) Ablegen des Werkstücks auf einer ortsfesten Ablage der zweiten Zwischenstation;
6. f) Entnehmen des Werkstücks von der ortsfesten Ablage der zweiten Zwischenstation und Transportieren des Werkstücks in eine Werkstückablage.

A method according to the invention for removing processed workpieces from a production plant thus comprises the following steps:

1. a) removal of a workpiece from the production plant;
2. b) transporting the workpiece to a stationary tray of a first intermediate station, wherein an orientation of the workpiece is maintained;
3. c) lifting the workpiece from the stationary storage of the first intermediate station;
4. d) transporting the workpiece to a second intermediate station, wherein the orientation of the workpiece is maintained;
5. e) depositing the workpiece on a stationary tray of the second intermediate station;
6. f) removing the workpiece from the stationary storage of the second intermediate station and transporting the workpiece into a workpiece tray.

All steps a) -f) are thus carried out only in relation to those workpieces which are transported at least to the second intermediate station. Other workpieces are already removed in the first intermediate station, so that only the above steps a) and b) are executed for these workpieces. If there are more than two intermediate stations, some of the workpieces will continue to be converted to a third or possibly fourth intermediate station. In this case, the above-mentioned steps a) - e) are executed, but the removal takes place only in another intermediate station.

The removal of a workpiece from the production plant can be effected by a device of the production plant itself, by the device according to the invention or by a device independent of both the production plant and the device according to the invention.

The intermediate stations with fixed shelves can be formed easily and inexpensively. In essence, only a stable, stationary device is needed, for. B. a table of suitable size or a holding device for part tester. Such part-esters have a geometry which is adapted to the workpieces to be picked up and ensure that the orientation of the workpieces on the shelves remains unchanged. Furthermore, they prevent any damage to the stored workpieces. The parts testers are also adapted to the number of workpieces transported in one step.

The positions of the shelves and thus the workpieces deposited thereon are essentially invariable and thus always known to the controller. Suitable conversion devices, which can convert a workpiece or a plurality of workpieces from a fixed first position to a fixed second position and thereby retain the orientation of the workpieces (in particular with respect to rotations about spatial axes), are known in particular from press automation. Such devices achieve a high throughput, in particular they can - in the event that they are used in the context of a device according to the invention for the removal of workpieces from a large-stage transfer press or a press line - conveyed the finished parts readily with the same cadence. The stationary deposited on a transfer station workpieces can be accurately removed from the removal devices and stored in the workpiece tray. As a result, a complex sensor to determine the position and orientation of the workpieces is unnecessary.

The transfer movement takes place in time with the production plant, while more time is available for the removal of the workpieces and the transport to the workpiece trays, depending on the number of intermediate stations arranged one behind the other. The produced workpieces can thus be led away to the beat of the production plant and then stored in one of several workpiece trays.

Advantageously, the plurality of intermediate stations are arranged linearly, one behind the other in a main transport direction, the main transport direction in particular corresponding to a transport direction of a multistage production plant. This arrangement allows the use of known Umsetzzeinrichtungen without modifications must be made. The known transfer devices can also be used to remove the workpieces from the last station of the production plant, in particular if the production plant already comprises a plurality of stations arranged linearly one after the other in a transport direction.

Alternatively, the intermediate stations along some other trajectory, z. B. a polygonal line or a bow, be arranged and / or (initially) in a different direction than in the transport direction of the production plant. As a result, in particular the space conditions at the location of the production plant can be taken into account.

Advantageously, at least three intermediate stations are available. This provides sufficient time for the removal of the workpieces, the transport and storage in the workpiece trays and, if necessary, the replacement of the workpiece trays. If, for example, each of the three intermediate stations is assigned a removal device, the time available to the removal device for removing the workpiece from the intermediate station, transporting it to the workpiece deposit, depositing it in the workpiece deposit and returning it to a starting position is three times the cycle time of the production plant , By assigning multiple sampling devices to an intermediate station, this time can be multiplied. It should only be noted that the workpiece can be removed in time with the production plant from the intermediate station.

In certain cases, two intermediate stations may be sufficient so that workpieces can be taken alternately from the first and second intermediate stations.

Preferably, a clipboard is arranged between an exit of the production plant and a first intermediate station with removal device. The transport from the output of the production plant (eg the last processing station of the production plant) to the clipboard can be effected by a specific transport device (and possibly also controlled by the production plant) during the further transport from the clipboard to the first intermediate station and then takes place to the other intermediate stations by means of mutually identically designed conversion devices.

If the workpieces can already be removed from the output of the production plant with the transfer devices of the device according to the invention or if a specific transfer device, which differs from the downstream transfer devices, is used for the transport from the exit of the production line to the first intermediate station, the clipboard can be dispensed with.

Advantageously, each two adjacent intermediate stations each assigned a conversion device, ie each conversion device is for exactly one conversion step between two responsible intermediate stations responsible. Accordingly, the conversion devices can be designed simply and collisions between a plurality of conversion devices are avoided. Furthermore, the individual transfer devices can be spaced apart in the main transport direction, so that there is space between the transfer devices in which the removal devices can intervene to remove one or more workpieces.

Alternatively, a conversion device is used for converting between more than two intermediate stations. In this case, conversion devices can be arranged parallel to one another, so that they can be operated alternately to ensure the required capacity.

Advantageously, each intermediate station is assigned at least one own removal device. This ensures that the time, which is available from the removal of a first workpiece from a specific intermediate station to the removal of a next workpiece from the same intermediate station entirely to this removal device. Furthermore, a simple construction of the removal device is made possible, and conflicts between removal devices with one another or with the transfer devices are avoided. If the removal, the transport to the corresponding workpiece storage, the depositing and the return movement of the removal device are particularly time-consuming, multiple removal devices can be assigned to a single intermediate station.

Alternatively, a removal device serves the removal of workpieces from several intermediate stations. In this case, the affected intermediate stations are advantageously covered by a plurality of removal devices, or the number of intermediate stations is chosen so large that the time available for removal is always sufficient.

In a first preferred embodiment, the removal device is formed by a gantry robot, which can be moved along a linear path substantially transversely to a transport direction of the transfer device associated with the intermediate station. The portal robot includes, for example, a picking robot, which at a arranged oblong carrier is arranged transversely to the transport direction, on which the removal robot in the carrier longitudinal direction over the intermediate station is moved to remove a previously deposited by means of the conversion on the filing of the intermediate station workpiece and then transported transversely to the transport direction of the intermediate station away.

In the case of a linear arrangement of the intermediate stations of the gantry robot is movable in particular transversely to the transport direction. If the intermediate stations are arranged along an arc, the travel direction of the gantry robot, for example, runs essentially perpendicular to a tangent to this arch. If the intermediate stations are arranged along a polygonal line, the gantry robot moves, for example, along an angle bisector in the corner of the polygonal course, which is defined by the location of the intermediate station.

In a second preferred embodiment, the removal device is formed by a articulated robot. This has a high degree of flexibility and thus allows the removal of various workpieces and storing in various workpiece trays. Particularly preferably, the articulated robot comprises a vertical axis of rotation, and the robot is arranged between the storage of the intermediate station and the workpiece storage, so that the robot arm can be brought by a rotation of substantially 180 ° from a removal position to a storage position. The main transport movement can thus be carried out easily and quickly, with the articulated arm in both positions being in a configuration which allows flexible positioning.

It is also possible, within the scope of an inventive device, to combine both portal and articulated-arm robots and possibly also other removal devices.

Advantageously, the removal device is designed such that an orientation of the removed from the stationary storage of the intermediate station workpiece is variable, in particular a horizontal orientation can be converted into a substantially vertical orientation. In this way, for example, workpieces that have been processed as part of a pressing process, the main surface so essentially oriented horizontally, place vertically in pallet-like workpiece holders to save space.

Alternatively, the workpieces are offset laterally from the shelves of the intermediate stations in the workpiece trays without changing the orientation.

Preferably, the device according to the invention has a plurality of workpiece trays, wherein each workpiece tray comprises a turntable with at least two trays, wherein one of the at least two trays moves from a receiving position for workpieces into a delivery position and a second of the at least two trays from a delivery position by a rotational movement can be transferred to a receiving position. After carrying out the rotary movement, a new shelf for receiving workpieces is thus available, while the first shelf or its contents can be transported away. The turntable may for example be in two parts or three or four parts. The filled tray is rotated away, so that a new tray is placed in the work area of the removal device. The filled tray or (for more than two-part turntables) also a tray filled during an earlier cycle can then be transported away or emptied. As a result, the time required for changing a full workpiece shelf is significantly shortened.

Alternatively, other workpiece trays are available, for. B. those which are linearly movable or which by means of another device, for. B. can detect a forklift or a high-bay robot.

Advantageously, at least two workpiece trays are associated with each intermediate station, wherein a first of the workpiece trays with respect to the intermediate station is opposite a second of the workpiece trays. By this arrangement, the throughput of the inventive device can be further increased: In a first case, each of the workpiece trays are assigned their own removal facilities, so that a withdrawal from the intermediate station alternately by one and the other removal device is possible. In a second case, the workpiece tray can be used on the other side while the workpiece tray on the opposite side is exchanged or emptied. Both measures can be combined.

Alternatively, each intermediate station is assigned only one workpiece tray, or more shelves are arranged on the same side of the intermediate station, with the shelves can be replaced or emptied with advantage independently.

Preferably, the device according to the invention comprises a device for discharging workpieces and a transfer device, by means of which a workpiece can be transferred from a last intermediate station to the device for discharging. This allows, for example, the removal of damaged workpieces or for manual inspection. The device can be designed, for example, as a conveyor belt.

Advantageously, the transfer devices and the removal devices are designed and arranged such that a workpiece carrier of a transfer device can be gripped by a removal device, wherein the removal devices can be used to change the workpiece carriers of the transfer devices and / or partial esters of the intermediate stations. The workpiece carriers (eg gripper spiders or suction bars) can thus be exchanged automatically. The removed or to be mounted workpiece carriers are stored for example on a shelving system, which is located above the workpiece trays and which is accessible from the removal devices. The transfer and removal devices are movable so that a transfer of the workpiece carrier between the two devices is possible. Similarly, the required parts of the intermediate stations can be stored on the said shelving system.

Alternatively, the workpiece carriers and / or the parts of the tester can also be changed in the usual way manually or with separate tools.

In a preferred embodiment, the fixed shelves of the intermediate stations are removable, and in remote shelves, the workpieces can be stored on a arranged in a range of intermediate stations conveyor belt. This allows for two modes of operation: In the first mode, in normal operation, the fixed trays (eg, divider) are mounted and the workpieces are sequentially moved on the trays successively as described above until they are removed from the corresponding unloader. In the second mode are the shelves away. The workpieces are thus moved by means of the conveyor belt and removed by the removal device of this or moved to the device for discharging. The second mode is particularly suitable for testing and setup purposes as well as for short batches.

There may be a single conveyor belt, which covers substantially the entire width of the transport path, or a plurality of conveyors running parallel in the conveying direction. In the second case, the stationary shelves can be fixed with advantage to centrally arranged between two adjacent conveyor belts supports. The conveyor belts may extend over the entire transport path, or this is covered by a plurality of successively arranged sections.

Preferably, a conveying surface of the conveyor belt is adjustable in the vertical direction. This makes it possible to easily adjust the conveying surface of the conveyor belt in the same plane in which otherwise the workpieces are held by the part-ester. The movement of the transfer devices does not have to be adjusted or only slightly adjusted when switching between the first and second operating modes. Advantageously, the conveyor belts are arranged in the first mode below the shelves, so need not be moved with the exception of raising or lowering.

Further, it is advantageous if the conveyor belts are adjustable in the horizontal direction, especially if several parallel conveyor belts are present. This allows an optimal adaptation to the extent and geometry of the workpieces to be conveyed.

From the following detailed description and the totality of the claims, further advantageous embodiments and feature combinations of the invention result.

Brief description of the drawings

Fig. 1A

Eine schematische Draufsicht auf eine erste Ausführungsform einer erfindungsgemässen Einrichtung zum Abtransport bearbeiteter Doppelteile von einer Presselinie;

Fig. 1B

eine schematische Draufsicht auf die erste Ausführungsform beim Einsatz für den Abtransport bearbeiteter Einzelteile von einer Presselinie;

Fig. 2

eine perspektivische Darstellung einer zweiten Ausführungsform einer erfindungsgemässen Einrichtung zum Abtransport bearbeiteter Werkstücke von einer Presselinie;

Fig. 3A

eine Draufsicht der zweiten Ausführungsform;

Fig. 3B

eine Seitenansicht der zweiten Ausführungsform;

Fig. 3C

eine Rückansicht der zweiten Ausführungsform;

Fig. 4A

eine perspektivische Darstellung einer dritten Ausführungsform einer erfindungsgemässen Einrichtung zum Abtransport bearbeiteter Werkstücke von einer Presselinie;

Fig. 4B

eine Rückansicht der dritten Ausführungsform; und

Fig. 5

eine perspektivische Darstellung einer vierten Ausführungsform einer erfindungsgemässen Einrichtung zum Abtransport bearbeiteter Werkstücke von einer Presselinie.

The drawings used to explain the embodiment show:

Fig. 1A

A schematic plan view of a first embodiment of an inventive device for removing processed double parts from a press line;

Fig. 1B

a schematic plan view of the first embodiment in use for the removal of processed items from a press line;

Fig. 2

a perspective view of a second embodiment of an inventive device for removing processed workpieces from a press line;

Fig. 3A

a plan view of the second embodiment;

Fig. 3B

a side view of the second embodiment;

Fig. 3C

a rear view of the second embodiment;

Fig. 4A

a perspective view of a third embodiment of an inventive device for removing processed workpieces from a press line;

Fig. 4B

a rear view of the third embodiment; and

Fig. 5

a perspective view of a fourth embodiment of an inventive device for removing processed workpieces from a press line.

Basically, the same parts are provided with the same reference numerals in the figures.

Ways to carry out the invention

The Figure 1A is a schematic plan view of a first embodiment of an inventive device for removing processed double parts from a press line. The Figure 1 B is a schematic plan view of the first embodiment when used for the removal of processed items from a press line. The The device 100 comprises a storage station 110 arranged downstream of the press transport line, three intermediate stations 120.1, 120.2, 120.3 arranged at identical intervals along the conveying direction 105 and a conveyor belt 130 arranged further downstream along the conveying direction behind the third intermediate station 120.3.

A first converting device 140.1 comprises two stands, which are arranged on both sides of the workpiece transport path, in the conveying direction 105 between the depositing station 110 and the first intermediate station 120.1 and on which a gripper bar is movably mounted. The first transfer device 140.1 is used to grasp two workpieces stored on the storage station 110 (FIG. Figure 1A ) or from a workpiece stored on the depositing station 110 ( FIG. 1 B) and for transporting and depositing the workpiece or the workpieces on the first intermediate station 120.1. The stands of three further converting devices 140.2, 140.3 and 140.4 are in the conveying direction 105 at a constant distance between the first intermediate station 120.1 and the second intermediate station 120.2 (Umsetzzeinrichtung 140.2), between the second intermediate station 120.2 and the third intermediate station 120.3 (Umsetzzeinrichtung 140.3) and between the third intermediate station 120.3 and the conveyor belt 130 (Umsetzzeinrichtung 140.4) arranged. The Umsetzzeinrichtungen 140.1 ... 140.4 are below, in connection with the FIG. 2 , described in more detail.

The three intermediate stations 120.1, 120.2, 120.3 are each two stacking robots 151.1, 152.1; 151.2, 152.2; 153.1, 153.2 assigned. In each case one of the stacking robots 151.1, 151.2, 151.3 is arranged on a first side of the intermediate station 120.1, 120.2, 120.3, the other stacking robot 152.1, 152.2, 152.3 on the opposite side with respect to the storage of the intermediate station 120.1, 120.2, 120.3. The stacking robots 151.1 ... 3, 152.1 ... 3 are also below, in connection with the FIG. 2 , described in more detail.

The stacking robots 151.1 ... 3, 152.1 ... 3 are further assigned three turntables 161.1 ... 3, 162.1 ... 3. The turntables 161.1 ... 3, 162.1 ... 3 are arranged further outside than the stacking robots 151.1 ... 3, 152.1 ... 3, so that the stacking robots 151.1 ... 151.3 thus between the shelves of the intermediate stations 120.1 .. .3 and the turntables 161.1 ... 3, 162.1 ... 3 are positioned. The turntables 161.1 ... 3, 162.1 ... 3 are about a vertical axis rotatable. Their receiving surface is divided into two halves, each of the halves being two workpiece holders ( Figure 1 A) or a workpiece holder ( FIG. 1 B) having.

Two trays 163, 164 are arranged in front of the first turntables 161.1, 162.1. They can be reached by the stacking robots 151.1, 152.1 assigned to the first clipboard 120.1 and, if required, can accommodate a single workpiece which has been manufactured as a double part.

The workpieces processed by the press line are first deposited on the depositing station 110 and transported from there by the converting devices 140.1... 140.3 to the intermediate stations 120.1... 120.3 one after the other. From the shelves of the individual intermediate stations 120.1 ... 120.3, the workpieces deposited thereon can be removed with the aid of the stacking robots 151.1 ... 3, 152.1 ... 3 and onto the shelves 163, 164 or the turntables 161.1 ... 3, 162.1 ... 3 are stored. In the illustrated device with three intermediate stations and stacking robots on both sides and turntables, the workpieces (individual parts) produced sequentially from the press line can, for example, be deposited in the turntables as follows in order to allow the largest possible destacking time: workpiece to turntable Rotary movement (if necessary) 1 161.1 161.2, 161.3 2 161.2 161.3, 162.1 3 161.3 162.1, 162.2 4 162.1 162.2, 162.3 5 162.2 162.3, 161.1 6 162.3 161.1, 161.2

This circular process is followed by the usual, trouble-free operation periodically and without interruption to further such cycle processes.

Each stacking robot 151.1 ... 3, 152.1 ... 3 thus has a total of 6 cycle times available to remove the workpiece and in the turntable 161.1 ... 3, 162.1 ... 3 store. If the stacking robots 151.1... 3, 152.1... 3 need only 4 cycle times in each case, rotation of the corresponding turntable 161.1... 3, 162.1... 3 is possible if necessary without interrupting or slowing down the press cycle is.

If necessary, the workpieces transported onto the third intermediate station 120.3 can be moved by the fourth transfer device 140.4 onto the conveyor belt 130 and be discharged therefrom.

In the processing of double parts, the respective first stacking robot 151.1, 152.1 cooperates with the tray 163 or 164 and with the first tray in the first rotary table 161.1, 162.1. The second stacking robot 151.2, 152.2 cooperates with the second storage in the first turntable 161.1, 162.1 and the first storage in the second turntable 161.2, 162.2. The respective third stacking robot cooperates with the second tray in the second turntable 161.2, 162.2 and the first tray in the third turntable 161.3, 162.3. The second tray in the third turntable 161.3, 162.3 remains unused in this mode.

The FIG. 2 is a perspective view of a second embodiment of an inventive device for removing processed workpieces from a press line. The FIG. 3A is a plan view of the second embodiment, the FIG. 3B a side view of the second embodiment, and the FIG. 3C is a rear view of the second embodiment.

The second embodiment corresponds in many ways to the first embodiment. So show the Figures 2 and 3 most of the already from the FIGS. 1A, 1B known elements. The device 200 comprises a storage station downstream of the press line 210, three intermediate stations 220.1, 220.2, 220.3 arranged at identical intervals along the conveying direction coinciding with the press transport direction and a conveyor belt 230 arranged further downstream of the third intermediate station 220.3.

A first transfer device 240.1 comprises two stands, which are arranged on both sides of the workpiece transport path, in the conveying direction between the storage station 210 and the first intermediate station 220.1 and on which a gripper bar is movably mounted. The first transfer device 240.1 serves for gripping workpieces deposited on the depositing station 210 and for transporting and depositing the workpiece or the workpieces on the first intermediate station 220.1. The stands of two further transfer devices 240.2, 240.3 are arranged in the conveying direction at a constant distance between the first intermediate station 220.1 and the second intermediate station 220.2 (transfer device 240.2) and between the second intermediate station 220.2 and the third intermediate station 220.3 (transfer device 240.3).

The conversion device 240.1 comprises two machine stands 240a, 240b, which are arranged laterally of the room, which is claimed by the storage station 210 and the intermediate stations 220.1 ... 220.3. The machine stands 240a, 240b are also each in the transport direction between adjacent storage or intermediate stations. Each machine stand 240a, 240b carries a pivot bar 240c, 240d. The pivot bars 240c, 240d are pivotable about a common horizontal axis which intersects the mid-perpendiculars of the major inner surfaces of the machine stands 240a, 240b in the region of the upper end of the machine columns 240a, 240b. The axis thus runs transversely to the transport direction of the device 200 according to the invention. Preferably, the pivot bars 240c, 240d are additionally vertically displaceable relative to the machine posts 240a, 240b.

The pivot bars 240c, 240d comprise a telescopic extension, at the end of which a transverse bar 240e with suction grippers is held on both sides. The crossbar 240e can be moved by a pivoting movement of the pivot bar 240c, 240d and the operation of the telescopic extension of a storage station 210 and an intermediate station 220.1, 220.2 to the next intermediate station 220.1 ... 220.3, where he can pick up and store workpieces.

The further transfer devices 240.2, 240.3 are identically designed and dimensioned as the described transfer device 240.1. Suitable conversion devices For example, go from the as WO 05/051563 A1 Published International Patent Application of the Applicant. There, the conversion devices 240.1 ... 240.3 are described in detail.

In contrast to the first embodiment according to the Figures 1 A, 1 B the conveyor belt 230 is arranged immediately after the last intermediate station 220.3. Workpieces located on the last intermediate station 220.3 are detected by a stacking robot 251.3, 251.3 assigned to a last transfer station instead of a further transfer device and deposited on the conveyor belt 230.

The three intermediate stations 220.1, 220.2, 220.3 are each two stacking robots 251.1, 252.1; 251.2, 252.2; 253.1, 253.2 assigned. In each case one of the stacking robots 251.1, 251.2, 251.3 is arranged on a first side of the intermediate station 220.1, 220.2, 220.3, the other stacking robot 252.1, 252.2, 252.3 on the other with respect to the storage of the intermediate station 220.1, 220.2, 220.3.

Each stacking robot 251.1 ... 3, 252.1 ... 3 is further assigned a turntable 261.1 ... 3, 262.1 ... 3. The turntable 261.1 ... 3, 262.1 ... 3 is arranged further outside than the respective stacking robot 251.1 ... 3, 252.1 ... 3, so that the stacking robot 251.1 ... 251.3 between the storage of the intermediate station 220.1. ..3 and the corresponding turntable 261.1 ... 3, 262.1 ... 3 is positioned. The turntable 261.1 ... 3, 262.1 ... 3 is rotatable about a vertical axis. Its receiving surface is divided into two halves, each of the halves has at least one workpiece holder. Further, in the second embodiment, according to FIGS Figures 2 and 3 no fixed shelves, 261.1 ... 3, 262.1 ... 3 upstream of the turntables available.

The stacking robot 251.1 comprises a machine tower 251a, the upper side of which forms a turntable. The machine tower 251a is movable on a linear guide in the conveying direction. Relative to the turntable, a base part 251 b is rotatably mounted about a vertical axis. On the base part 251 b, in turn, a pivot arm with a first portion 251 c is pivotally mounted about a horizontal axis. On the first section 251c, in turn, a second section 251d is pivotally mounted about a further horizontal axis. The second section 251d carries a gripper bar 251e via a ball joint with suction pads. The gripper bar 251e can be positioned by movements about the three mentioned axes and the ball joint so that it can grasp workpieces on the associated clipboard 220.1, transport it to the corresponding turntable 261.1 and place it there in a different orientation. Further, the gripper bar 251e may also be positioned to exchange gripper bars or splitters with the shelving system 270. This is in the FIG. 2 illustrated by the stacking robot 251.3.

The further stacking robots 251.2, 251.3, 252.1 ... 3 are identically designed and dimensioned as the stacking robot 251.1 described. Such robots are basically known and commercially available.

In addition, a shelving system 270 is provided. This is shown only schematically in the figure. The shelving system 270 has a frame with side uprights and a continuous shelf approximately halfway up. Below this continuous shelf, the three turntables 261.1, 261.2, 261.3 one side of the device 200 are arranged. The head space above the turntables 261.1 ... 3 and below the shelf is sufficient for the turntables can be loaded from the front with the workpieces removed from the respective intermediate station 220.1, 220.2, 220.3 and that the workpieces after 180 ° rotation of the turntable 261.1 ... 3 can be removed at the back. Above the shelf is a magazine (not shown in detail) for gripper bars (for the stacking robots 251.1 ... 251.3, 252.1 ... 252.3 and the transfer devices 240.1 ... 240.3) as well as divider (for the storage station 210 and the intermediate stations 220.1 .. .220.3).

The FIG. 4A is a perspective view of a third embodiment of an inventive device for removing processed workpieces from a press line. The FIG. 4B shows a rear view of the third embodiment.

The third embodiment corresponds in many ways to the second embodiment. In contrast to this, however, the storage station 310 and the intermediate stations 320.1, 320.2, 320.3 are designed differently. The device 300 comprises two webbings 321.1, 321.2 arranged parallel to one another with a transport direction in Conveying direction. The straps 321.1, 321.2 can be raised and lowered as required by means of a known lifting mechanism (eg scissor or spindle stroke). Between each adjacent belt straps 321.1, 321.2 each has a central, extending in the vertical direction column is arranged. The column positions correspond to the center of the positions of the tray station 210 and the intermediate stations 220.1 ... 3 of the second embodiment.

The third embodiment can be used in two modes because of these elements: In a first operating mode (normal operation), similar to the device according to the second embodiment, partial esters are attached to the vertical columns. These form the storage station 310 and the intermediate stations 320.1... 3. The operation proceeds as described above with respect to the second embodiment. The columns and the part-esters have matching couplings, which the placement and removal of the part-esters by means of stacking robots 351.1, 352.1; 351.2, 352.2; 351.3, 352.3.

In the second mode, the part-testers are all removed. The straps 321.1, 321.2 are raised by means of the lifting mechanism, so that their transport surface corresponds to the holding surface of the part tester in the first operating mode. The straps 321.1, 321.2 can thus serve to receive and transport the workpieces. The second operating mode is used in particular for test purposes and when setting up the device 300 according to the invention.

The FIG. 5 is a perspective view of a fourth embodiment of an inventive device for removing processed workpieces from a press line.

The device 400 according to the fourth embodiment corresponds in many respects to the third embodiment. In contrast to this, however, only two intermediate stations 420.1, 420.2 instead of three intermediate stations are available. Instead of three turntables per page only ever a single turntable 461, 462 available, but are in the conveying direction before and after the turntable 461, 462 each a fixed receptacle 463.1, 463.2, 464.1, 464.2 arranged for double parts.

The first stacking robots 451.1, 452.1 in the conveying direction cooperate with the first intermediate station 420.1. You can place double parts in each of the first fixed receptacle 463.1, 464.1 or in the turntable 461, 462. The second stacking robots 451.2, 452.2 acting in the conveying direction cooperate with the second intermediate station 420.2. You can put double parts in the turntable 461, 462 or in the second (rear) fixed receptacle 463.2, 464.2.

The invention is not limited to the illustrated embodiment. In particular, the number and arrangement of the intermediate stations can be chosen differently. Likewise, the transfer devices and the stacking robots can be designed differently.

In summary, it should be noted that the invention provides a device for the removal of machined workpieces from a production plant, which copes with high production rates, has a simple structure and allows a location and location accurate removal of the workpieces.

Claims (16)

Device for removing processed, position-oriented workpieces from a production plant, comprising a) a plurality of successively arranged intermediate stations with fixed shelves; b) a plurality of transfer means for transporting one or more workpieces from a first of the intermediate stations to a second of the intermediate stations, wherein the workpiece or workpieces is lifted from a stationary storage of the first intermediate station and stored on a stationary storage of the second intermediate station; c) a plurality of removal devices for removing one or more workpieces, which are stored on one of the stationary shelves of the intermediate stations and for transporting this workpiece or these workpieces in a workpiece tray;
in which d) the intermediate stations and transfer devices are designed and arranged such that workpieces completed by the production facility can be successively moved one after the other into the intermediate stations arranged one behind the other, wherein an orientation of the workpieces is maintained. Device according to claim 1, characterized in that the plurality of intermediate stations are arranged linearly, one behind the other in a main transport direction, wherein the main transport direction corresponds in particular to a transport direction of a multi-stage production plant. Device according to claim 1 or 2, characterized in that at least three intermediate stations are present. Device according to one of claims 1 to 3, characterized in that between a output of the production plant and a first intermediate station with removal device a clipboard is arranged. Device according to one of claims 1 to 4, characterized in that each two adjacent intermediate stations each associated with a conversion device. Device according to one of claims 1 to 5, characterized in that each intermediate station is assigned at least one own removal device. Device according to claim 6, characterized in that the removal device is formed by a gantry robot, which is movable along a linear path substantially transversely to a transport direction of the transfer station associated with the transfer means. Device according to claim 6, characterized in that the removal device is formed by a articulated robot. Device according to one of claims 1 to 8, characterized in that the removal device is designed such that an orientation of the removed from the stationary storage of the intermediate station workpiece is variable, in particular a horizontal orientation can be converted into a substantially vertical orientation. Device according to one of claims 1 to 9, characterized by a plurality of workpiece trays, each workpiece tray comprises a turntable with at least two shelves, wherein by a rotational movement of the at least two Store from a receiving position for workpieces in a delivery position and a second of the at least two shelves can be transferred from a delivery position to a receiving position. Device according to one of claims 1 to 10, characterized in that each intermediate station at least two workpiece trays are assigned, wherein a first of the workpiece trays with respect to the intermediate station of a second of the workpiece trays is opposite. Device according to one of claims 1 to 11, characterized by a device for discharging workpieces and a transfer device, by which a workpiece from a last intermediate station to the device for discharging is implementable. Device according to one of claims 1 to 12, characterized in that the transfer devices and the removal devices are designed and arranged such that a workpiece carrier of a transfer device can be gripped by a removal device, wherein the removal devices for changing the workpiece carrier of the transfer devices and / or of partial esters the intermediate stations can be used. Device according to one of claims 1 to 13, characterized in that the stationary shelves of the intermediate stations are removable and that in the case of distant shelves, the workpieces can be placed on a conveyor belt arranged in a region of the intermediate stations. Device according to claim 14, characterized in that a conveying surface of the conveyor belt is adjustable in the vertical direction. Method for removing processed workpieces from a production plant, comprising the following steps: a) removal of a workpiece from the production plant; b) transporting the workpiece to a stationary tray of a first intermediate station, wherein an orientation of the workpiece is maintained; c) lifting the workpiece from the stationary storage of the first intermediate station; d) transporting the workpiece to a second intermediate station, wherein the orientation of the workpiece is maintained; e) depositing the workpiece on a stationary tray of the second intermediate station; f) removing the workpiece from the stationary storage of the second intermediate station and transporting the workpiece into a workpiece tray.

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