EP2810725A1 - Device and method for the removal of machined workpieces from a production plant - Google Patents

Abstract

A device (1) for removing processed workpieces from a production facility, comprising a linear conveyor device (30) with a path (31) which extends horizontally and substantially perpendicular to a workpiece transport direction of the production facility, workpiece receptacles (33.1, 33.2, 33.3), which are movable along the path (31) with the linear conveyor device (30), a transfer device (20) for transporting a workpiece conveyed by the production system to the workpiece receivers (33.1 ... 3) when the workpiece holder (33.1) is in one Recording position is located at least two workpiece trays (41.1, 41.2, 41.3, 41.4) and at least one removal device (61.1, ..., 61.8) for removing a workpiece from the workpiece holders (33.1 ... 3) and for storing the workpiece in the workpiece trays (41.1 ... 4), when the workpiece holder (33.2, 33.3) with respect to the workpiece tray (41.3, 41.4) in a removal position located. The workpiece holders (33.1 ... 3) are movable in synchronism with one another along the path (31) such that in a first position a first of the workpiece holders (33.1) in the receiving position and a second of the workpiece holders (33.2, 33.3) in a removal position with respect to one of the workpiece trays (41.3, 41.4). The first of the workpiece holders (33.1) can be moved along the path (31) of the conveyor device (30) into a removal position with respect to one of the workpiece trays (41.1 ... 4), and the second of the workpiece holders (33.2, 33.3) can be moved along the Move the web (31) to the picking position.

Description

Technical area

The invention relates to a device and a method for removing processed 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 away by means of a forklift or crane from the stacking.

The US 5,692,593 (Honda) shows a system for automatically distributing workpieces from a press to first and second conveyors, respectively, in two vertically spaced planes. The plant comprises lower conveyors and upper conveyors as well as distribution conveyors for the distribution of the workpieces on the lower or upper conveyors. Workpieces are conveyed in two parallel paths in the press transport direction, the left-hand workpieces are transported from the left conveyors to the left palletizing positions, the right-hand workpieces are transported from the right conveyors to the right palletizing positions. The transverse conveyors are belt conveyors.

The FR 2 966 137 A1 (Peugeot Citroën) relates to a device for transporting workpieces, for example body parts, at the end of a press line. This has a linear conveyor, which extends transversely to the press transport direction and along which a plurality of storage stations are arranged. The transverse conveyor is advantageously arranged symmetrically to the press line, so that the arrangement is "T" -shaped. The conveyor preferably comprises a guide rail on which at least one transport carriage is guided, which has an inclined receiving surface and releasable blocking means. The trolley can be moved laden with a workpiece to one of the various storage stations. There, the locking means are released, so that the workpiece slides in the storage station. Particularly preferred are two or three trolleys available to achieve a higher cadence. The cars are each provided with their own drive with advantage.

The known devices allow a higher capacity due to the plurality of palletizing positions or storage stations, but have a complicated structure or require complex control.

Presentation of the invention

The object of the invention is to provide a device belonging to the aforementioned technical field for the removal of machined workpieces from a production plant, which copes with high production rates and has a simple structure. A further object of the invention is to provide a corresponding method for removing processed workpieces from a production plant.

1. a) eine lineare Fördervorrichtung mit einer Bahn, welche sich horizontal und im Wesentlichen senkrecht zu einer Werkstücktransportrichtung der Produktionsanlage erstreckt;
2. b) mindestens einen Wagen, welcher mit der linearen Fördervorrichtung entlang der Bahn bewegbar ist, wobei der Wagen mindestens eine Werkstückaufnahme aufweist;
3. c) eine Umsetzeinrichtung zum Transportieren eines von der Produktionsanlage angeförderten Werkstücks auf die mindestens eine Werkstückaufnahme, wenn sich die Werkstückaufnahme in einer Aufnahmeposition befindet;
4. d) mindestens zwei Werkstückablagen;
5. e) mindestens eine Entnahmeeinrichtung zum Entnehmen eines Werkstücks von der mindestens einen Werkstückaufnahme und zum Ablegen des Werkstücks in einer der mindestens zwei Werkstückablagen, wenn sich die Werkstückaufnahme bezüglich der Werkstückablage in einer Entnahmeposition befindet;

wobei am mindestens einen Wagen mindestens zwei Werkstückaufnahmen ausgebildet sind, wobei die Werkstückaufnahmen derart miteinander synchronisiert entlang der Bahn beweglich sind,

• f) dass sich in einer Arbeitsposition des mindestens einen Wagens eine erste der Werkstückaufnahmen in der Aufnahmeposition und eine zweite der Werkstückaufnahmen in einer Entnahmeposition bezüglich einer der mindestens zwei Werkstückablagen befindet; und
• g) dass sich die erste der Werkstückaufnahmen durch eine Bewegung des mindestens einen Wagens entlang der Bahn der Fördervorrichtung in eine Entnahmeposition bezüglich einer der mindestens zwei Werkstückablagen und sich die zweite der Werkstückaufnahmen durch eine Bewegung des mindestens einen Wagens entlang der Bahn in die Aufnahmeposition bewegen lassen.

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

1. a) a linear conveyor device with a web which extends horizontally and substantially perpendicular to a workpiece transport direction of the production plant;
2. b) at least one carriage, which is movable with the linear conveyor along the path, wherein the carriage has at least one workpiece holder;
3. c) a transfer device for transporting a workpiece conveyed by the production plant to the at least one workpiece holder when the workpiece holder is in a receiving position;
4. d) at least two workpiece trays;
5. e) at least one removal device for removing a workpiece from the at least one workpiece holder and for depositing the workpiece in one of the at least two workpiece trays, when the workpiece holder is in a removal position with respect to the workpiece tray;

at least two workpiece holders being formed on the at least one carriage, the workpiece holders being movable in synchronism with one another along the path,

• f) that in a working position of the at least one carriage, a first of the workpiece holders in the receiving position and a second of the workpiece holders in a removal position with respect to one of the at least two workpiece trays; and
• g) that the first of the workpiece holders by a movement of the at least one carriage along the path of the conveying device in a removal position with respect to one of the at least two workpiece trays and the second of the Move workpiece holders by movement of the at least one carriage along the track in the receiving position.

1. a) Entnehmen eines Werkstücks aus der Produktionsanlage;
2. b) Umsetzen des Werkstücks auf eine in einer Aufnahmeposition befindliche erste Werkstückaufnahme, welche mit einer linearen Fördervorrichtung entlang einer Bahn bewegbar ist, wobei sich die Bahn horizontal und im Wesentlichen senkrecht zu einer Werkstücktransportrichtung der Produktionsanlage erstreckt;
3. c) Bewegen der ersten Werkstückaufnahme entlang der Bahn, bis sie sich in einer Entnahmeposition bezüglich einer ersten Werkstückablage befindet, wobei gleichzeitig eine zweite Werkstückaufnahme, deren Bewegung mit derjenigen der ersten Werkstückaufnahme synchronisiert ist, entlang der Bahn in die Aufnahmeposition bewegt wird;
4. d) Entnehmen des Werkstücks von der ersten Werkstückaufnahme und Ablegen in der ersten Werkstückablage.

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

1. a) removal of a workpiece from the production plant;
2. b) converting the workpiece to a receiving position in a first workpiece holder, which is movable with a linear conveyor along a path, wherein the web extends horizontally and substantially perpendicular to a workpiece transport direction of the production plant;
3. c) moving the first workpiece holder along the path until it is in a removal position relative to a first workpiece tray, at the same time a second workpiece holder whose movement is synchronized with that of the first workpiece holder is moved along the path to the receiving position;
4. d) removing the workpiece from the first workpiece holder and depositing in the first workpiece tray.

The terms "picking position" and "picking position" refer to a position of the carriage along the path of the conveyor. The car can thus be moved linearly between the positions mentioned.

By running transversely to the workpiece transport direction of the production plant main direction of the inventive device, the space required in the workpiece transport direction is minimized. Especially in production plants with a large expansion in the workpiece transport direction, z. As large-scale transfer presses, press lines or the like, this is advantageous. The web preferably extends perpendicular to the workpiece transport direction, but smaller deviations (of, for example, less than 20 °) are possible if required.

One or more workpieces are transported per transport step, in particular as many as were completed during a work step of the production plant. 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.

The workpiece holders are formed in particular by so-called part-esters. Such part-esters have a geometry which is adapted to the workpieces to be picked up and ensures that the orientation of the workpieces on the receptacles 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 workpiece trays are facilities that can accommodate workpieces, z. B. Tray tables, trolleys, conveyor belts, etc.

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.

"Synchronized with each other" in the present context means that several workpiece holders are simultaneously moved in the same direction and that adjacent workpiece holders are located both before and after the movement in adjacent receiving or removal positions. The synchronization can be effected both mechanically (eg by arrangement on a common carriage or by a mechanical connection of two carriages) and also on the control side by a corresponding control of independently movable carriages. In both cases, a single linear movement of the at least one carriage is sufficient to move both the first of the workpiece holders from a pickup position to a picking position and the second of the workpiece picks from a picking position to the picking position.

The inventive structure of the device is compact and structurally simple, it can also be easily controlled. The device enables a high throughput both in the processing of single and multiple parts.

Advantageously, the at least two workpiece holders are fixedly spaced. The device can then be run very easily and comes with a minimum of moving parts.

Alternatively, the distance of the workpiece holders in the operation of the device can be changed. The workpiece holders are formed, for example, on carriages which are freely movable along the path, whereby the movement of the carriages is synchronized electronically by the control of the device. Likewise, a plurality of workpiece holders arranged on the same car, but their distance in the web direction but adjustable, z. B. by a mechanism for corresponding adjustment of at least one of the receptacles on the car is formed. Both allow an adjustment of the distance of adjacent workpiece holders when z. B. the distances between adjacent removal or picking positions along the track are not all the same.

In a first preferred embodiment, the at least one carriage has a plurality of workpiece holders. In principle, the invention can be implemented in this case with a single car, this car has, for example, two or three workpiece holders. The distance of the workpiece holders is selected so that it coincides with the distance of the corresponding adjacent positions (picking or removal positions) when the carriage is positioned on the conveyor. A first of the present on the carriage workpiece holders can thus be at a given time in a specific removal position, while another existing on the same car workpiece holder is simultaneously in a different removal position or in a receiving position. By moving the carriage along the path, the assignment of the workpiece holders to the positions can be changed.

The use of a single carriage has the advantage that the device according to the invention can be designed in a particularly simple and cost-effective manner. There are only a single drive and a single guide device for the conveyor necessary.

In a further preferred embodiment, the device comprises at least two carriages which are mechanically coupled to one another.

The coupling may be such that a distance of the workpiece holders of the at least two cars is fixed. This distance does not change during operation of the device. In particular, the fixed predetermined distance agrees with a distance of different positions (picking or removal positions). Alternatively, the distance can be changed during operation so that different distances between adjacent positions can be accommodated.

Even when using two mechanically coupled carriages, these can be moved by means of a single drive. The design with multiple cars is also modular and allows a flexible structure and flexible use of the device.

It is possible to provide a plurality of coupled groups of carriages or a combination of carriages having a plurality of workpiece holders and those having a single workpiece holder, wherein the different carriages may be coupled or freely movable.

Preferably, at least one of the workpiece trays is arranged on both sides of the receiving position, ie at least one workpiece tray is arranged both in front of and behind the receiving position along the path. This allows unloading of recorded in the workpiece holders workpieces in both directions. In the simplest case, two fixedly spaced workpiece holders along the path are arranged movable, and both left and right of the receiving position is ever a workpiece tray with a corresponding removal position available. In a first position of the workpiece holders, the left workpiece holder is in the removal position of the left workpiece tray, and the right workpiece holder is in the (central) receiving position. In a second position the Workpiece receivers, which has a distance from the first position along the path, which corresponds to the distance of the workpiece holders, is the left workpiece holder in the receiving position, the right workpiece holder in the removal position of the right workpiece tray. By a movement of minimum length so can each move a workpiece from the receiving into the removal position and at the same time an empty workpiece holder from the other removal position to the receiving position. Workpieces, which are stored in the left workpiece holder, are moved to the left workpiece storage, workpieces, which are stored in the right workpiece holder, in the right workpiece tray.

However, at least three workpiece holders are preferably formed on the at least one carriage, and at least two of the workpiece trays are arranged on each side of the receiving position. Particularly preferably, at least one carriage exactly three workpiece holders are formed, and on both sides of the receiving position are each arranged exactly two workpiece trays. The three (or more) workpiece holders may be formed on a common carriage or on three mechanically coupled carriages. It is also conceivable to use two mechanically coupled carriages, one of the carriages having two workpiece holders, the other having a workpiece holder.

There are three positions of the carriage or the coupled carriage along the path possible in this arrangement, in which each one of the workpiece holders in the receiving position and the two other workpiece holders are each in a removal position. By moving the carriage or carriages along the track, the workpiece holders can be transferred to all three positions. Workpieces, which are stored in the left workpiece holder, are each moved to one of the left workpiece trays; Workpieces which are stored in the right workpiece holder are respectively moved to one of the right workpiece trays, while workpieces which are stored in the central workpiece holder, can be moved to one of the workpiece holders, the removal position of the receiving position is adjacent.

A higher number of workpiece holders prolongs the period of time, which is available per workpiece tray for transferring the workpiece by means of the removal device, if necessary for further transport of the workpiece and for returning the removal device in its standby position with a constant cycle time of the press line.

Advantageously, the at least one removal device comprises a articulated robot, z. B. a 6-axis articulated robot. This has a high degree of flexibility and thus allows the removal of various workpieces and storing in various workpiece trays.

It is also possible to use in the context of an inventive device exclusively or partially for the removal of other transport facilities, eg. B. gantry robot.

Preferably, the at least two workpiece trays each comprise a turntable with at least two trays, wherein one of the at least two trays can be transferred from a receiving position for workpieces into a delivery position and a second of the at least two trays can be transferred from a delivery position into a receiving position by a rotational movement. 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, each workpiece tray is assigned at least one own removal device.

This ensures that the time, which is available from the removal of a first workpiece for transport in a specific workpiece tray to the removal of the next workpiece for transport in the same workpiece tray entirely this sampling device. It is a simultaneous (even synchronous) removal from two adjacent workpiece holders possible. Furthermore, a simple construction of the removal device is made possible, and conflicts between removal devices with one another or with the delivery device or the transfer device 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 workpiece shelf. The same applies if at the same time several workpieces are removed and transported to the workpiece tray, z. B. in the processing of double parts.

Alternatively, a removal device serves the removal of workpieces and the transport into a plurality of workpiece trays. In this case, the affected removal positions are advantageously covered by a plurality of removal devices.

The at least one removal device is preferably designed such that an orientation of the workpiece removed from the at least one workpiece holder can be changed, 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, ie the main surface is thus oriented substantially horizontally, can save space vertically in pallet-like workpiece trays.

Alternatively, the workpieces are displaced laterally from the workpiece holders into the workpiece trays without changing the orientation with respect to the path of the conveyor device.

Preferably, the device according to the invention comprises an intermediate station arranged between an exit of the production facility and the linear conveying device, wherein workpieces stored in the intermediate station are transferred from the transfer device to the transfer station at least one workpiece holder are transportable. 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 optionally also controlled by the production plant) during the further transport from the clipboard to the workpiece holder the receiving position by the mentioned converting takes place.

If the workpieces can already be seen with the transfer device of the inventive device the output of the production facility, the clipboard may be unnecessary.

Preferably, the workpiece conveyed by the production plant can be moved by the converting device essentially in the workpiece transport direction onto the at least one workpiece holder. This movement is easy to implement and enables accurate positioning in the workpiece holder (eg in a corresponding part test).

The same applies to the removal of the workpiece and the placement of the workpiece in one of the workpiece trays. Again, the transport advantageously takes place essentially in the workpiece transport direction.

Alternatively, the movement includes raising or lowering the workpiece and / or offsetting in the transverse direction of the workpiece transport direction.

Advantageously, the device according to the invention has a device for discharging workpieces and a transfer device, by means of which a workpiece can be transferred from a workpiece holder located in the receiving position to the device for discharging. This allows, for example, the removal of damaged workpieces or for manual inspection. The device may for example be designed as a conveyor belt, the conversion device, for example, as articulated robot.

The transfer device may be formed by a removal device, for. As one associated with an adjacent workpiece tray. This removal device points in In this case, it has a working space which extends to the receiving position and the device for discharging, or is arranged to be movable so that it can be positioned so that these areas are part of its working space.

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. 1

Eine Draufsicht auf eine erste Ausführungsform einer erfindungsgemässen Einrichtung zum Abtransport bearbeiteter Werkstücke von einer Produktionsanlage;

Fig. 2

eine Schrägansicht der Einrichtung gemäss der ersten Ausführungsform;

Fig. 3

eine Draufsicht auf eine zweite Ausführungsform einer erfindungsgemässen Einrichtung;

Fig. 4

eine Draufsicht auf eine dritte Ausführungsform einer erfindungsgemässen Einrichtung; und

Fig. 5

eine Schrägansicht der Einrichtung gemäss der dritten Ausführungsform.

The drawings used to explain the embodiment show:

Fig. 1

A plan view of a first embodiment of an inventive device for removing processed workpieces from a production plant;

Fig. 2

an oblique view of the device according to the first embodiment;

Fig. 3

a plan view of a second embodiment of an inventive device;

Fig. 4

a plan view of a third embodiment of an inventive device; and

Fig. 5

an oblique view of the device according to the third embodiment.

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

Ways to carry out the invention

The FIG. 1 shows a plan view of a first embodiment of an inventive device for removing processed workpieces from a production plant. The FIG. 2 is an oblique view of the device.

The production plant is, for example, a press line 100, which is located in the FIG. 1 is indicated only schematically and in which the workpieces are conveyed linearly from press to press along a workpiece transport direction 101. The device 1 for removing the workpieces is arranged at the exit of this press line 100. It comprises a clipboard 10, on which the machined workpieces are stored with exact position by an end-side transfer device of the press line 100.

A transfer robot 20 can grasp the stored workpieces and move them in the workpiece transport direction 101 into the region of a transverse linear conveyor 30. The transfer robot comprises two machine stands, which are arranged on both sides of the clipboard 10. Each machine stand carries a swivel bar. The pivot bars are pivotable about a common horizontal axis which intersects the mid-perpendiculars of the major inner surfaces of the machine stands in the region of the upper end of the machine columns. The axis thus runs transversely to the workpiece transport direction 101. The swivel bars comprise a telescopic extension, at the end of which a crossbeam with suction pads is held on both sides. The crossbar can be moved by a pivoting movement of the pivot bar and the operation of the telescopic extension of the clipboard 10 in the region of the conveyor 30, where he can pick up and store workpieces. The Umsetzroboter 20 goes in detail from the as WO 05/051563 A1 Published International Patent Application of the Applicant.

The conveying device 30 is designed as a linear guide. It has, in a manner known per se, a rail 31 anchored to the ground. Along the entire length of the rail 31, a rack is arranged. Three carriages 32.1, 32.2, 32.3 cooperate with the rail 31. For this purpose, the car 32.1 ... 3 on a roller bearing, which is laterally supported on both sides of the rail. Further, each of the car 32.1 ... 3 carries an electric motor, which acts via a gear on a pinion, which is engaged with the rail fixedly arranged on the rail. By actuating the electric motor, the corresponding carriage 32.1... 3 can thus be moved along the rail as desired and with exact position.

On the upper side of the carriage 32.1 ... 3 receiving surfaces 33.1, 33.2, 33.3 are formed. On these parts tester for mounting workpieces are attached.

On the press line 100 opposite side of the conveyor 30 four turntables 41.1, 41.2, 41.3, 41.4 are arranged. These are identical to each other and extend along the entire length of the rail 31, with the exception of a central region in which a conveyor belt 42 is arranged, which can convey workpieces deposited thereon in the workpiece transport direction 101. Each two of the turntables 41.1, 41.2 and 41.3, 41.4 are located on the right or left of the conveyor belt 42. The turntables 41.1 ... 4 are each rotatable about a vertical axis. Your shelf is divided into two halves, each of the halves has a workpiece tray.

The carriages 32.1 ... 3 can assume a receiving position with respect to the clipboard 10, the corresponding carriage is then located exactly in the middle of the rail 31. Furthermore, you can take a removal position with respect to the turntables 41.1 ... 4. In the illustrated embodiment, adjacent removal positions have a first distance, while the inner removal positions (which are defined by the arrangement of the inner turntables 41.2, 41.3) have a second distance from the receiving position. This second distance is less than the first distance, because the conveyor belt 42 in the transverse direction has a smaller footprint than a turntable 41.1 ... 4. The arrangement shown thus allows the least possible extension in the transverse direction.

In the in the FIGS. 1 and 2 In the situation shown, there are a carriage 32.1 in the receiving position and two carriages 32.2, 32.3 in the removal positions of the left turntables (seen from the press line 100). The distance of the carriage 31.1 in the receiving position and the adjacent carriage 31.2 in the left inner removal position is smaller than the distance of the latter carriage 31.2 from the third carriage 31.3 in the left outer removal position.

In the area of turntables 41.1 ... 4, a framework 50 is arranged. On its longitudinal side, which faces the conveying device 30, a portal rail 51 is attached. This extends over the entire length of the rail 31 of the conveying device 30.

Eight articulated arm robots 61.1... 61.8 are fastened to the portal rail, which pairs are assigned to one of the turntables 41.1... 41.4. The articulated arm robots 61.1 ... 61.8 are known 6-axis robots. They are additionally linearly displaceable along the portal rail 51 (external 7th axis). In the in the FIGS. 1 and 2 shown arrangement is in each case per turntable 41.1 ... 4 an articulated arm robot 61.1, 61.3, 61.6, 61.8 in an inactive position, ie it is along the portal rail 51 to the edge of the turntable 41.1 ... 4 method and not with a Provided gripping arm. The other articulated-arm robot 61.2, 61.4, 61.5, 61.7 carries an arm with suction pads, each of which removes a workpiece held on a carriage 32.1... 32.3 held in the corresponding removal position and in which the workpiece support of the corresponding turntable 41.1 facing the conveying device 30 ... 4 can take off.

The right inner turntable 41.2 associated articulated-arm robot 61.4 is in the in the FIGS. 1 and 2 shown arrangement along the portal rail 51 inward, has been moved to a central position. There he can remove workpieces the car 32.1, which is in the receiving position. The articulated-arm robot 61.4 can rotate the picked-up workpiece by 90 ° with respect to a vertical axis and place it on the conveyor belt 42 in this rotated orientation.

On the turntables 41.1 ... 4 and the frame 50 opposite side of the conveyor device 30 (ie press line side) extends a shelf system 70. This has a frame with a magazine for gripping arms not shown in detail (for the articulated arm robot 61.1. ..61.8 and the Umsetzroboter 20) and Teilester (for the clipboard 10 and the car 32.1 ... 3).

From the press line 100 finished machined workpieces are stored by this on the clipboard 10. From there, the respective workpiece is removed from the transfer robot 20 and placed on the receiving surface 33.1, 33.2, 33.3 of the carriage 32.1... 3 in the picking position. The carriage 32.1... 3 is then moved along the rail 31 of the conveying device 30 to the removal position of one of the turntables 41.1. There, the workpiece can be removed from the corresponding articulated arm robot 61.1 ... 8 and stored in the turntable 41.1 ... 4. The movement of the car 32.1 ... 3 takes place synchronously, ie it is always all three cars moved simultaneously, they always take at standstill three adjacent positions, ie a car is in the receiving position, two cars are in a removal position.

A sequence of workpiece transports from the clipboard 10 to the turntables 41.1 ... 4 is for example as follows (bold indicates that the corresponding carriage 32.1 ... 3 is loaded with a workpiece after the action has taken place): step Withdrawal 41.1 Withdrawal 41.2 Recording 10 Withdrawal 41.3 Withdrawal 41.4 1 32.1 (E) 32.2 32.3 (A) 2 32.1 (A) 32.2 32.3 (E) 3 32.1 (E) 32.2 (A) 32.3 4 32.1 (A) 32.2 (E) 32.3 5 32.1 (E) 32.2 32.3 (A) 6 32.1 (A) 32.2 32.3 (E)

Thus, a cyclic process is carried out, wherein in each case the same state is reached again after four steps. Workpieces are taken alternately by the different cars 32.1 ... 3 and alternately in the next step in different turntables 41.1 ... 4 stored. Each turntable 41.1 ... 4 and the associated articulated arm robots 61.1 ... 8 only have an effect on every fourth removal process. There is thus sufficient time for the placement of the workpiece, the return to the starting position and possibly the rotation of the turntable 41.1 ... 4 available.

If a machined from the press line workpiece to be discharged, z. B. for control purposes, it is after placing on the receiving surface 33.1, 33.2, 33.3 of the located in the receiving position carriage 32.1 ... 3 directly from along the Portal rail 51 inwardly moved articulated arm robot 61.4 further transported on the conveyor belt 42.

The illustrated device 1 is also suitable for the processing of double parts, d. H. Two parts produced simultaneously in the press line 100 can be transported away simultaneously. For this purpose, both parts are first placed by the press line 100 on the clipboard 10. From there they are stored together by the Umsetzroboter 20 on one of the car 32.1 ... 3. The receiving surface 33.1... 3 is provided with a part test for two parts for receiving the double parts. The two parts are then moved along the rail 31 of the conveyor 30 to the intended removal position. From there they are then, unlike the processing of individual parts by both the corresponding turntable 41.1 ... 4 associated articulated arm 61.1 ... 8 individually removed from the cart 32.1 ... 3 and in the filing of the turntable 41.1 ... 4 transferred. The transfer may in particular also include a change in position of the two parts, so the parts can for example be placed edgewise in two adjacent shelves.

The FIG. 3 shows a plan view of a second embodiment of an inventive device for removing processed workpieces from a production plant.

The second embodiment corresponds in many ways to the first embodiment. In contrast to this, all distances between the receiving and removal positions are identical to one another, so that the three workpiece holders can be mechanically coupled or formed on the same carriage.

The device 201 for removing the workpieces is in turn arranged at the exit of the press line 100. It comprises a clipboard 210 onto which the machined workpieces are deposited with exact position by an end transfer device of the press line 100.

A transfer robot 220 can grasp the stored workpieces and move them in the workpiece transport direction 101 into the region of a transverse linear conveyor device 230. The transfer robot comprises two machine stands, which are arranged on both sides of the clipboard 210. Each machine stand carries a swivel bar. The pivot bars are pivotable about a common horizontal axis which intersects the mid-perpendiculars of the major inner surfaces of the machine stands in the region of the upper end of the machine columns. The axis thus runs transversely to the workpiece transport direction 101. The swivel bars comprise a telescopic extension, at the end of which a crossbeam with suction pads is held on both sides. The crossbar can be moved by a pivoting movement of the pivot bar and the operation of the telescopic extension of the clipboard 210 in the area of the conveyor 230, where he can pick up and drop workpieces. The conversion robot 220 goes in detail from the as WO 05/051563 A1 Published International Patent Application of the Applicant.

The conveying device 230 is designed as a linear guide. It has, in a manner known per se, a rail 231 anchored to the ground. Along the entire length of the rail 231, a rack is arranged. Three carriages 232.1, 232.2, 232.3 cooperate with the rail 231. For this purpose, the car 232.1 ... 3 on a roller bearing, which is laterally supported on both sides of the rail. Furthermore, each of the carriages 232.1 ... 3 carries an electric motor which acts via a gear on a pinion, which engages with the rail fixedly arranged on the rail. By actuating the electric motor, the corresponding carriage 232.1... 3 can thus be moved along the rail as desired and with exact position.

On the upper side of the carriage 232.1 ... 3 receiving surfaces 233.1, 233.2, 233.3 are formed. On these parts tester for mounting workpieces are attached.

On the press line 100 opposite side of the conveyor 230 four turntables 241.1, 241.2, 241.3, 241.4 are arranged. These are identical to one another and extend along the entire length of the rail 231, with the exception of a central region, in which a conveyor belt 242 is arranged, which can convey workpieces deposited thereon in the workpiece transport direction 101. Each two of the turntables 241.1, 241.2 or 241.3, 241.4 are located on the right or left of the conveyor belt 242. The turntables 241.1 ... 4 are each rotatable about a vertical axis. Your Shelf is divided into two halves, each of the halves has a workpiece tray.

The carriages 232.1 ... 3 may occupy a pickup position with respect to the clipboard 210, and the corresponding carriage will then be located exactly in the middle of the track 231. Further, you may take a picking position with respect to the turntables 241.1 ... 4, respectively. In the second embodiment, adjacent removal positions always have the same distance.

In the in the FIG. 3 In the situation shown, there are a carriage 232.2 in the receiving position and two carriages 232.1, 232.3 in the removal positions of the two rotary tables which are adjacent to the receiving position, ie the inner turntables. The mutual distance of the carriages 231.1 ... 3 is always the same, even if the carriages 231.1 ... 3 are moved to another position. The cars can therefore be mechanically rigidly coupled together.

In the area of turntables 241.1 ... 4, a framework 250 is arranged. On its longitudinal side, which faces the conveying device 230, a portal rail 251 is attached. This extends over the entire length of the rail 231 of the conveying device 230.

Eight articulated-arm robots 261.1... 261.8 are fastened to the portal rail and are assigned in pairs to one of the rotary tables 241.1... 241.4. The articulated-arm robots 261.1 ... 261.8 are known 6-axis robots. They are additionally linearly displaceable along the gantry rail 251 (external 7th axis). In the in the FIG. 3 The arrangement shown is located per turntable 241.1 ... 4 an articulated arm robot 261.1, 261.3, 261.6, 261.8 in an inactive position, ie it is along the portal rail 251 to the edge of the turntable 241.1 ... 4 method and not with a Provided gripping arm. The other articulated-arm robot 261.2, 261.4, 261.5, 261.7 carries an arm with suction pads, which each remove a held on a located in the corresponding removal position car 232.1 ... 232.3 workpiece and in the conveyor device 230 facing workpiece tray of the corresponding turntable 241.1 ... 4 can take off.

The articulated-arm robot 261.4 assigned to the right-hand inner turntable 241.2 is shown in FIG FIG. 3 shown arrangement along the portal rail 251 inward, has been moved to a central position. There he can remove workpieces the car 232.1, which is in the receiving position. The articulated-arm robot 261.4 can rotate the picked-up workpiece by 90 ° with respect to a vertical axis and place it on the conveyor belt 242 in this rotated orientation.

On the turntables 241.1 ... 4 and the frame 250 opposite side of the conveyor device 230 (ie press line side) extends a shelf system 270. This has a frame with a magazine for gripper arms (not shown in detail for the articulated arm robot 261.1. ..261.8 and the Umsetzroboter 220) and Teilester (for the clipboard 210 and the car 232.1 ... 3).

The operation of the device according to the second embodiment corresponds to that of the first embodiment. Again, the movement of the car 232.1 ... 3 takes place synchronously, d. H. all three cars are always moved at the same time, they always occupy three adjacent positions at standstill, ie. H. a carriage is in the receiving position, two cars are in a removal position. In addition, the mutual distances of the cars are constant, d. H. the carriages can be mechanically rigidly coupled, or the receiving surfaces 233.1, 233.2, 233.3 can be formed on the same (single) carriage.

The FIG. 4 shows a plan view of a third embodiment of an inventive device for removing processed workpieces from a production plant. The FIG. 5 is an oblique view of the device.

The third embodiment also corresponds in many respects to the first embodiment. In contrast to this, the removal devices are not formed by articulated-arm robots mounted on a portal, but rather by articulated-arm robots 361.1... 361.8, which are movably mounted on a running rail 351 arranged below. For this purpose, the articulated-arm robots 361.1 ... 8 have a carriage which can be moved along the running rail 351, a base mounted thereon which can be rotated about a vertical axis and the articulated arm fastened thereon. The framework with the portal rail can be saved in this way become. The running rail 351 for the articulated-arm robots 361.1 ... 8 is adjacent to the rail 331 for the carriages 332.1 ... 332.3 and arranged parallel thereto. The lengths of the track rail 351 and the rail 331 are substantially equal.

The travel ranges of the articulated-arm robots 361.1 ... 8 are z. T. overlapping, by the machine control ensures that collisions are excluded. The distance of the turntables 341.1 ... 341.4 is also somewhat enlarged in comparison to the first embodiment, so that adjacent turntables 341.1 ... 4 can rotate simultaneously and mutually undisturbed about their vertical axis.

The invention is not limited to the illustrated embodiments. So instead of three workpiece holders z. B. also only two or four or more shots be present.

Further modifications may relate to the robots used or the conveying device. In principle, robots with a different kinematics can also be used, and instead of roller-guided carriages with individual drives, it is possible, for example, to use carriers with workpiece holders arranged fixedly on a belt or on a chain.

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 and has a simple structure.

Claims (14)

Device for removing processed workpieces from a production plant, comprising a) a linear conveyor device with a web which extends horizontally and substantially perpendicular to a workpiece transport direction of the production plant; b) at least one carriage, which is movable with the linear conveyor along the path, wherein the carriage has at least one workpiece holder; c) a transfer device for transporting a workpiece conveyed by the production plant to the at least one workpiece holder when the workpiece holder is in a receiving position; d) at least two workpiece trays; e) at least one removal device for removing a workpiece from the at least one workpiece holder and for depositing the workpiece in one of the at least two workpiece trays, when the workpiece holder is in a removal position with respect to the workpiece tray;
at least two workpiece holders being formed on the at least one carriage, the workpiece holders being movable in synchronism with one another along the path, f) that in a working position of the at least one carriage, a first of the workpiece holders in the receiving position and a second of the workpiece holders in a removal position with respect to one of the at least two workpiece trays; and g) that the first of the workpiece holders can be moved by movement of the at least one carriage along the path of the conveyor into a removal position with respect to one of the at least two workpiece trays and the second of the workpiece holders by movement of the at least one carriage along the path in the receiving position , Device according to claim 1, characterized in that the at least two workpiece holders are fixedly spaced. Device according to claim 1 or 2, characterized in that the at least one carriage has a plurality of workpiece holders. Device according to one of claims 1 to 3, characterized in that it comprises at least two carriages which are mechanically coupled to each other. Device according to one of claims 1 to 4, characterized in that on both sides of the receiving position at least one of the workpiece trays is arranged. Device according to claim 5, characterized in that on at least one carriage at least three workpiece holders are formed and that on both sides of the receiving position at least two of the workpiece trays are arranged. Device according to one of claims 1 to 6, characterized in that the at least one removal device comprises a articulated robot. Device according to one of claims 1 to 7, characterized in that the at least two workpiece trays each comprise a turntable with at least two trays, wherein by a rotational movement one of the at least two trays from a receiving position for workpieces in a delivery position and a second the at least two shelves can be transferred from a delivery position to a receiving position. Device according to one of claims 1 to 8, characterized in that each workpiece storage is assigned at least one own removal device. Device according to one of claims 1 to 9, characterized in that the at least one removal device is designed such that an orientation of the at least one workpiece holder removed workpiece is variable, in particular a horizontal orientation can be converted into a substantially vertical orientation. Device according to one of claims 1 to 10, characterized by an intermediate station arranged between an output of the production facility and the linear conveying device, wherein workpieces deposited in the intermediate station can be transported from the converting device to the at least one workpiece holder. Device according to one of Claims 1 to 11, characterized in that the workpiece conveyed by the production system can be moved by the converting device essentially in the workpiece transport direction onto the at least one workpiece holder. Device according to one of claims 1 to 12, characterized by a device for discharging workpieces and a converting device, by which a workpiece from a located in the receiving position workpiece holder on the device for discharging is implemented. Method for removing processed workpieces from a production plant, comprising the following steps: a) removal of a workpiece from the production plant; b) converting the workpiece to a receiving position in a first workpiece holder, which is movable with a linear conveyor along a path, wherein the web extends horizontally and substantially perpendicular to a workpiece transport direction of the production plant; c) moving the first workpiece holder along the path until it is in a removal position relative to a first workpiece tray, at the same time a second workpiece holder whose movement is synchronized with that of the first workpiece holder is moved along the path to the receiving position; d) removing the workpiece from the first workpiece holder and depositing in the first workpiece tray.

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