KR20070062438A - A conveying device with suction grippers - Google Patents

Abstract

A transfer apparatus with suction grippers is provided to transfer an article by including a support unit and a drive unit for transferring and moving a supported article. A transfer apparatus horizontally transfers an article. The transfer apparatus includes a support unit(5) and a drive unit(8). The support unit vertically supports the article when the article is transferred. The drive unit performs a transfer separately from the support unit. The drive unit includes at least one suction gripper(14) performing a suction engagement. The suction gripper can be separated from the article. A supply movement is performed to accompany the quickly transferred article.

Description

Conveying device with suction gripper {A CONVEYING DEVICE WITH SUCTION GRIPPERS}

1 is a perspective view of a part of a first preferred embodiment of a transfer device according to the present invention as seen below.

FIG. 2 shows a part of the conveying device according to FIG. 1 together with the suction unit, including control means for the operation of the conveying device schematically shown.

3 to 8 are simple schematic diagrams illustrating a number of different operating steps of the conveying device in the direction of arrow III of FIG. 1.

Explanation of symbols on the main parts of the drawings

1: conveying device 2: object

3: feed direction 4: feed plane

5: supporting means 6: transfer module

7: module base 8: drive means

12: suction unit 13: control means

14: suction gripper 15: suction side

16: suction space 17: vacuum generating means

18: feed movement 19: return movement

22: supply means 23: raising and lowering means

24: supply drive 25: output drive movement

26: output drive unit 27: housing

28: Termination 32: Toothed Belt

33: slot 34: electric motor

35: electronic control means 36: suction gripper carrier

38: Raise and Lower Drive 42: Housing

43: raising and lowering piston 44: piston rod

45: fluid duct 46: control valve means

47: suction nozzle 51: fluid duct

52: control valve means 53: muffler

54: suction zone

The present invention relates to a conveying apparatus for horizontal conveyance of an object in a conveying direction, comprising support means for vertically supporting the object during conveyance, and drive means capable of acting to effect conveying movement to the supported object.

For example, as part of an industrial manufacturing operation, in particular in the case of an object with a large surface area, the power driven horizontal conveyance of the object is generally carried out using a driven roller feeder. Many rotary driven rollers form a conveying plane for the object and function as both a support means for vertically supporting the object and a drive means for causing a conveying movement. However, this conveying means has the inconvenience that the object to be conveyed may be soiled by the fragments of the roller due to the wear of the roller. This is not acceptable for certain uses. This is especially the case for transporting plate-like substrates for the electronics industry such as glass or plastic for flat screens. In this case, complex monitoring means and cleaning are essential.

Other types of conveying devices, such as bands, belts or strap conveyers, are only suitable to a limited extent for many purposes because of the continuous rotating conveyer.

One object of the present invention is to create a conveying device that allows even weak objects to be conveyed in parallel without damage.

To realize this and other objects, the drive means of the conveying device are configured separately from the support means and comprise at least one suction gripper. This suction gripper is detachably attached to the object by suction, and is also driven to perform a supply movement with respect to the support means in the suctioned state, in order to generate a transfer movement with the object being sucked and consequently retained, respectively. Can be.

In this way, the support means only have the function of setting the alignment of the object to be conveyed. Additional drive means serve to generate the driving force necessary to move the means, and this drive means need not perform any supporting action on the object. For example, the support means can be in the form of a simple non-driven roller feeder or for example in the form of a support bearing slide with an air bearing, so that the support means have a relatively simple structure. For the transmission of the driving force, the drive means will comprise one or more suction grippers, the suction grippers can each make a suction connection with the object to be conveyed to make a non-slip drive connection with the object. During the feed movement performed in the suction state by one or more suction grippers, the suction gripper involves the object held and thus produces the desired transfer movement.

Preferably, the conveying device comprises a plurality of suction grippers, the plurality of suction grippers being able to suction engage alternately or together with the object to be conveyed. Due to the simultaneous suction coupling of multiple suction grippers, it is possible to safely and accurately move heavy objects, especially with large surface areas. Because of the continuous activation of the multiple suction grippers, it is possible, if necessary, to continuously transfer the object to be transferred from one individual suction gripper to the next, and the suction gripper alternates between active and inactive states.

In particular, when the suction gripper is removed from the object to be conveyed, the suction gripper can be driven alternately in a return movement opposite to the feeding direction in the state where the object is suction-coupled. The rising and falling conveying strokes can then be independent of the length of the object measured in the conveying direction, and the required feed movement can be made under some synchronized cooperation. In this case, the workpiece, which is generally a workpiece, can be moved stepwise at a constant speed or at a variable speed according to the selected control.

The transfer device according to the invention has the advantage that it can be very easily switched to an inactive state. For this purpose, it is only necessary to stop the suction gripper and to preferably remove the suction gripper from the object so that the object only interacts with the support means.

In the case of a large number of objects that are transported continuously, it is easily possible to move the objects closer together if they are too far apart by the released suction gripper or to move the objects apart to form a gap.

In the case of one preferred embodiment of the conveying device, the driving means serving to cause the conveying movement may have a supply means which causes the supply movement and the reverse return movement of the suction gripper. Raising and lowering means are further provided to move the suction gripper toward the object to be held by the suction and to release the object, and the suction gripper can be moved in the direction crossing the conveying direction of the object by the raising and lowering means. . Although individual configurations are generally valid, it is also possible to configure the lifting and lowering means as a single assembly with drive means.

During operation of the conveying device, the supply means and the raising and lowering means can be controlled by suitable control means such that the required set of movements is performed. By means of the control, the activation and deactivation of the individual inhalation graphators are simultaneously carried out step by step in accordance with their movement.

A structure which is particularly advantageous is to include a plurality of suction units each having one or more suction grippers, in which the suction grippers are driven by their supply means which alternately perform a feed movement and a return movement in the opposite direction. Can be. Since the suction gripper makes at least a temporary suction engagement at the same time during the feeding movement to the object and is removed again during the return movement, any kind of reverse walking operation in which the ascending and descending units are successively involved alternately during the operation is possible.

The operation of the suction unit would preferably be made in such a way that one or more suction units perform a feed movement, in which the suction unit is in an active suction bond and is sucked into the object to be conveyed and is accompanied by the object.

If the conveying device comprises two suction units which are synchronized with one another and are operated in offset, it will in particular be controlled so that in each case the return stroke of each suction unit is in the middle of the time window of the respective preceding stroke of the other suction unit.

It is more advantageous if the return movement is performed at a higher speed than the feed movement. Thus, the suction gripper that has completed the supply movement can start the next supply movement relatively quickly.

The suction unit comprises a plurality of suction grippers, the suction grippers preferably extending in the conveying direction and arranged in a line.

Each suction unit preferably has one or more rail- or beam-type suction gripper carriers, the suction gripper carriers fit with one or more suction grippers and the supply means in the suction gripper carriers to cause supply and return movement of the suction grippers. Can work for you.

Individual supply drives of the supply means can serve each suction unit. In the case of a feed drive, it will in particular be a linear drive and an electric or pneumatic servo linear drive.

In order to move the suction gripper across the conveying direction or the conveying plane with respect to the object to be conveyed, it is preferable that each suction unit has a lifting and lowering means suitable for generating this movement. If necessary, the raising and lowering means act on the suction gripper carrier so that all suction grippers disposed thereon can always be moved simultaneously across the conveying direction. However, in order to minimize as much as possible the mass moved, which results in higher operating speeds and less load on the conveying device, the ascending and descending means for each suction gripper, for example, raises its own, such as a pneumatic cylinder. And a downward drive is convenient. This means that the suction grippers of each suction unit can be moved independently of one another across the conveying direction.

The vacuum necessary for the suction operation of the suction gripper is preferably provided by the vacuum generating means belonging to the conveying device. In this case, each suction gripper preferably has its own vacuum generating means. The vacuum generating means operating on the ejector principle can be supported together with the suction gripper by the output drive of the associated lift and lower drive. The conveying device preferably has control means comprising electronic control means, whereby various continuous movements and operations are controlled in a harmonious manner.

In addition, it is preferable that the control means operate the suction gripper with respect to its suction function so that each suction gripper becomes an active suction state only when it moves at the same speed as the object performing the transfer movement by the operation of the other suction unit during the feed movement. desirable. Thus, the feed movement can comprise an initial acceleration phase, in which the suction gripper is still inactive and during this phase the suction gripper is accelerated from the fixed state to the planned feed rate.

In an advantageous manner it is possible for the conveying device to be of modular construction. The conveying device comprises a plurality of conveying modules which can be arranged in a line in the conveying direction, each conveying module having two or more driven suction units extending in an offset phase. In this case, the length measured in the conveying direction of the individual conveying modules is preferably equal to the total length of the individual suction units plus the conveying stroke performed by it. In this way, it is possible to transfer the objects without problems between successive transfer modules, while the transfer modules are not synchronized for steps relative to each other. This is a way of operating the suction units within the scope of the individual transfer modules which require mutual synchronization with each other. In a subsequent or preceding transfer module, that is to say in a transfer module before or after it, the phase relationship between the suction units can be completely different. Matching successive transfer modules is only necessary in the required direction of movement and in the speed of the object to be transferred.

Hereinafter, with reference to the accompanying drawings will be described the present invention.

Although the transfer of the object of other shape is possible, the conveying apparatus represented by (1) in the Example was designed more specifically for conveying the sheet-like object 2. The sheet-like object 2 in the embodiment may be a pane of glass or synthetic resin material having a large area to be processed in the manufacture of a flat image screen. In the course of conveying, the panes may be individually supplied to a manufacturing unit which is not included in the drawings and which is not described in detail.

The movement performed during the transfer of the object 2 is called a transfer movement. The feed movement is made in a straight line in the horizontal feed direction 3 indicated by the arrow.

In the course of the conveyance, the object 2 moves over the conveying plane 4 extending in the horizontal direction, and the conveying plane 4 is formed by the fixed supporting means 5 of the conveying device 1. The object 2 lies downward on the support means 5 extending below it.

1 is a perspective view of the conveying device 1 as seen from the bottom, ie a base not shown, in which the conveying device is installed, in order to appear as if the device is supported in the air.

In FIG. 1, the conveying device 1 is only partially shown in order to make the figure simpler. The conveying device 1 preferably consists of a plurality of individual conveying modules 6 arranged in a line in the conveying direction 3, in which only three of them are shown in part. The number of transport modules 6 aligned is not important in principle. It is also possible that only one transfer module 6 is present.

Each conveying module 6 comprises in particular a frame-shaped module base 7, which is fixed during use of the conveying device 1. This module base 7 supports the support means 5 described above, which support means 5 consist of at least one roller conveyor 5a extending in the conveying direction 3. The roller conveyor 5a is not driven and includes a plurality of supporting rollers 5b, each supporting roller 5b in its position with respect to the axis of rotation extending parallel to the conveying plane 4 and perpendicular to the conveying direction. It can rotate freely.

As an alternative, the support means 5 can be in the form of other means, on which the object 5 can move in the longitudinal direction without receiving a driving force. For example, the support means may be a simple fixed support surface in the form of a flat support surface. In order to improve the supporting function, an air cushion can be formed.

Another embodiment of the support means 5 is constituted by supports, which are supported such that they can rotate freely relative to themselves in a given arrangement while forming a conveying plane. Other possible designs for the support means are also possible.

Each conveying module 6 further comprises a drive means, shown as 8, which acts on the object 2 which is placed on the support means 5 during the operation of the conveying device 1. It may cause its conveying movement in the direction (3). In order to functionally separate the support function from the drive function, the drive means 8 is designed to be independent of the support means 5. It is preferable that the drive means 8 do not have any supporting function for the object 2.

In the two out of three transport modules 6 shown in FIG. 1, only drive means 8 are shown. The module base 7 supporting the drive means 8 and the support means 5 supported by the module base 7 are not shown in the case of the outer conveying module 6.

Although the conveying device 1 does not have a modular structure, it would be desirable to have a frame-like base on which both the support means 5 and the drive means 8 are arranged and function as a support structure.

The drive means 8 comprise one or more groups of suction units which are functionally combined with one another. In this embodiment, each group of suction units 12 is located above each module base 7. In view of the balance between cost and practicality, it is most preferable to arrange the pair of suction units 12. This arrangement is present in the embodiment, and each transfer module 6 has two suction units 12 functionally combined, arranged adjacently and extending in the transfer direction. However, it is also possible for three or more suction units 12 to be present.

As shown in FIG. 2, one of the suction units 12 in FIG. 1 is shown in greater detail in a perspective view. In addition, the dashed line is used to represent the conveying plane 4 formed by the support means 5 which is not shown in detail. In addition, FIG. 2 schematically shows a control means 13 for the operation of the drive means 8 for carrying out the planned operating steps and for transmitting electrical and / or fluid power signals to the drive means 8. Each suction unit 12 includes one or more suction grippers 14. In this case, it is preferable that a plurality of suction grippers 14 are arranged in pairs and spaced in the conveying direction 3 with multiple suction grippers arranged. This arrangement is in fact suitable for the embodiment, and the continuously arranged suction grippers 14 are arranged in a line in the conveying direction 3. In the embodiment, each suction unit has three such suction grippers 14.

In order to make a temporary strong connection with each object 2, the suction gripper 14 can respectively attach to one of the objects to be conveyed using a vacuum. And the object 2 is not lifted from the support means 5.

The suction gripper 14 and preferably the entire suction unit 12 are located below the transport plane 4. The suction gripper 14 has a suction side 15 facing upward towards the conveying plane 4 and the object 2 is placed thereon.

In the embodiment, each suction gripper 14 includes one or more suction cups having an opening that widens upward. Instead, suction plates or flat inhalers may be used. They form a suction space 16 which is open toward the suction side 15, which is connected with the vacuum generating means 17. In order to withdraw air from the suction space 16 of the suction gripper 14, the vacuum generating means 17 is in a position to create a vacuum pressure. If the suction gripper 14 protrudes its suction side 15 to the front so that it is placed on a surface that is not permeable or only slightly permeable to air on the object 2 and is then evacuated, then the applied suction pressure disappears. By the time a solid suction coupling will be made. These two states will hereinafter be referred to as active inhalation state and inactive inhalation state.

In order to transport the object 2, the suction gripper 14 is applied to the object 2 and placed in an active suction state, so that the suction gripper 14 is firmly engaged with the object 2 by suction. In order to move the object 2 forward, at least one suction gripper 14 sucked in it is driven to carry out the feed in the conveying direction 3, whereby the support means 5 in which the object 2 stays in the same position 5 Is moved relative to). Thereafter, the suction gripper 14 is put back into the inert suction state and driven to perform the return movement 19 opposite to the feeding direction 18, to be released from the object 2 and return to the starting position thereof. . Here a new transfer cycle begins. Therefore, by the operation of the control means 13, the suction gripper 14 is successively driven alternately in the conveying direction 18 in the inhaled state and in the return direction 19 in the state released from the object 2. .

The conveying movement 18 and the return movement 19 of the suction gripper 14 are made by the supply means 22.

Each suction unit 12 also includes lifting and lowering means 23. In order to move the suction gripper 14 from below toward the object to be conveyed and to move it downward from the respective object 2 after the conveying operation, the suction gripper 14 is transversed by the raising and lowering means 23. In particular, perpendicularly to the conveying direction 3 and in particular perpendicularly to the conveying plane 4.

The supply means 22 comprise a separate supply drive 24 for each suction unit 12. This drive 24 is arranged in a fixed state and is held by the module base 7 or other fixed holding structure of the conveying device 1 in the embodiment.

The feed drive 24 has, for example, a grooved output drive 26, which output drive 26 moves in the feed direction 3 and in the opposite direction as indicated by the double arrow 25. Can be driven to perform 25.

It is preferable that the output drive movement 25 is a linear movement. The output drive movement 25 is effected by a linear drive, which is preferably designed in the form of an electrical linear drive.

The feed drive 24 of the embodiment has a linear housing 27 and a termination 28, which are arranged with a bend or deflection wheel, not shown in detail. The serrated belt 32 extends in the housing 27 and the output drive 26 is attached to the belt via the slot 33 of the housing 27. The electric motor 14 disposed at one of the terminations 28 can selectively drive the bending wheel in the direction opposite to rotation to perform the output drive movement 25 of the output driver 26 in the desired direction.

The electronic control means 35 of the control means 13 are connected to the electric motor 34 for inputting the required control or operation signals to the electric motor 34, respectively.

The output drive 26 has a suction gripper carrier 36 in the form of a rigid structure. The carrier is preferably of the lattice shape in order to have light weight and high flexural rigidity, and has a long shape that takes the form of a tube, beam, or rail.

Since the suction gripper carrier 36 supports the lifting and lowering means 23 that engage with the suction gripper 14, the suction gripper carrier 36 directly supports the suction gripper 14. By using the raising and lowering means 23, it is possible to drive the individual suction grippers 14 independently of each other with respect to the suction gripper carrier 36 in the rising and lowering directions perpendicular to the conveying plane 4, which suction The gripper is raised or lowered in the ascending and descending directions. The suction gripper carrier 36 does not go up and down together so that the mass moved is relatively small.

Each individual suction gripper 14 preferably has a raising and lowering drive 38 belonging to the raising and lowering means 23. In this respect, it is preferred to be in the form of a pneumatically actuated lift and lower drive 38, in particular a pneumatic cylinder. By means of the enlarged cross section of FIG. 2, the raising and lowering drives 38 each have a housing 42, extend upwardly out of the housing 42 and suction suction gripper 14 and preferably vacuum generating means therefor ( It becomes clear that the vertically movable lifting and lowering piston 43, which is connected to the piston rod 44 supporting 17, is located in the housing 42.

The raising and lowering drive 38 is connected to the electrically operated control valve means 46 included in the control means 13 and controlled by the electronic control means 35 via the fluid duct 45. In order to move the raising and lowering piston 43 vertically and set its position and consequently to set the position of the suction gripper 14, the fluid duct 45 is connected to the raising and lowering piston 43 in the housing 42. It is in a position to separately provide compressed air to the two operating spaces separated by each other. In order to prevent the object from being lifted and falling upward from the supporting means 5, the ascending and descending strokes are preferably defined by adjacent means, not shown.

Instead of the pneumatic structure, the lift and lower drive 38 may be in the form of an electric drive. In addition, the aforementioned feed drive may be a pneumatic linear drive instead of an electric linear drive.

The vacuum generating means 17 is designed according to the so-called ejector principle. The vacuum generating means 17 comprises a suction nozzle 47, which is connected to the fluid duct 51 at the inlet side, through which the air of atmospheric instrument pressure or ambient pressure is supplied. Can be supplied. The pressure action is determined by the other electrically actuated control valve means 52 under the control of the electronic control means 35. In addition, the two control valve means 46, 52 may be focused together as a common control valve means.

On the outside, the suction nozzle 47 is open toward the atmosphere, in particular via the muffler 53 located in the middle.

When compressed air flows through the suction nozzle 47, a vacuum is generated in the suction zone 54 according to the ejector principle. The suction gripper 14 is preferably connected to this suction zone and focused together with the vacuum generating means 17 as a single assembly.

In order to make the suction gripper 14 active, compressed air is supplied to the suction nozzle 47. Since the inlet of the suction nozzle 47 is switched to a pressureless state or to be vented, it becomes an inactive suction state. If necessary, the inactive suction state can additionally or alternatively be achieved by means (not shown) for supplying a pressure pulse to the suction space 16.

Because of the individual provision of the suction gripper 14 with the vacuum generating means 17, the suction gripper 14 can be individually set to an active or inactive suction state. Alternatively, a plurality of suction grippers 14 can be connected to the common vacuum generating means 17, and each suction gripper 14 has a case where the suction space 16 is not covered by the object 2. It is desirable to have its own valve means for stopping the suction operation by external control or automatically.

The suction unit 12 of each individual transfer module 6 may be identical in construction. In the embodiment, the suction units 12 differ only for the electric motors 34 flanged on opposite sides such that the suction units 12 can be arranged directly adjacent to each other. Thus, the electric motor 34 extends across the conveying device 1 on the opposite side away from the feed drive 24.

On the basis of Figs. 3 to 8 for the transfer module 6, the preferred sequential events for the transfer of the object 2 in another operating step will be described in detail. The figure is very schematic, the one in front of the two suction units 12 is indicated by a dashed line and the one behind is indicated by a solid line. For the sake of simplicity, the reference numerals for the components of the suction unit have in one case an additional "a" and in another case an additional "b".

3 to 8 are side views in the direction of arrow III in FIG. 1. In this case, only the suction gripper carriers 36a, 36b of the second suction unit 12 are shown with associated lift and lower drives 38a, 38b and two suction grippers 14a, 14b respectively.

For the sake of explanation, it should be noted that the two suction units 12 are operated opposite to each other in synchronization. Thus, in each case in one continuous operation, one suction unit 12a is always slightly ahead of the other suction unit 12b.

In the operating step shown in FIG. 3, the suction grippers 14a, 14b are raised and thereby engage suction with each object 2 from below in the case of simultaneous active suction conditions. The suction grippers 14a, 14b of the two suction units 12a, 12b carry out the feed movements 18a, 18b and consequently carry the object 2 sucked on it. Thus, the suction gripper 14a of the first suction unit 12a shown in the front part in the conveying direction 3 is in front of the suction gripper 14b of the second suction unit 12b shown in the rear part.

After reaching the end of the supply stroke, the suction gripper 14a of the first suction unit 12a is deactivated and lowered by the control means 13. This state is shown in FIG. In this case, the suction gripper 14b of the second suction unit 12b, which is still firmly suction-coupled with the object, will continue its supply movement 18b.

According to FIG. 5, the lowered suction gripper 14a performs the return movement 19a while the suction gripper 14b of the second suction unit 12b still performs the supply movement 18b.

Before the suction gripper 14b of the second suction unit 12b reaches the end of the supply stroke, the suction gripper carrier 36a together with the suction gripper 14a is moved to its initial position and returned. In the stage shown in FIG. 6, the associated lift and lower drive 38a is operated to move in the outward movement direction, so that the suction gripper 14a of the first suction unit 12a is used to move the object 2 passing thereover. It is moved upwards as indicated by arrow 55 until it is engaged to the bottom side. Next, this suction gripper 14a is activated by other control valve means 52 to regain a firm suction coupling with the object 2. Therefore, the suction gripper 14a applies the supply force to the object 2 again in the next supply movement 18a.

When the suction gripper 14a is accelerated during the already started feed movement 18a and reaches the same speed as the speed of the suction gripper 14b of the other second suction unit 12b still engaged with the object 2, It is preferable that the control means 13 cause a control action such that the suction gripper 14a is activated only for the suction action. Thus, the suction coupling with the object 2 takes place at a speed adjacent to the feed rate of the suction gripper that is equal to the speed of the object.

As can be seen from the foregoing, the control action is to carry out the feed movement 18 while at the same time suction coupling to the object 2 to which one or more of the suction grippers 14 are conveyed. By harmonized control of the two suction units 12, it is possible to ensure the movement of the stationary object 2 in this way if necessary.

FIG. 7 shows the step in which the previously deactivated suction gripper 14b descends after the suction gripper carrier 36b of the associated second suction unit 12b reaches the end of the supply stroke. At this point, only the first suction unit 12a having the suction gripper 14a holding the object 2 causes the supply movement 18a.

FIG. 8 shows an operating step comparable to the operating step of FIG. 5 and shows the active switching of the two suction units 12a, 12b. While the second suction unit 12b performs the return movement 19b, the first suction unit 12a performs the supply movement 18a involving the object 2.

In order that the regular transfer of the object 2 is possible via all aligned transfer modules 6, the above-described operating period takes place continuously for each transfer module 6. Mutual interference of the transfer module 6 is not possible, and the length of the individual transfer module 6 measured in the transfer direction is equal to the total length of the suction unit plus the transfer stroke performed between the start position and the end of the feed stroke, respectively. The same, and in no case shorter than that.

Thus, only a slight degree of synchronization of the operating steps is required between the individual transfer modules 6. Each transfer module 6 can operate independently from the other transfer module 6. Only the direction and speed of movement should be synchronized. Within the transfer module 6 itself, it is necessary to synchronize the suction unit 12 which does not contain any complicated technical control features.

Preferably, the suction unit 12 will be operated such that the return movement 19 occurring with the suction gripper 14 in the inactive state occurs at a higher speed than in the feed movement 18. In this way, it is possible to continuously feed at a relatively high feed rate using a very small number of suction grippers 12.

When the suction gripper 14 is raised, it is not absolutely necessary for the lifting and lowering means 23 to be continuously activated. When the suction gripper 14 is suction-connected with the object 2, the raising and lowering means 23 can be turned off so that no vertical force is applied at all. This raising and lowering means constitutes only accompanying means, and the object 2 sucked in and held by the accompanying means is accompanied to carry out the conveying movement. Thus, it is possible to ensure that the parallel supporting means 5 can perform the supporting action.

If the conveying device 1 is used, it is possible to convey the object irrespective of its total length without any individual modification. The feeding principle is not limited to the specific length of the object.

It is also possible to selectively deactivate the individual transfer modules 6 between the continuously moving objects 2 to form gaps or to eliminate any gaps present.

If necessary, the transfer device 1 may be switched to be in an inactive state. In this case, it is sufficient to lower them so that all the suction grippers 14 are separated from the conveying plane 4. The object is held fixed above the support means 5 and can be moved manually if necessary to the extent that the support means 5 allow.

According to the conveying device according to the invention, the object can be conveyed in parallel without damage.

Claims (20)

A transfer apparatus comprising support means for vertically supporting an object 2 during transfer and drive means capable of acting to cause a transfer movement to the supported object, wherein the target object 2 is horizontal in the transfer direction 3. As a conveying device for conveying, The drive means 8 is configured separately from the support means 5 and comprises at least one suction gripper 14, the suction grippers each carrying the object 2 which is sucked and consequently retained. In order to generate a conveying movement, the suction gripper 14 is releasably attached to the object 2 by suction and carries a feed conveyance with respect to the support means 5 in the conveying direction 3 in a suctioned state. A transport apparatus, which is driven to perform. 2. The one or more suction grippers (14) according to claim 1, wherein the at least one suction gripper (14) is in the supply movement (18) in the suction-attached state and in the return movement (19) in the opposite direction in the state of being released from the object (2). A transport apparatus, which can be driven alternately. 3. The drive means (8) according to claim 2, wherein the drive means (8) has a supply means (22) that functions to cause the supply movement (18) and the return movement (19). Further comprising lifting and lowering means (23) for moving said at least one suction gripper (14) across said conveying direction (3) to approach and move away at least one suction gripper (14). Device. 4. A vacuum generating means (17) according to any one of the preceding claims, wherein a vacuum generating means (17) operating on an ejector principle is provided for each of said suction grippers (14), said suction gripper (14) and associated vacuum generating means. (17) A transport apparatus characterized by constituting each of these common structural units. The method according to any one of claims 1 to 4, wherein the plurality of suction units 12 each comprise one or more suction grippers 14, the suction unit 12 having a feed movement 18 and vice versa. Can be driven by associated supply means 22 in phase offset to alternately perform the phosphorus return movement 19, wherein the suction gripper 14 is at least temporarily with the object 2 during the supply movement 18. A suction device capable of suction coupling and being released from the object (2) during the return movement (19). 6. Transfer device according to claim 5, characterized in that the suction unit (12) comprises a plurality of suction grippers (14) spaced apart in the transport direction (3). 7. The suction gripper carrier (36) of claim 5 or 6, wherein each suction unit (12) comprises one or more suction gripper carriers (36) for supporting the one or more suction grippers (14). And said supply means (22) are operable to cause said supply movement (18) and said return movement (19). 8. The suction gripper (1) according to any one of claims 5 to 7, wherein each suction unit (12) has a lifting and lowering means (23), and the suction gripper (of the suction unit (12) by means of lifting and lowering means (8). Transfer device (14) across the conveying direction (3) to move the object closer or farther away from the object (2). 9. Transfer device according to claim 8, characterized in that the raising and lowering means (23) for each suction gripper (14) have their own individual raising and lowering drives (38). 10. Transfer device according to claim 9, characterized in that the lift and lower drive (38) is a pneumatically actuated drive. 11. The output drive 44 of claim 9 or 10, wherein each of the suction grippers 14, together with its own unique vacuum generating means 17 utilizing the ejector principle. A transport apparatus, characterized in that the device is installed on. 12. Transfer device according to one of the claims 5 to 11, characterized in that the supply means (22) have their own feed drive (24) for each of the suction units (12). 13. Transfer device according to claim 12, characterized in that the feed drive (24) is a linear drive and in particular an electric or pneumatic servo linear drive. 14. The suction gripper (14) according to any one of claims 5 to 13, wherein the suction gripper (14) is controlled in a coordinated manner so that at least one suction gripper (14) performs a feed movement (18) at any time and the object during its rapid movement. Transfer device characterized in that a control means (13) is provided which can be suction-coupled to (2) or that is substantially simultaneously coupled. The said control means 13 is the said one in which the said each suction gripper 14 causes the conveyance movement of the said object 2 in the supply movement 18, The control means 13 in any one of Claims 5-14. And a suction engagement of each suction gripper (14) to the object to be conveyed (2) when moving at the same speed as the other suction grippers (14) above. 16. The conveying device according to any one of claims 5 to 15, wherein the conveying device is of a modular structure having a plurality of conveying modules (6) which can be arranged in a line in the conveying direction (3), and the conveying module (6) ) Comprises at least two suction units (12) each operated in an offset phase. 17. The suction unit 12 according to claim 16, wherein the length of the transfer module 6 measured in the transfer direction 3 can be performed by the suction unit 12 in the transfer direction 3 to the total length of the suction unit 12. A conveying device, characterized in that it is equal to or greater than the conveying stroke. 18. Transfer device according to one of the preceding claims, characterized in that the support means (5) are fitted under the object (2) to be transferred. 19. The transport apparatus according to any one of the preceding claims, characterized in that the support means (5) form a horizontal transport plane (4) through which the object to be transported moves. 20. Transfer device according to any one of the preceding claims, characterized in that the support means (5) are constituted by one or more non-driven roller feeders.

Images