WO2008098605A1

WO2008098605A1 - Positioning device

Info

Publication number: WO2008098605A1
Application number: PCT/EP2007/010769
Authority: WO
Inventors: Adam Schulz
Original assignee: Kuka Systems Gmbh
Priority date: 2007-02-14
Filing date: 2007-12-11
Publication date: 2008-08-21
Also published as: DE202007002364U1

Abstract

The invention relates to a positioning device (2) comprising at least one positioning apparatus (3). The positioning apparatus (3) is provided with a frame (8), at least one movable, preferably rotatable arm (11), and at least one output element (15) and has three or more axes of movement (18, 19, 20), i.e. a combination of several axes of rotation (18, 20) and at least one linear axis (19). Preferably, the arm (11) is also slidingly mounted on the frame (8).

Description

DESCRIPTION

positioning

The invention relates to a positioning device with the features in the preamble of the main claim.

In practice, simple positioning means in the form of turntables are known. These have a limited kinematics and can be used only for a few applications. On the other hand, in car body manufacturing in robotic gardens, multi-axis industrial robots, e.g. six-axis articulated arm robot, used for positioning components. Such a robot use is in many cases kinematically overqualified and uneconomical.

It is therefore an object of the present invention to show a better positioning.

The invention solves this problem with the features in

Main claim.

The claimed positioning has the advantage of an improved combination of kinematics and

Economics. Compared to rotary tables, the kinematics, the range and possible applications are significantly increased and improved. In comparison with articulated arm robots, the kinematics can be reduced, but at the same time the reach can be increased via the linear axis. Also, the work area can be cheaper and also better adapt to the respective positioning requirements.

Through an axle reduction, the construction and

Reduced cost and improved and optimized in relation to kinematics and positioning requirements become. A cost saving is also possible by external control of the axis drives, for example via the control of an associated manipulator or robot. The positioning axes can hereby be controlled as additional axes by the robot controller and optimally adapted to the respective processing and handling requirements as well as to the needs of the robot or processing device. The possibility of using simple axle geometries and simple axle drives is also cost-effective.

The claimed alignment and arrangement of the linear and rotary axes also has advantages in terms of the work area and the positioning capabilities. The Störbereiche can be advantageously reduced. By using angle brackets can be positioned workpieces, tools or the like. in their position and alignment to the existing positioning kinematics adapt.

The positioning device can have one or more positioning devices with the aforementioned design and axle geometry. Several positioning devices can be used to form special component or reversing positioners or the like. And moved synchronously. This allows larger loads to move and support. The positioning devices can form mobile portals with each other, which can also be used in difficult work areas. In particular, such portals can carry out lifts and thereby be outside the range of processing equipment or devices. Particularly advantageous applications open up in the field of Karosseriefertigung in the handling and transport and positioning of body parts and / or tenter. For example, a handling device for clamping frames on a processing station, in particular a framing station or a welding station for vehicle bodies, are significantly improved and simplified by the claimed positioning. This concerns both the loading and unloading of clamping frames on clamping frame magazines, the clamping frame transport, as well as the delivery of clamping frames at the workplace.

For the structural design of

Positioning device and the positioning devices, there are various possibilities. In the subclaims advantageous embodiments are given for this purpose.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

Figure 1 to 3: a positioning in perspective

View, front view and folded side view,

Figure 4: an enlarged and broken sectional view of a combined

Rotary and sliding bearing together with drive technology,

5 shows a cutaway front view of an arm of the positioning device,

Figures 6 and 7: different views of a

Positioning device with a resource chain,

FIG. 8: a positioning device in the form of a

Reversing positioner with two positioning devices,

Figures 9 and 10: a kinematic and constructive

Variant of the positioning device and the positioning devices,

Figure 11 to 13: a processing station with two positioning in different

views

Figures 14 and 15: a positioning in the

Execution as a component positioner at a framing station and FIGS. 16 to 18 variants of the positioning devices as frame positioners at a framing station.

The invention relates to a positioning device (2) for different purposes and to a processing station (1) equipped with one or more such positioning devices (2).

The positioning device (2) has one or more positioning devices (3). FIGS. 1 to 5 show a first variant and FIGS. 9 and 10 show a second variant of such a positioning device (3).

In the various variants, the positioning device (3) in each case has a frame (8) with at least one arm (11) and with at least one output element (15). The arm (11) is movable and preferably rotatably mounted on the frame (8).

The positioning device (3) has in the illustrated embodiments, three axes of movement (18,19,20) with associated drives (21,22,23). In the variants shown, these are two axes of rotation (18, 20) and one

Linear axis (19). Alternatively, the positioning device (3) may have one or more auxiliary axes, e.g. an additional axis of rotation and / or driving axis for the frame (8).

In the variants shown, in each case the arms (11) are mounted rotatably about an axis of rotation (18) by means of a bearing (12) on the frame (8) and are driven to rotate or pivot by means of a drive (21). The axis of rotation (18) is aligned substantially horizontally or parallel to the ground. The output element (15) also has an axis of rotation (20) and is rotatably mounted on the arm (11) by means of a bearing (14) and is rotationally driven by means of a drive (23). The drive element (15) is arranged laterally next to the arm (11), wherein the axis of rotation (20) is aligned transversely to the arm longitudinal direction. Preferably, the output element (15) on the frame (8) opposite side of the arm (11) is arranged. The axes of rotation (18,20) of the arm (11) and the output member (15) may be aligned in parallel.

The output member (15) is e.g. formed as a cylindrical rotary flange (16) and has at its end face or other suitable location at least one connection (17) for the cultivation of one or more tools (35). The terminal (17) may e.g. be designed as a removable coupling, which is remotely controllable and allows a tool change. The connection (17) may further comprise a resource supply for the supply of resources, such as compressed air,

Have coolant, power and signal currents, etc. to the tool (35).

The tool (35) can be arranged flat on the end face of the output element (15). Alternatively, the terminal (17) may include an angled bracket or flange (40) that allows for rotated alignment and attachment of the tool (35). Figures 11 to 13 show such an arrangement.

The tool (35) can be designed in any suitable manner. In the exemplary embodiments shown, it has one or more grippers or tensioners (41) with which workpieces (4) of any type, eg body components (48), can be gripped. By means of such a gripping tool (35) can alternatively clamping devices, such as clamping bars (44) or larger Clamping frame (45) can be gripped. The gripping tool (35) can also be used as a clamping device to clamp a workpiece on a support and possibly also to receive a plurality of workpiece parts and to clamp in a desired position and orientation to each other.

The linear axis (19) is designed differently in the exemplary embodiments shown. In the variant of Figure 1 to 5 is the elongated arm

(11) slidably mounted in its longitudinal direction on the frame (8) by means of a sliding bearing (13). Here, the pivot bearing (12) and the sliding bearing (13) may be combined in the manner described below. This allows the arm (11) to rotate and, if necessary, move simultaneously. The rotary and sliding bearings (12,13) are arranged in this embodiment on an upright column (9) of the frame and are located at a distance above a foot part (10) of the frame (8) and the ground. The arm (11) is mounted laterally and flying on the column (9).

The positioning device (3) can also have a controllable locking device (32) for the arm (11). The locking device (32) can block both the rotational position about the rotational axis (18), as well as the displacement position along the linear axis (19) controlled and lock. The locking device (32) can be used for this purpose, e.g. be formed as remote controllable non-positive clamping device, positive locking device or in any other suitable manner.

The combined swivel and slide bearing (12,13) engages in the middle arm area between the arm ends. Figure 4 illustrates in a broken sectional view of this arrangement and the structure of the storage and drive technology. The column (9) has at the upper end a widened head region on which the bearings (12,13) and the drive (22) for the linear axis (19) are arranged. The sliding bearing (13) has a cross-sectionally fork-shaped bearing housing

(27), which comprises the arm (11) in regions on three sides and by means of one or more guides

(28) between the protruding fork arms in arm longitudinal direction leads. The bearing housing (27) forms a U-shaped guide collar and has a limited length, e.g. directed at the forces and moments to be absorbed. The bearing housing (27) has on the side facing the column (9) on a hollow shaft (24) which defines the axis of rotation (18) and is rotatably supported by a bearing (12) in the head of the column (9). The drive (21) for the axis of rotation (18) is located at a suitable location, e.g. at the column shaft below the widened head portion and is connected by means of an optionally multi-stage Vorgeleges (26) with the hollow shaft (24) drivingly.

The drive (21) can be designed in any suitable manner and have a motor drive element and possibly a downstream transmission. The drive (21) may e.g. a controllable electric motor with encoders and / or encoders and with brake and

Having locking options, approach the predetermined positions and can remain there.

The in the bearing housing (27) positively guided arm (11) is at the rotation of the bearing housing (27) to the

Taken pivot axis (18). The drive (22) for the linear axis (19) is arranged above the rotary drive (21) and drives a continuous shaft (25), which is arranged coaxially in the hollow shaft (24) and rotatably supported by suitable bearing elements. The drive (22) can otherwise be formed in the same way as the drive (21). At the end of the through shaft (25) - S -

There are driving elements (30,31), which act on the arm (11). This can e.g. a pinion (30) at the shaft end, which meshes with a rack (31) on the back of the arm (11). The driving elements (30,31) are in a space between the adjacent side wall of the

Arms (11) and the bottom of the bearing housing (27). In this area are also parts of the sliding bearing (13), which provide a side guide of the arm (11).

In the embodiment shown in Figures 1 to 5, the output element (15) is arranged at one end of the arm by means of the pivot bearing (14) localized. Its drive (23) can be located in the same place. In the embodiment shown, the drive (23) is arranged on the other arm end in favor of a balanced weight distribution. The drive (23) can be designed in a similar manner as the other drives (21,22). The driving forces are transmitted by means of a transmission (33) in the interior of the hollow arm housing (29) to the output element (15) and the shaft thereof. The transmission (33) can be e.g. a toothed belt drive, a rope drive, a chain drive, worm drive or the like. be.

In a modification of the embodiment shown, output elements (15) may be arranged on both arm ends, the drives (23) in this case being arranged in close proximity thereto and e.g. can be infected. FIG. 8 shows such a variant.

Figures 9 and 10 illustrate another

Embodiment of the position device (3). The arm (11) is pivotally mounted on a frame (8) at one end by means of a pivot bearing (21) about a pivot axis (18). The frame (8) may have a low overall height, so that the pivot bearing (12) and the axis of rotation (18) in Close to the ground. The linear axis (19) is realized in this case by a longitudinal adjustment of the driven part (15) along the arm (11). The slide bearing (13) is designed for this purpose, for example as a slide and along the arm (11) in a suitable manner on rails or the like. is guided and via a preferably near-bottom drive (22) by means of a suitable transmission, such as a spindle drive or the like. along the arm (11) adjusted. The output element (15) may be formed in a similar manner as in the above-described embodiment and has a rotation axis or output axis (20). For the axes of rotation (12,20) suitable drives (21,23) are present. The drive (23) and the pivot bearing (14) for the output element (15) sliding bearing (13) or be carried on the carriage.

The position devices (3) each have a single arm (11) in the various embodiments. Alternatively, the single arm can be replaced by two or more parallel arm parts that can accommodate greater forces and moments.

The positioning devices (3) can be set up individually, as e.g. is shown in Figures 11 to 13 explained below.

FIGS. 8 and 9 illustrate a variant in which the positioning device (2) has in each case two positioning devices (3) with aligned output shafts (20) arranged in pairs opposite each other and in synchronism. There may also be several such positioning device pairs (3). The positioning devices (3) can jointly hold at least one component holder (39), a clamping device (44, 45) or a workpiece (4). They may also be interconnected as in FIG. 9 by a transverse rod which extends along the axis of rotation (20) and on which Output element (15) can possibly go back and forth. The crossbar can also form the stationary support member and the movable bearing element for the pivot bearing (14).

In the variants shown, the positioning device (2) with the positioning device pairs (3) has a portal-like shape. This allows lift-off movements of the output elements (15) over obstacles. By the displaceability of the arms (11) or the output elements (15) in this case the laying length can be varied and adapted to the circumstances.

The synchronization of the drives (21,22,23) can be achieved in the double arrangement of the positioning (3) in any suitable manner. On the one hand, the drives (21, 22, 23) can be synchronized with one another by means of path and / or angle measuring systems for synchronization. They can also be regulated to the same forces or moments.

Alternatively, mechanical drive couplings are possible. In the variant of FIG. 9, e.g. the rotary drive (21) arranged on the left positioning device (3) has the arms (11) of both positioning devices (3) by means of an extended output shaft. Correspondingly, there is a common drive (22) for both linear axes (19). Here, too, an engine drives both transmissions via an extended output shaft.

In the variant of FIG. 9, for example, there is a single output element (15) which is common to both positioning devices (3) and which has a single rotary drive (23) and is optionally displaceably arranged along the transverse bar. For this displacement movement also a controllable drive can be present. In a modification of the embodiment shown, several output elements (15) on the crossbar be arranged. Furthermore, the driven element (15) can extend over the entire free space between the opposite arms (11) and perform only rotational movements. In a further modification, each arm (11) may have its own output element (15), the crossbar possibly being omitted and the output elements (15) driven independently and eg synchronously.

Figure 8 shows an embodiment of the first embodiment of Figures 1 to 5. Die

Positioning device (2) is formed in this case as a component positioner (37) and in particular as a reversing positioner (38). The two positioning devices (3) face each other with the same arm orientations and aligned output shafts (20). Here, at both arms of both arms (11) output shafts (20) with output elements (15) may be present, which are driven in a suitable manner. FIG. 8 shows a variant of this in which on the left positioning device (3) for both output elements

(15) in each case an adjacent drive (23) is present. In the other, right positioning device (3), the output elements (15) only each have a pivot bearing (14), being dispensed with their own drives. The paired opposed output members (15) are each rotatably connected to a component receptacle (39), e.g. consists of two parallel and spaced apart holding plates or mounting frame consists. At the receiving plates can by means of suitable grippers, tensioners or other tools (not shown)

Workpieces are releasably secured. The lengths of the arms (11) and the size of the component receptacle (39) are coordinated so that the component receptacle (39) can be pivoted about the output axes (20), whereby the receiving plates are alternately accessible from the outside. Due to the rigid two-sided coupling of the component receptacle (39) with the output elements (15) in each case a single drive is sufficient for the rotation. In this case, the rotary actuators (23) can act independently of each other, wherein for reasons of handling advantageously the rotational movements can be coordinated with each other. Alternatively, all

Output elements (15) have their own drive (23).

The positioning devices (3) allow a resource supply to the tools (35) or the workpieces (4). This supply can run via the positioning devices (3) and a stationary connection in the region of the frame (8). As FIGS. 6 and 7 make clear, operating means chains (34) can be provided on the arm (11), which ensure a flexible supply of equipment from the frame (8) to the output element (15), which is moved together with the arm displacements. The operating equipment chain (34) may originate from the rotary or sliding bearing (12, 13) or its bearing housing (27) and be laid in a bent cable drag along the arm (11) to the output element (15). Fluidic equipment can be transferred via suitable rotary connections. Currents can be transmitted via sliding contacts etc. For the variant of the positioning device (3) of Figures 9 and 10, the resource chain (34) may be adjusted accordingly.

The positioning devices (3) or the positioning device (2) formed therefrom can have a suitable control. This control can be in one or more

Positioning devices (3) be integrated and act on the drives (21,22,23) and possibly other equipment parts. In the preferred embodiment, the controller is paged out and located in an external controller (36) of one or more processing devices (5) to which the positioning device (2) is associated. The single or multiple existing Machining devices (5) can be, for example, multi-axis manipulators, in particular multi-axis industrial robots, which process the workpieces (4) with suitable and possibly interchangeable tools, eg joining tools. In the exemplary embodiment shown, the robots (6) are designed as six-axis articulated-arm robots, which may possibly also have one or more additional axes. The manipulators or robots (6) have a robot controller (36) which has a plurality of additional control axes which are suitable for controlling the associated positioning device (2) or the positioning device (s) (3)

Line connections can be used. Figure 11 shows such an embodiment.

FIGS. 11 to 13 show a first exemplary embodiment of a processing station (1) and an environment of use for a positioning device (2). The positioning device (2) is designed here as a component positioner (37) for one or more identical or possibly different workpieces (4) and consists of two positioning devices (3) set up individually and at a mutual distance. The Positioniergeräte (3) are floor bound, but may alternatively have any other mounting position, for example, hanging on a portal or laterally projecting on a building wall or the like. The number of positioning devices (3) can vary as desired up and down. The positioning devices (3) are used for handling and positioning of workpieces (4) relative to the associated processing devices (5, 6), whereby further transport of the workpieces (4) after processing can also be realized. The positioning devices (3) can be controlled jointly, eg via the robot controller (36). At the entrance of the processing station (1), the workpieces (4) are fed in a suitable manner and, for example, transferred from a worker (43) to a drum receiver (42). The workpieces (4) can be of any type, size and number. Preferably, it is

Body components of body shells of motor vehicles. The workpieces (4) can be multi-part and form assemblies.

After manual workpiece transfer, the

Drum receiver (42) and brings the workpiece (4) in the working area of the positioning device (3), which, for. in the manner mentioned above with a connection (17) with angle bracket (40) and a gripping tool (35) with grippers or tensioners (41) is equipped. The

Gripping tool (35) can also be acted upon by the controller (36). By means of the gripping tool (35), the positioning device (3) takes over and tensions the workpiece (4) provided on the drum receiver (42). The arm (11) may be for this purpose e.g. on the maximum shown

Outrigger be extended. Subsequently, the arm (11) is moved back and possibly rotated. By suitable movements of the driven axles (18, 19, 20), the workpiece (4) can be brought into a position suitable for machining relative to the associated robot (6) and its tool. The position may be changed during editing. The robot (6) and the positioning device (3) are controlled in this case by the controller (36) in a coordinated manner.

After completion of the machining process, the positioning device (3) can transfer the workpiece (4) directly to the positioning device (3) following in the process chain directly or via a stationary file. The workpiece (4) is again positioned and handled in a process-appropriate manner by the second positioning device (3) in relation to a processing device (5). At the end of editing can a workpiece delivery and a removal from the processing station (1) follow. Within the processing station (1), the number of positioning devices (3) and the processing devices (5) can vary as desired. The number may be smaller or larger than in the illustrated embodiment.

If different workpieces (4) are positioned and processed within a processing station, the positioning devices (3) can change the gripper tools (35) as needed by means of the connections (17) and their replaceable couplings. For this purpose, one or more provisions or magazines for different tools (35) may be present.

Figures 14 and 15 show a further insert variant of the positioning device (2), which in turn is formed here as a component positioner (37) in a processing station (1). In this, as in the previous embodiment, the positioning devices (3) according to the first embodiment of Figure 1 to 5 are formed. They may alternatively be designed according to FIGS. 9 and 10.

in the embodiment of Figures 14 and 15 are two

Positioning devices (3) with aligned output shafts (20) arranged opposite one another and are synchronously driven and moved. They each have an output element (15). With the two-sided output elements (15), one or more

Tensioning means (44), e.g. gripped, handled and positioned in the form of elongated clamping strips shown. The clamping bars (44) have controllable grippers and tensioners with which workpieces (4), e.g. the trained as a side wall

Body parts (48) are gripped. The body components (48) are successively from a Conveyor (49) provided by means of suitable brackets and can be gripped with the clamping bars (44) and removed from the conveyor (49). For various body components (48) correspondingly adapted clamping strips (44) may be present, for example, in an adjacent magazine (47) are mounted in the working area of the positioning (3).

In the embodiment shown, e.g. the side walls (48) provided by a high-level conveyor (49) are gripped individually by the component positioner (37) and fed to a workstation (53) in the station frame (52) of the processing station (1), where they are brought to a suitable receptacle, e.g. passed to a ready-standing clamping frame (50). The portal-like

Component positioner (37) with its two arms (11) the clamping frame (50) and also arranged in front of processing devices (5) smoothly overlap and hand over the body component (48) on the workspace (53) facing frame inside.

The processing station (1) is designed, for example, as an assembly or joining station for vehicle bodies. This may in particular be a framing station in which the basic shape of the body shell is constructed from a plurality of supplied body components (48) and held by means of one or more tenter frames (50). The associated floor assembly (not shown) can, for example, on a pallet or the like. along a transfer line (54) into the processing station (1) are introduced and positioned by means of a conveyor. A tensioning frame (50) can be arranged on one or both sides of the transfer line (54) and can be located on an infeed device (51) which carries out a feed movement directed back and forth transversely to the transfer line (54) and removes the tensioning frame (50). to the working and clamping point on the transfer line (54) and the Floor group brings. The processing devices (5) have suitable joining tools, such as welding, adhesive or soldering tools or the like. and are designed, for example, as a welding robot.

In the example of use shown and also in other cases, the positioning device (2) can be adapted to the local conditions by means of a suitable column height and arm length. For this it is advantageous if the positioning device (2) and the or

Positioning device (s) (3) are modular and can be assembled as needed to the desired configurations and, if necessary, can be converted. The column (9) may e.g. consist of pluggable column elements with which the column height can be adapted and, if necessary, modified. The arms (11) may also form a replaceable assembly in various sizes and configurations.

Through the portal-like training of

Bauteilpositionierers (37), the available space can be optimally used, wherein the body components (48) by suitable sliding and rotating movements of the arms (11) and the output elements (15) from the conveyor (49) via the robot (6) and the clamping frame ( 50) can be lifted and transported. You can hereby e.g. Perform a curve or threading movement to optimally use the existing freedom of movement due to the changed component orientation and to get past the interference contours. The angle of rotation of the positioning device (2) and of the arm or arms (11) about the axis of rotation (18) can be almost 360 °. The same applies to the output elements (15). The magazine

(47) can be arranged at a distance behind the processing devices (5, 6). Due to the special kinematics of

Positioning device (2), the body parts

(48) directly and quickly from the conveyor (49) be transported to the clamping frame (50).

FIGS. 16 to 18 show a further variant of use in which the positioning devices (2) are used in a handling device (58) for clamping frames. The processing station (1) is constructed in a similar manner as in the preceding embodiment and has a station frame (52) with a transfer line (54) in place along with working sites (53) arranged on one or both sides. In the flexible processing station (1) shown different body types can be processed, for which different clamping frames (45) are used. These are stored in one or more magazines (46) located on one or both sides of the transfer line (54) and located in front of and / or behind the workstation (53). For the delivery of the clamping frames (45) at the workstation (53) there can in turn be an infeed device (51), e.g. is formed as a transversely to the transfer line (54) movable, controllable and driven carriage. At Stationsgestell (52) Absteckungen for exact positioning of the clamping frame (45) can be located at the workstation (53).

For the tension frame transport between the

Delivery device (51) and the frame or the magazine (s) (46) is a conveyor (57) is provided, which is movable along the transfer line (54) and includes, for example, a floor-mounted transport vehicle, which is movable on rails with a suitable drive. Figure 17 shows this conveyor (57) fragmentary. The trolley can also be used for the frame delivery at the workstation (53) and for the delivery device (51). The positioning means (2) can be used in the context of the handling device (58) as a tool positioner or frame positioner (55,56) in various configurations.

In the variant of FIGS. 16 and 17, the portal-like positioning devices (2) are arranged as frame positioners (55) on the frame magazines (46). The positioning devices (2) consist in all variants shown in each case of two opposing and synchronously aligned and movable positioning devices (3) with aligned output shafts (20) and arranged on both sides of output elements (15). The driven elements (15) are again designed as mutually facing rotary flanges (16) with connections (17), possibly in the form of interchangeable couplings, the tools (35) with grippers (41) for holding and moving the clamping frame (45). The racks (8) or columns (9) of the positioning devices (3) are arranged on both sides of the magazines (46) and the stockpiled (45) stockpiled there, so that the clamping frame (45) laterally with the tools (35), if necessary can be grasped and transported as well as positioned with the intervention of an additional gripping stroke.

As illustrated in particular Figure 17, the

Frame Positioner (55) thanks to its kinematics remove the clamping frames (45) from the various storage locations on the frame magazine (46), if necessary over other tenter frame (45) and other obstacles and lift off on the conveyor (47) in an appropriate manner and position. Thanks to the positioning kinematics while the clamping frame (45) can be pivoted about the output shaft (20) also when needed. The vertical frame orientation, for example, may thereby be maintained or changed during transport and positioning of the tenter frame (45). In the opposite way, the frame positioner (55) can take up the tension frame (45), which is no longer needed and returned from the conveyor (57), and set or insert again in the frame magazine (46).

Thanks to the positioning kinematics, the clamping frames (45) in the frame magazine (46) can stand vertically or assume any inclined position. They can alternatively be arranged horizontally. The clamping frames (45) are in this case with their longitudinal axis along the conveying direction of the conveyor

(57) and the transfer line (54), wherein the arms (11) of the positioning devices (3) are aligned transversely thereto.

FIG. 18 shows a further development of the

Processing station (1) and the handling device

(58) for the clamping frames (45). In this case, the tool or frame positioner (56) is also used for the transfer of the clamping frame (45) to the feed device (51) and the workstation (53). The portal-like frame positioner (56), in turn, can grasp the tensioning frame (45) provided by the aforementioned conveyor (57) and deliver it to the feed device (51) in a feed movement directed transversely to the transfer line (54), which then feeds the clamping frame (45) the workstation (45) positioned. Possibly. the delivery device (51) can be saved, the frame positioner (56) delivering the clamping frame (45) directly to the workstation (53) and docking it to the station frame (52). Thanks to the shape of the portal, in this case the clamping frame (45) can be lifted beyond the machining devices (5, 6) located at the workstation (53).

in the aforementioned variant, the frame positioner (56) is arranged stationary in front of the workstation (53). Alternatively, the frame positioner (56) may be movable be arranged and also get the frame transport to one or more frame magazines (46) and there also pass the clamping frame (45). In this case, the frame positioner (55, 56) has a double function.

The movable or movable frame positioner (55, 56) has e.g. a common and as a bottom plate continuous foot part (10), which connects the positioning devices (3) and at the bottom has a chassis or other conveyor technology. Of the

Frame positioner (55, 56) may be e.g. along a conveyor line parallel to the transfer line (54) be arranged movable in a leash. Alternatively, a hanging guide on a stand or portal is possible.

In the variant of Figure 18, e.g. the two frame positioners (55, 56) alternately operate the workstation (53) and its associated magazine (46). While the frame change of a frame positioner (55,56) the no longer used tenter frame (45) of the

Removed workstation (53) and transported to its associated frame magazine (46), already the other frame positioner (56,55) with the new clamping frame (45) drive in front of the workstation (53) and pass the clamping frame (45).

Modifications of the embodiments shown are possible in various ways. This concerns, on the one hand, the kinematics and the structural design of the positioning devices (3) and their components. Furthermore, the purposes and the training of the processing station (1) and its components, in particular the handling device (58) for clamping frame (45) are variable. The features of the various embodiments may also be combined and interchanged arbitrarily. LIST OF REFERENCE NUMBERS

1 processing station, framing station

2 positioning device 3 positioning device

4 workpiece

5 processing device

6 manipulator, robot

7 tool 8 frame

9 pillar

10 foot part

11 arm

12 bearings, pivot bearings 13 bearings, sliding bearings

14 bearings, pivot bearings

15 output element

16 rotary flange

17 Connection 18 Movement axis I, axis of rotation

19 movement axis II, linear axis

20 axis of movement III, axis of rotation, output axis

21 Drive for axis I

22 Drive for axis II 23 Drive for axis III

24 shaft, hollow shaft

25 shaft, through shaft

26 transfer

27 bearing housing 28 guide

29 arm housing

30 driving element, pinion

31 driving element, rack

32 Locking device 33 Transmission, Timing belt

34 resource chain

35 Tool, gripper 36 control

37 component positioner

38 reversing positioner

39 component holder 40 angle bracket

41 grippers

42 drum recording

43 workers

44 Clamping device, clamping bar 45 Clamping device, clamping frame

46 Magazine

47 Magazine

48 body component, sidewall

49 conveyor 50 clamping frame

51 delivery device

52 station rack

53 job

54 Transfer line 55 Tool positioner, frame positioner

56 Tool positioner, frame positioner

57 conveyor

58 Handling device for tentering frame

Claims

PATENTAN'S PRIDE

1.) Positioning device with multiple axes

(18,19,20), characterized in that the positioning device (2) at least one positioning device (3) with a frame (8) with at least one movable, in particular rotatable arm (11) and at least one output element (15) and three or more axes of motion (18, 19, 20).

2.) Positioning device according to claim 1, characterized g e k e n e n e c i n e s that the positioning device (3) axes of rotation (18,20) and at least one linear axis (19).

3.) Positioning device according to claim 1 or 2, characterized g e k e n n e c i n e t e that the arm (11) is rotatably and displaceably mounted on the frame (8).

4.) Positioning device according to claim 1, 2 or 3, characterized g e k e n e n e c i n e s that the axis of rotation (18) of the arm (11) is aligned substantially horizontally.

5.) Positioning device according to one of the preceding

Claims, characterized in that the frame (8) has a combined rotary and sliding bearing (12,13) for the arm (11).

6.) Positioning device according to one of the preceding

Claims, characterized in that the rotary and sliding bearing (12,13) on an upright column (9) of the frame (8) is arranged.

7.) Positioning device according to one of the preceding claims, characterized in that e e n e c e s e s that the positioning device (3) has a controllable locking device for the arm (11).

8.) Positioning device according to one of the preceding claims, characterized in that e e n e c e s e s that the output element (15) as a rotary flange (16) is formed.

9.) Positioning device according to one of the preceding claims, characterized in that the output element (15) has at least one connection (17) for mounting one or more tools (35) and an operating medium supply.

10.) Positioning device according to one of the preceding claims, characterized in that e e n e c e s e s that the terminal (17) is designed as a removable coupling.

11.) Positioning device according to one of the preceding claims, characterized in that it e e n e c e s e s that the terminal (17) has an angle bracket (40).

12.) Positioning device according to one of the preceding

Claims, characterized in that the tool (35) has at least one controllable gripper or tensioner (41).

13.) Positioning device according to one of the preceding

Claims, characterized in that the axes of rotation (18,20) of the arm (11) and the output member (15) are aligned in parallel.

14.) Positioning device according to one of the preceding

Claims, characterized in that the output element (15) at one end of the arm (11) is arranged.

15.) Positioning device according to one of the preceding

Claims, characterized in that the drive (23) for the output element (15) is arranged at the other end of the arm and via a transmission (33) to the output element (15) is connected.

16) Positioning device according to one of claims 1 to 11, characterized in that e e n e c e s e s h e that at both ends of the arm (11) output elements (15) are arranged with drives (20).

17.) Positioning device according to one of the preceding

Claims, characterized in that the drives (21,22) for the rotary and

Moving movements of the arm (11) on the frame (8) is arranged.

18.) Positioning device according to one of claims 1 or 2, characterized in that at least one output element (15) slidably mounted on the arm (11) (13) and is driven (19,20).

19.) Positioning device according to one of the preceding claims, characterized in that the positioning device (2,3) has a control which is integrated in the positioning device (3) or externally in a controller (36) of an associated processing device (5), in particular a manipulator (6) is arranged.

20.) Positioning device according to one of the preceding claims, characterized in that the positioning device (3) comprises a frame (8) to the arm (11) and the driven element (15) laid resource chain (34).

21.) Positioning device according to one of the preceding claims, characterized in that it e e n e c e s e s that the positioning device (2,3) as a component positioner (37) or as

Tool positioner (55,56) is formed.

22.) Positioning device according to one of the preceding claims, characterized in that e e n e c e s e s that the positioning device (3) is set up individually.

23.) Positioning device according to one of the preceding claims, characterized in that it e e n e c e s e s that the positioning device (2) two or more pairwise opposed and synchronously movable

Positioning devices (3) with aligned output shafts (20).

24.) Positioning device according to one of the preceding claims, characterized in that e e n e c e s e s that the positioning devices (3) together at least one component holder (39), a clamping device (44,45) or a workpiece (4).

25.) Positioning device according to one of the preceding claims, characterized in that the positioning device (2) as a reversal positioner (38) is formed and two positioning devices (3) with two common, rotatably supported component receptacles (39).

26.) Positioning device according to one of the preceding claims, characterized in that e e n e c e s e s that the positioning device (2) as

Component Positioner (37) is formed and two positioning devices (3) each having a common, rotatably supported clamping device (44) for one or more body components (48).

27.) Positioning device according to one of the preceding claims, characterized in that the positioning device (2) is designed as a frame positioner (55,56) and at least two positioning devices (3), each with a tool (35) for common, rotatable holding and handling a Tensioning frame (45).

28.) Positioning device according to one of the preceding claims, characterized in that in a processing station (1) for

Body components (48), in particular a framing station, one or more frame positioners (55, 56) for tenter frames (45) are arranged on one or more frame magazines (46, 47) and on at least one workstation (53) on a transfer line (54).

29.) Positioning device according to one of the preceding claims, characterized in that the frame positioners (55,56) are components of a handling device (58) for the clamping frames (45) and to a conveyor (57) for the frame transport between the frame magazine (46, 47) and the workstation (53) are connected.

30.) Processing station, in particular Framingstation, for processing of body components (48), wherein the processing station (1) one or more frame magazines (46,47) for different clamping frames (45) and one or more at least one

Workstation (53) on a transfer line (54) arranged processing means (5) and a handling device (58) for the clamping frame (45), characterized in that the handling device (58) one or more frame positioners (55,56) according to claims 1 to 29.