WO2018100077A1

WO2018100077A1 - Transport device and transport method for workpiece carriers

Info

Publication number: WO2018100077A1
Application number: PCT/EP2017/081011
Authority: WO
Inventors: Wolfgang Fischer; Karl-Heinz Proksch
Original assignee: Kuka Systems Gmbh
Priority date: 2016-12-01
Filing date: 2017-11-30
Publication date: 2018-06-07
Also published as: DE202016106694U1

Abstract

The invention relates to a transport device and a transport method for a process means, wherein the transport device comprises: a transport means (13) that can be moved along a transport path; a guide device; a support; and a drive device (19) for the transport means (13). The guide device has a plurality of discrete guiding and supporting elements (27), which are arranged relatively stationary at a mutual distance (a) along the transport path (12), wherein the transport means (13) bridges the distance (a) and a plurality of guiding and supporting elements (27) locally guides the transport means (13) and supports the weight of the transport means.

Description

DESCRIPTION

TRANSPORT DEVICE AND TRANSPORT PROCESS FOR WORKPIECE CARRIER

The invention relates to a transport device and a transport method having the features in the preamble of the method and device main claim.

From practice it is known to arrange an industrial robot on an additional driving axle, the one

stationary and along the transport path continuous rail guide having a carriage movable thereon, on which the industrial robot is arranged. Such transport devices with slide guide are also available for transporting tenter frames to framing stations in a weld line of the body shop.

It is an object of the present invention to provide a

show improved transport technology.

The invention solves this problem with the features in the method and device main claim.

The claimed transport technique, i. the

Transport device and the transport method, have different advantages.

The transport can be performed locally at several discrete and relatively stationary guide and support elements and supported with its weight. The transport can be carried out self-supporting. It can be rigid at least in the vertical. At the respectively acted relatively stationary guide and support elements, the means of transport can be guided in places or selectively and supported, these

Migrate support points along the means of transport while driving. The relatively stationary and preferably stationary guide ^¬ and support elements are arranged along the transport path with a mutual distance (a). This distance (a) is bridged by the means of transport. When driving along the transport path, at least two,

preferably three or more, relatively stationary guide ^¬ and support elements carry the transport locally and support his weight. At the transport means, a guide member and a supporting support member may be arranged, which are each formed like a strip, the mentioned distance (a) bridge and at least two relatively stationary guide and support elements in a local

Active compound, preferably in a multilateral

positive engagement, stand. The leadership and

Support elements have a length which is equal to or greater than twice said distance (a). This allows an accurate and tip-safe leadership and

Supporting the transport while driving along the transport path.

The means of transport can be moved while driving manually or by a drive device. The

Drive device is preferably arranged relatively stationary and has drive elements on relative

stationary guide and support elements. The latter may be floor bound or suspended from a stand.

The transport can be moved along a curved, preferably circular arc, transport path. For this purpose, the guide device, the

Support and the transport path a corresponding

curved shape, in particular a circular arc

Have curvature. The relatively stationary guide and support elements can be in an open or closed Bow, in particular circular arc or circular ring, be arranged. The guide element and the support element on

Means of transport may also have a curved shape. The said curvatures can be designed to be similar and, in particular, concentric.

The curved transport path leads to a qualitative improvement and a reduction in the space required by the transport device and a thus equipped

Process station or a production plant. The

Transport device can form a magazine for several and possibly different process means, in particular tools and / or workpieces. In the area of the process station, in particular at a Framingstat ion, creates a

curved transport path space for the local stationary process facility and facilitates access to the

Process site from other sites.

Also favorable is said distance (a) between the relatively stationary guide and support elements, which may be formed as a free space and a crossing of the

Transport path allows. This allows an unobstructed passage and the supply and removal of workpieces,

Tools or the like. if the means of transport is currently at another point on the transport path.

On the other hand, a means of transport with a

Industrial robots various distributed along the transport path arranged process sites to there

Conducting a process, in particular a

Machining and / or a handling of workpieces, approach. The claimed transport technology is above all for the flexibilization of process stations and

Production equipment of advantage. On the one hand, it allows processes to be carried out on different types of workpieces and, on the other hand, it enables temporal overlapping of process and set-up times different process stations. The transport technology can be used in a variety of areas, eg in the

Bodyshell construction, logistics in the transport, distribution and possibly picking of goods.

The carrier may have one or more preferably adjustable receivers for one or more processing means. The adjustability can be given in one or more axes or directions, in particular transversely and / or along the transport path. The adjustment can be done manually or by motor, possibly also remotely controllable. The carrier can thereby be universally formed, the adaptation to the particular desired number, type and

Arrangement of the same or different process means and varying process requirements can take place on the recording. The as needed exchangeable upper

changeable mount forms an adapter and allows a high flexibility of the means of transport. The transport device is flexible and allows

Adjustments to different place and

Process requirements. It also allows conversions, e.g. a change of process means, in adaptation to other processes and workpieces.

In the subclaims are further advantageous

Embodiments of the invention indicated.

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

Figure 1: a section of a

Transport device with a

^{Means of} transport and discrete guide and support elements,

2 to 4: a transport device in parts,

5 shows an elevated transport device, FIGS. 6 to 8 show a variant of a transport device and its parts,

Figures 9 and 10: a transport with a transverse

movable recording and one

Setting device for a process agent

FIG. 11 shows a plan view of a first variant of a process station with a

transport means

FIGS. 12 and 13 show a second variant of a process station with a transport device in FIG

Top view and in a folded

Side view according to arrow (XIII) of Figure 12

FIG. 14 shows a plan view of another variant of a process station with a

Process device. The invention relates to a transport device (6) and a transport method for a processing means (7). The invention further relates to a process station (2) and a production plant (1) each having one or more

Transport facilities (6) and the local procedures.

The transport device (6) is provided for the transport of a processing means (7). It has a transport means (13) movable along a transport path (12) and a guide device (17), a support (18) and a drive device (19) for the transport means (13). The process means (7) is on the means of transport

(13) arranged and can along with this

Transport path (12) are moved. The means of transport

(13) can be on the transport path (12) in circulation or

be moved reversing. The drive device (19) may alternatively be omitted, wherein the transport means (13) is moved by hand.

At a transport path (12) can move a single transport (13) or more transport (13). In a multiple arrangement, the various transport means (13) can move together or in mutual coordination or independently. The transport device (6) may e.g. a common guide device (17) and possibly support

(18) for several, preferably independently movable

Have transport (13). The drive device

(19) for the transport or the means (13) is preferably arranged relatively stationary. It can apply separately independently movable transport means (13) separately and independently controllable.

The transport device (6) can be arranged at a process station (2). She can also do several

Connect process stations (2). Furthermore, a

multi-level arrangement of several transport facilities (6) one above the other possible. The transport means (13) can according to Figure 11 to 14 to one or more of the

Transport path (12) arranged process points (3,4) are moved. The process means (7) can be integrated into a process there. For this, the

Process station (2) a local processing device (5), e.g. a processing device, handling device or the like. , exhibit. The process means (7) can be designed differently. It can be single or multiple. The movable process means (7) can be combined with a local

Process device (5) interact and complement them. In one embodiment, a processing means (7) can be designed as a programmable industrial robot (8), in particular as a multi-axis articulated-arm robot or articulated-arm robot. The programmable industrial robot (8) can have several rotary and / or translatory

Robot axes in any number and combination

exhibit. He can carry and use a possibly replaceable robot tool.

In another variant, a processing means (7) may be formed as a workpiece (9), e.g. when

Body component. Furthermore, a processing means (7) may be implemented as a tool (10), e.g. as a clamping frame for clamping and optionally supplying workpieces (9) to a process station (2). A tool (10) can also be designed as any other functional part. It may be multiple and may be e.g. as a magazine for exchangeable robot tools of one or more

Industrial robot (8) be formed. At a

Multiple arrangement of processing means (7) on one

Transport means (13) can be the processing means (7)

be formed similar or dissimilar. Figure 1 illustrates a section of a

Transport device (6). The guide device (17) serves to guide the transport means (13) along the transport path (12). The guide device (17) has a plurality of discrete and along the transport path (12) with a mutual distance (a) relatively stationary

arranged guide and support elements (27). The discrete guiding and supporting elements are preferably arranged individually and in each case independently and preferably in a stationary manner. The guide and support elements (27) are relatively stationary relative to the movable transport means (13).

The movable transport (13) bridges the

Distance (a). It is self-supporting and preferably

rigid at least in the vertical. Several of the relatively stationary guide and support elements (27) locally carry the means of transport (13) and support its weight. When driving the transport means (13) along the transport path (12) each lead at least two of the existing in larger numbers leadership and

Support elements (27) the transport means (13) and support its weight. The transport (13) is kept floating and at a distance above the ground. The local guide and support connection with the said guide and support elements (27) is the

Transport means (13) at two or more spaced apart in the web direction of connection points with local boundary, in particular selectively, and guided

supported by weight. During his journey, the means of transport (13) always comes back with other relatively stationary guide and support elements (27) in management and support alarm ^¬ zVerbindung. The guide device (17) and the support (18) for the transport means (13) are preferably combined. The said guide and support elements (27) unite each the relatively stationary local leadership and support function. Alternatively, the functions may be performed separately and discretely provided along the transport path (12) discrete guide elements and support elements.

The transport (13), in particular the

Guide device (17), has a guide element (23) and a supporting support member (24) on the movable

Transport means (13). These elements (23, 24) can be present singly or multiply. They can be arranged separately or combined with each other.

The guide and support elements (23,24) are each formed like a strip and bridge the distance (a). They are at least two relatively stationary

Guide and support elements (27) in a local

Operatively connected. The guide element (23) and optionally the support element (24) and the guide and support elements (27) preferably act in a multi-sided positive connection

together. The transport (13) is thereby guided on all sides and can only in the direction of the transport path

(12) move. In addition, any reaction forces of the process means (7) are supported at the one or more process stations (3, 4).

The transport device (6) moves the means of transport

(13) along a curved transport path (12). The guide device (17) and the support (18) also have a curvature. The curvature is preferably circular arc-shaped. Alternatively, another shape, in particular with straight or otherwise curved

Sections and another, e.g. as in itself

movable link part formed, transport (13) possible. In the embodiments shown, the relatively stationary guide and support elements (27) in one

Arch, in particular circular arc, arranged. This can be an open or finite bow or a closed bow or ring. The guide element (23) and the

Support element (24) on the transport means (13) also have a curved, in particular circular arc, shape. The said arc arrangement and the element curvatures may be concentric.

The guide and support elements (23,24) extend along the transport means (13) and the transport path (12). The length of the guide element (23) and the

Supporting element (24) is each greater than twice the distance (a) of the relatively stationary guide and

Support elements (27). The guide element (23) and the support element (24) thereby come into contact with each other during travel and in the state of the transport means (13) with at least two relatively stationary guide and support elements (27).

The transport means (13) has a carrier (14) for the processing means (7). This can according to Figure 1 a

single carrier (14) or according to Figures 4 and 12 a

Carrier train (16), which consists of several mutually rigidly or movably coupled carriers (14). These are along the transport path (12) in a row

arranged and connected to each other via possibly releasable couplings. The carrier (14) may have a receptacle (21) for the processing means (7). The receptacle (21) and the processing means (7) can be present several times. The receptacle (21) can be detachably and changeably arranged on the carrier (14). On the support (14) and the guide element (23) and the support element (24) are arranged. The carrier (14) and the guide and support elements (23,24) can be different be formed and arranged. The carrier (14) can also be bent, in particular curved concentrically for a curved transport path (12). It can be designed, for example, as a bending-resistant arc segment (15). The

Flexural rigidity exists in the embodiments in all directions.

In the embodiment of Figures 1 and 9, the carrier (14) on a rigid frame (25). This preferred flat frame (25) is of two parallel edges and along the transport path (12) extending

Frame elements formed by further

Frame elements, e.g. in the form of a framework, across

are connected. The peripheral frame members may form the support member (24). They are designed as spars or rails, at least in the vertical and

are preferably formed rigid in the other directions. The frame (25) is self-supporting and can in the aforementioned manner to two or more

Supporting points of the said support and guide elements (27) are supported in the vertical. He can have the concentric circular arc shape shown.

The strip-like guide element (23) can be arranged at any point of the carrier (14) or frame (25). It is e.g. on a peripheral frame member and protrudes from this upright upright and / or down. Figures 1 and 9 show the variants. It can do that

be arranged on the inside or outside of the frame element. The strip-like guide element (23) is e.g. designed as a thin-walled sword or as a rail. The support member (24) may alternatively or additionally have a guiding function and cooperate with said guiding and supporting elements (27). In Figure 1, the outside of a peripheral frame member is as

Guiding surface formed and used. In the embodiment of Figure 1, the discrete and relatively stationary guide and support elements (27) are arranged floor bound. They have a base (30), which is attached to a substrate each independently and in any way. The base (30) has a slim shape and is aligned transversely or obliquely to the transport path (12). It can be used as elongated,

be strip-shaped and flat base plate formed. Figure 2 shows the guide and support elements (27) in a plan view.

The relatively stationary guide and support elements (27) also each have a roller guide with support and guide rollers (28,29). The roller guides may be the same or different. The support and guide rollers (28,29) act with the guide and support elements

(23,24) in a multi-sided form-fit together.

Alternatively or additionally, a sliding guide is possible. The guide element (23) is gripped by e.g. on both sides lateral guide rollers (29) in pairs. The support element (24) is supported and held from below and possibly from above by support rollers (28). It may also be guided laterally by guide rollers (29).

The drive device (19) acts with a

Guide element (23) and / or a support element (24) on the transport means (13) together. She has several

Drive elements (33), which are each arranged on a relatively stationary guide and support member (27). The drive elements (33) act locally there drivingly on the guide element (23) and / or support element (24). The drive element (33) can each of the

Affect training of the aforementioned role leadership. A drive element (33) can be arranged on all or only a few relatively stationary guide and support elements, for example on every second or third along the transport path (12). The drive elements (33) are distributed along the transport path (12) such that the

Means of transport (13) in all positions on the

Transport path (12) with at least one, preferably two, drive element (s) (33) is in drive connection.

The transport device (6) can have one in FIG. 1

schematically indicated control (11), which is connected to the drive device (19). The

Drive device (19) can be controlled automatically. It can be controlled in such a way that the

Drive elements (33) for the drive connection with the transport means (13) corresponding to

Transport means movement along the transport path (12) alternately activated and deactivated. The

Drive means (19) can be connected to the controller (11) and controlled by program according to the process requirements.

The drive device (19) can be designed in any suitable manner and act on the transport means (13) driving. This can be done with traction and / or

Form fit done. Preferably, the

Drive device (19) designed as a friction wheel drive.

It can act on the transporting means (13), in particular on the carrier (14), via the guide element (23). Alternatively or additionally, an attack on the support element (24) is possible.

The drive elements (33) each have drive means (34, 35). A driving drive means (34) can be designed, for example, as a controllable and optionally controllable electric motor. Another abortive drive (35) can be designed, for example, as a friction wheel. In another embodiment, gears and toothed racks can be used. Instead of an electric motor, any other drive motor or other driving drive means (34) can be used. The abortive drive means (35) may be part of the aforementioned roller guide.

In the illustrated embodiment of Figure 1, the roller guide two spaced transversely to the transport path, freely rotatable support rollers (28) on the base (30) on which rest the edge-side frame members. Furthermore, at least one lateral guide roller (29)

be present, which is rigidly or movably arranged on the base (30) and stored. A guide roller (29) may e.g. acted upon by a spring or other actuator and against the carrier (14), e.g. against an outer side surface of a peripheral frame member to be pressed. The counter-hold may be via another guide roller (29) located elsewhere in the carrier (14), e.g. on the guide element (23) attacks.

Furthermore, it is possible that two on both sides at

Guide element (23) engaging friction wheels (35) a

Take over the guiding function and replace one or more freely rotatable lateral guide rollers (29).

In the transport device (6) according to FIG. 1, all relatively stationary guide and support elements (27) are arranged and fastened independently and independently of one another. The between adjacent leadership and

Support elements (27) existing distance (a) can as

Free space (32) to be formed, which is a crossing of the

Transport path (12) allowed. If no

Transport means (13) located at this point, the guide means (17) and the support (18) are in

Area of the free space (32) interrupted. The free space (32) offers an unobstructed passageway. In Figures 3 and 4 variants of the transport device (6) are shown. FIG. 3 corresponds to the arrangement of FIG

Figure 1, wherein the guide means (17) only discrete and along the transport path (12) not interconnected relatively stationary guide and support elements (27).

In Figure 4 is a variant of a longer and than

Carrier train (16) of two carriers (14) and arc segments (15) shown in Figure 1 and 2 formed transport means (13). The carrier train (16) is e.g. each with at least four relatively stationary leadership and

Support elements (27) in engagement.

In one embodiment, the transport device (6) can have a floor-bound guide device (17) and support (18). The process means (7), e.g. one

Industrial robot (8), is standing on the means of transport (13) or its carrier (14). The relatively stationary guide and support elements (27) are placed and mounted on the ground or other ground, e.g. by means of its base (30). They are stationary and rigidly arranged. You can alternatively be on a moving surface. You can do that

transient and relative to the transport (13) be relatively stationary.

Figure 5 shows a variant in which the schematically indicated relatively stationary guide and

Supporting elements (27) on a stand (31) hanging

are arranged. They float at a distance above the ground. The process means (7), in this case an industrial robot (8), is likewise arranged suspended on the transport means (13) or its carrier (14). The management device

(17) and the support (18) are designed as suspension guide and Hängeabstüt tion. In this variant, support rollers (28) can be located below and above the support element (24). The uprights (31) can be free-standing and arranged independently of one another. You can alternatively move towards each other

Be connected transport path (12). The drive elements (33) are also arranged on the stator (31) and the upper yoke, in which the other parts of the

Transport device (6) are suspended.

In another, not shown embodiment, the relatively stationary guide and support elements (27) and the transport means (13) standing on a

Stand (31) can be arranged. The stands (31) in the various variants each allow a multi-level arrangement of a plurality of transport devices (6)

on top of each other.

FIGS. 6 to 8 show a variant of the carrier (14). He is here formed as a single spar (26). The spar

(26) at the same time forms the supporting support element (24). The guide element (23) in this case is e.g. hanging on the spar (26) arranged and protrudes down. The spar (26) may have a rectangular cross-sectional shape. He may have the aforementioned curved, in particular circular arc-like shape.

The above-mentioned receptacle (21) for the process means (7) can be arranged rigidly or movably on the transport means (13), in particular on its carrier (14). It can also be designed and arranged changeable and, if necessary, allow a replacement or a change in position of the process means (7). Furthermore, a

Adjustability along the carrier (14) be given in the web direction. This can be supported for example by a grid arrangement of mounting locations. The means of transport (13) receives thereby a high functional and constructive Flexibility. It can be different

Process requirements are adjusted.

In Figures 6 and 7, the receptacle (21) is e.g. formed like a skeleton and rigidly on the support (14), here the individual spar (26) arranged. The attachment may be central, wherein the receptacle (21) projects beyond the spar (26) on both sides. The roller guide with the support and guide rollers (28,29) is located below the

Recording (21) and is covered by this on both sides. The drive elements (33) are also located below the receptacle (21).

The receptacle (21) is adapted to the respective process means (7). FIGS. 6 and 7 show an embodiment which is particularly suitable for a process means (7) in the form of a workpiece (9) or a tool (10). The receptacle (21) may be rigidly and permanently or detachably connected to the carrier (14), so that it can be dismantled and replaced as needed.

Figure 10 shows a variant of the receptacle (21), e.g. in a carrier (14) in the form of a frame (25)

can be used. The receptacle (21) is movably arranged on the carrier (14) in this embodiment. For this purpose, a carrier (14) with a frame (25) according to FIG. 9 is particularly suitable.

The carrier (14) may have a single-axis or multi-axis adjusting device (22) for the movable receptacle (21). The actuator (22) may e.g. when

Carriage, turntable or rocker or the like. be educated. It can have one or more axes of motion or

Have adjusting axes. The recording (21) or the

Actuator (22) may be in one or more

Operating positions are locked as needed. You can manually between the different operating positions be adjusted. The adjusting device (22) may also have a preferably controllable drive.

The adjusting device (22) has in particular a transverse to the transport path (12) directed movement axis. Sic Die

Receiving (21) can thereby be delivered transversely to the transport path (12) at a process station (3,4). In the illustrated curved transport path (12), the

Movement axis be aligned radially. A

Oblique alignment is also possible.

The transport (13) can in the or

Process points (3,4) are positioned in a suitable manner and locked if necessary. For this, the

Transport device (6) have a schematically indicated in Figure 1 positioning (20). This can e.g. be designed as stakeout.

A process means (7) on the transport means (13) can be energy and / or other resources, e.g.

Fluids are fed in an appropriate manner. This is e.g. by a media coupling (not shown) at the process site (s) (3,4) that is manually or automatically actuated. On the other hand, energy and other resources can be transported on the means of transport (13).

entrained or otherwise supplied from the outside, e.g. over a tow cable.

Further, the transport device (6) a sensor (not shown) for monitoring the various

Have components and functions. The sensor can e.g. Displacement or angle sensors, force sensors,

Position sensors or the like. The sensor is connected to the controller (11). By way of example, the drive device (19) and the setting device (22) can be controlled. The transport device and the transport method allow a variety of different

Possible applications and training of process stations (2) or production plants (1). In FIGS. 11 to 14, a few exemplary embodiments are shown for this purpose.

FIG. 11 shows a process station (2) in which workpieces can be prepared and processed on a plurality of shelves (39). The transport device (6) has a curved transport path (12), wherein the relative

stationary guide and support elements (27) in one

Arcs of finite length are arranged. On the transport means (13) a plurality of processing means (7) are arranged side by side, which here are e.g. when

Industrial robot (8) are formed.

The shelves (39) are each in the work area of along the transport path (12) movable

Industrial robots (8). The shelves (39) are in one

Circular arc outside and arranged concentrically around the transport path (12) around. On the shelves (39) are

Process stations (3,4) formed, in which the

Industrial robots (8) can each perform a process on the one or more workpieces (not shown). Such a process may e.g. a joining process, assembling and assembly process, cutting or applying

Machining process or the like. be. The or the

Industrial robots (8) can also perform several different processes and, if necessary, theirs

Change robot tool. In a modification of the embodiment shown, a process means (7) for this purpose can be designed as a tool (10) or tool magazine for robot tools. The components are provided on the shelves (39) manually by a worker (43). This can be in a curved corridor between the shelves (39) and a Move the outside ring of supplies (42) for components or workpieces. He takes there one or more components or workpieces and positions them on the respective adjacent tray (39) in a predetermined and suitable for an automatic work sprozess

Position .

By the transport device (6) and the movable transport means (13), these manual set-up times of the worker (43) at a process station (4) and the

Process times at another process station (3)

be overlapped, whereby the power capacity of the transport device (6), the industrial robot (8) and the entire process station (2) are optimally utilized. In a modification of the embodiment shown, instead of the worker (43), an automatic feeding device for the feeding and process-oriented positioning of one or more components or workpieces on the shelves (39) may be present. The transport device (6) is

floor-bound, where they can alternatively also be raised and arranged in particular hanging.

FIG. 12 and the associated side view of FIG. 13 show another process station (2) which, together with other process stations not shown, forms part of a process station

Manufacturing plant (1), e.g. a welding system for the body shop, can be. Here are several

Process stations (2) along a transfer line

be arranged one behind the other. On the transfer line, workpieces (44), e.g. Floor groups or loosely biased vehicle bodies, by means of a

Conveyor (45) transported from station to station.

The process station (2) shown in fragmentary form is e.g. designed as Framingstat ion and has a

Process device (5) with a plurality of process devices (36) for carrying out a machining process, eg a shaping booklet weld or a festfestigenden welding on. The process devices (36) are as processing robot (37), in particular

Welding robot, and designed as a handling robot (38). You can either side of the transfer line or the

Conveying means (45) to be arranged at the process station (3). A part of the process devices (36) may e.g.

be arranged on a leash and, if necessary, to the

Work (3) and the workpiece (44) are delivered. One or more other process devices (36) may be e.g. be arranged hanging on a portal. The curved transport path (12) improves and facilitates the axial access along the transfer line to the processing station (3).

The process station (2) has two transport devices (6), which are arranged on both sides of the process station (3) and transport the processing means (7) in the form of clamping frames (10) to the process station (3). The

Clamping frames (10) may be empty or with workpieces (9), e.g. Side walls of a vehicle body, be loaded. The means of transport (13) can be a carrier train (16)

have, in each case one or more processing means (7) in the form of clamping frames (10) are arranged on each support (14).

The clamping frames (10) are designed differently and adapted to different workpiece or body types. The two transport devices (6) each form a movable clamping frame magazine, wherein by the transport means (13) of the respectively required and type-specific left and right clamping frame (10) for

Process station (3) is transported. It can there by means of a movable receptacle (21) and an adjusting device (22) transversely to the transport path (12) to the process station (3) and the workpiece located there (44) are delivered. The left and right transport path (12) is here also circular arc-shaped. It may have a closed ring shape, wherein the inner region of the ring is accessible through the free spaces (32) from the outside. Here, for example, additional workpieces or components can be supplied and made available at a storage located in the inner ring area. This also makes it possible to equip the clamping frames (10) with the abovementioned workpieces (9) and their joint delivery to the process station (3).

As Figure 13 illustrates, the transport device (6) is elevated in this variant, wherein the

Guiding device (17) and the support (18) are arranged hanging on a stand (31) or a portal. The clamping frames (10) and workpieces (9) are floating and fed at a distance above the ground. This allows low-build industrial robots (37,38) on the

Workstation (3)) and be run over in the tool and workpiece delivery.

FIG. 14 shows another variant for the use of the transport device (6) and a process station (2) equipped therewith, together with the process device (5) in FIG

Logistics. Here a picking can take place. Various workpieces or goods (9) are supplied by feed devices (40), which are arranged in an outer circular arc concentric with the likewise curved transport path (12) of the transport device (6). On the means of transport (13) a processing means (7) in the form of an industrial robot (8) is arranged. The process stations (3,4) are at the delivery points of

Feeding devices (40) are formed and can by

Industrial robot (8) are approached and reached. The industrial robot (8) is a handling robot, each one or more workpieces (9) record and deliver to a discharge device (41) and in a

predetermined order or mutual Can picking assignment. The discharge device (41) is located on the inside of the open circular arc of the transport path (12). In a variant, not shown, a

Process station (2) have an open or closed arc shape. In this case, a plurality of process stations (2) can be arranged one above the other and preferably concentrically. Such a process station (2) may e.g. a bow or annular bearing, which is arranged to be stationary or in the circumferential direction movable. Such a bearing may have a bow-shaped or annular track with movable thereon bearings. The e.g.

also curved transport device (6) can be arranged above, below or laterally next to it. The processing means (7) designed as industrial robots (8) can perform processing and / or handling tasks

Perform workpieces that refer to the said

Bearings are located.

Modifications of the shown and described

Embodiments are possible in various ways. In particular, the characteristics of the various

Embodiments and said modifications in any suitable manner combined with each other and optionally also reversed.

REFERENCE SIGN LIST

1 production plant

2 process station, Framingstat ion, distribution station

3 process station

4 process station

5 process device, processing device

6 transport facility

7 process agents

8 industrial robots, movable

9 workpiece, body part

10 Tool, clamping frame, functional part

11 control

12 transport path

13 means of transport

14 carriers movable

15 arc segment

16 carrier train

17 management device

18 support

19 drive device

20 positioning device, stake out

21 Recording for process agents

22 adjusting device, slide, rocker

23 guide element, movable

24 support element

25 frame of carrier

26 spar of carrier

27 Guide and support element, stationary

28 roller, support roller

29 role, leadership role

30 basis

31 stands

32 free space

33 drive element

34 drive means, motor

35 drive means, friction wheel 36 process device

37 industrial robots, machining robots

38 industrial robots, handling robots

39 storage

40 feeder

41 discharge device

42 provision

43 workers

44 workpiece

45 conveyor a distance

Claims

1.) Transport device for a process agent (7),

wherein the transport device (6) has a transport means (13) which can be moved along a transport path (12) and a guide device (17), a support

(18) and a drive device (19) for the

Having means of transport (13), characterized

There is no such thing as the

Guide means (17) a plurality of discrete, along the transport path (12) with a mutual

Distance (a) arranged relatively stationary guide ^¬ and support elements (27), wherein the

Transport means (13) bridges the distance (a) and in each case a plurality of guide and support elements

(27) guide the transport means (13) locally and support its weight.

2.) Transport device according to claim 1, characterized

There is no way that along the

Transport track (12) in each case at least two guide ^¬ and support elements (27) carry the transport means (13) locally and support its weight.

3.) Transport device according to claim 1 or 2, characterized g e k e n e c i n e t that the

Drive device (19) for the transport means (13) is arranged relatively stationary.

4.) Transport device according to claim 1, 2 or 3,

By doing so, that the

Guide device (17) has a guide element (23) and a supporting support element (24) on the movable transport means (13), respectively

are formed like a bar, the distance (a) bridge and with at least two relatively

fixed guide and support elements (27) in a local operative connection stand.

Transport device according to one of the preceding claims, characterized in that the process means (7) as process device (8),

in particular industrial robots, and / or as

Workpiece (9) and / or as a tool (10),

in particular clamping frame, is formed.

Transport device according to one of the preceding claims, characterized in that the distance (a) between adjacent relatively stationary guide and support elements (27) is designed as a free space (32) which allows a crossing of the transport path (12).

Transport device according to one of the preceding claims, characterized in that the relatively stationary guide and support elements (27) are arranged individually and stationary.

Transport device according to one of the preceding claims, characterized in that the transporting means (13) comprises a carrier (14) for the processing means (7), on which the

Guide element (23) and the support element (24) are arranged.

Transport device according to one of the preceding claims, characterized in that the transport means (13) comprises a single carrier (14) or a carrier train (16) with a plurality of coupled carriers (14).

Transport device according to one of the preceding claims, characterized in that the guide element (23) and the support element (24) are arranged separately or combined.

11.) Transport device according to one of the preceding

Claims, characterized in that the length of the guide element (23) and the

Support member (24) each greater than twice the distance (a) of the relatively stationary guide and support elements (27) is 12.) Transport device according to one of the preceding

Claims, characterized in that the transport device (6) moves the transport means (13) along a curved transport path (12).

13.) Transport device according to one of the preceding

Claims, characterized in that the guide device (17), the support (18) and the transport track (12) have a curvature,

in particular a circular arc-shaped curvature.

14.) Transport device according to one of the preceding

Claims, characterized in that the guide element (23) and the support element (24) on the transport means (13) has a curved, in particular arcuate, shape.

15.) Transport device according to one of the preceding claims, characterized in that the relatively stationary guide and support elements (27) in a sheet, in particular arc, are arranged. 16.) Transport device according to one of the preceding claims, characterized in that the relatively stationary guide and support elements (27) in an open arch or in a

closed ring are arranged. Transport device according to one of the preceding

Claims, characterized in that the guide element (23) and the support element (24) on the transport means (13) and the arc arrangement of the relatively stationary guide and support elements (27) are concentrically curved and arranged. Transport device according to one of the preceding

Claims, characterized in that the guide elements (23) and the guide and support elements (27) cooperate in a multi-sided positive locking. Transport device according to one of the preceding

Claims, characterized in that the drive device (19) with a

Guide element (23) and / or a support element

(24) cooperates on the transport means (13). Transport device according to one of the preceding

Claims, characterized in that the guide element (23) on the transport means (13) is designed as upright rails or sword. Transport device according to one of the preceding

Claims, characterized in that the relatively stationary guide and support elements

(27) each have a roller guide with support and

Guide rollers (28,29) have. Transport device according to one of the preceding claims, characterized in that the drive device (19) has a plurality of

Drive elements (33), each at a relatively stationary guide and support element (27) are arranged.

23) Transport device according to one of the preceding claims, characterized in that e e n e c e s e s that the drive elements (33) so along the

Transport path (12) are distributed that the

Transport means (13) with at least one

Drive element (33) is in drive connection.

24.) Transport device according to one of the preceding

Claims, characterized in that the drive device (19) is controlled such that the drive elements (33) for the

Drive connection according to the

Transport means movement can be activated and deactivated.

25.) Transport device according to one of the preceding claims, characterized in that it e e n e c e s e s that the drive device (19) is designed as a friction wheel drive.

26.) Transport device according to one of the preceding claims, characterized in that the relatively stationary guide and support elements (27) are arranged on a foundation floor or floating on a stand (31). 27.) Transport device according to one of the preceding

Claims, characterized in that a part of the relatively stationary leadership and

Supporting elements (27) are interconnected. 28.) Transport device according to one of the preceding claims, characterized in that the carrier (14) as a rigid arc segment (15) is trained.

29.) Transport device according to one of the preceding

Claims, characterized in that the carrier (14), in particular the arcuate segment (15), as a frame (25) or as a spar (26) is formed.

30.) Transport device according to one of the preceding

Claims, characterized in that the transport device (6) has a

Positioning device (20), in particular a

Stakeout, for the positioning of a

Transport means (13) at a process station (3,4).

31.) Transport device according to one of the preceding

Claims, characterized in that the support (14) is a rigid or movable,

preferably also exchangeable receptacle (21) for a process means (7).

32.) Transport device according to one of the preceding

Claims, characterized in that the carrier (14) a uniaxial or multi-axis adjusting device (22), in particular a carriage, a turntable or a rocker, for a

movable receptacle (21) of a process means (7). 33.) Transport device according to one of the preceding

Claims, characterized in that the adjusting device (22) has a transversely, in particular radially, to the curvature of the transport path (12).

directed movement axis has.

34.) Transport device according to one of the preceding

Claims, characterized in that the adjusting device (22) has a controllable drive.

35.) Transport device according to one of the preceding

Claims, characterized in that the transport device (6) has a common

Guide device (17) for a plurality, preferably independently movable transport (13).

36.) Transport device according to one of the preceding

Claims, characterized in that there are several, especially two, transport facilities

(6) are arranged one above the other at a distance.

37.) process station with a process device (5), in particular a processing device, and with a transport device (6) for a process agent (7), characterized in that the

Transport device (6) according to at least one of claims 1 to 36 is formed. 38.) Process station according to claim 37, characterized

e, that the process station (2) as a joining station, in particular Framingstat ion, for the body shell or as a distribution station for goods or as a magazine is formed.

39.) Process station according to claim 37 or 38, characterized

The process station (2) has an open or closed arc shape

having .

40.) Process station according to claim 37, 38 or 39, characterized in that there are more

Process stations (2) one above the other, preferably concentric, are arranged.

41.) Transport method for a processing means (7) by means of a transport device (6), wherein the

Process means (7) of a transport means (13) along a transport path (12) is moved and wherein the transport means (13) is guided, supported and driven, characterized

There is no such thing as that

Transport means (13) along the transport path (12) at a plurality of discrete and along the

Transport path (12) with a mutual distance

(A) guide and support elements (27) arranged in a relatively stationary manner are guided locally and supported by its weight, the transport means (13) bridging the distance (a).

42.) Method according to claim 41, characterized

There is no such thing as that

Transport means (13) at the respectively acted relatively stationary guide and support elements (27) in places, in particular selectively guided and supported, said support points on

Travel along the transport while driving.

43.) Process according to claim 41 or 42, characterized

There is no mention of the fact that when driving the

Transport means (13) along the transport path (12) in each case at least two of the larger number

existing guide and support elements (27) guide the transport means (13) locally and support its weight.

44.) A method according to claim 41, 42 or 43, characterized in that the

Transport means (13) along a curved, preferably circular arc, transport path (12) is moved.

45.) Method according to one of claims 41 to 44,

characterized in that the transport means (13) with a processing means (7) designed as industrial process (8) distributed distributed along the transport path (12) arranged process stations for local execution of a process, in particular a processing and / or handling of workpieces anfährt.

46.) Method according to one of claims 41 to 45,

This means that process and set-up times at different process locations are overlapped in terms of time.

47.) Method according to one of claims 41 to 46,

Thereby, a transport path (12) is replaced by a single one

Transport means (13) or several transport means (13) move, wherein in a multiple arrangement, the various transport means (13) move together, in particular in mutual coordination, or move independently. 48.) Method according to one of claims 41 to 47,

characterized in that by the formed as a free space (32) distance (a) between the relatively stationary guide and support elements (27) workpieces, tools or the like. to and

be removed when the means of transport (13) is currently at another point of the transport path (12).