WO2019068712A1

WO2019068712A1 - Device and method for handling and moving components

Info

Publication number: WO2019068712A1
Application number: PCT/EP2018/076795
Authority: WO
Inventors: Gerhard Alber
Original assignee: Wisco Lasertechnik Gmbh
Priority date: 2017-10-02
Filing date: 2018-10-02
Publication date: 2019-04-11
Also published as: DE102017122885A1

Abstract

In a device (1) for handling and moving preferably planar components, in particular circuit boards, it is proposed that the device (1) comprise at least one holding device (8) for at least temporarily holding at least one gripper (5, 5a-n), wherein the holding device (8) is formed spatially separately from the gripper arrangement (2), wherein the gripper (5, 5a-n) is movable relative to the at least one carrier (3, 3a, 3b, 3c, 28) with the braking and/or locking means (6, 6a-c) released and in a state held in the holding device (8).

Description

"Device and method for handling and moving components"

The invention relates to a device for handling and moving components according to the preamble of claim 1 and a method for handling and moving components according to the preamble of claim 14.

Devices and methods for handling and moving components are already known from the prior art. Thus, already known from DE 10 2015 117 315 AI a so-called suction frame for the transport of flat

Components and a method for adjusting a

corresponding suction frame. The disadvantage here

in particular, that individual vacuum units, if they are not needed, must be dismantled and re-assembled as needed. Operating the sucker frame and a device with corresponding

Suction pad frame can not always be done efficiently with regard to set-up times.

The object of the invention is to provide a device for handling and moving components which is particularly efficient with regard to set-up times and which is particularly flexible in terms of its use and in particular with respect to

Setup time minimization is very efficient operable. To solve the problem, an apparatus for handling and moving preferably planar components, in particular of boards is proposed, wherein the device is a

Gripper assembly comprises, wherein the gripper assembly comprises at least one movable carrier, preferably longitudinal beams, wherein on the at least one carrier a plurality of grippers is arranged movable relative to the carrier, wherein the grippers at least one respective braking and / or locking means with the at least one Carriers are connected.

According to the invention it is provided that the device

at least one holding device for at least temporarily holding at least one gripper, wherein the

Holding device is formed spatially separated from the gripper assembly, wherein the gripper with dissolved brake and / or locking means and in a held state in the holding device relative to the at least one carrier is relatively movable.

Such a device can be adapted to both component size, number of components and component geometry and is therefore particularly flexible operable. Such an adaptation can be carried out in a particularly simple manner by fixing the grippers and moving or positioning the carriers or the gripper arrangement, comprising carriers, relative to the gripper or to the grippers.

A held state of a gripper can be understood to mean that the gripper is not moved, but rather a relative movement of the carrier and gripper takes place by direct movement of the carrier. In this connection, the invention can be understood as meaning that grippers are passive with respect to their movement and that carriers are active with respect to their movement. W

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The decisive factor is that contrary to usual

Movements not grippers are moved while holding the carrier, but that grippers are held briefly and carriers are moved.

For the purposes of the invention, under the name movable further also displaceable or repositionable or

pivotable and combinations thereof are understood.

Another advantage of the invention is the fact that by automatic or automated positioning of the gripper assembly errors in manual assembly of the

Gripper arrangement with grippers or in automated

Adjustment of grippers on straps, can be avoided.

In an advantageous development of the invention it can be provided that the grippers each have at least one assembly for movement along a movement axis, wherein the movement axis as a longitudinal axis along a support,

preferably longitudinal member, or is formed as a rotation axis about an attachment point on the carrier.

Under an assembly can, for the purposes of the invention

For example, a linear guide, slider, or rotation axis, etc. are construed. It can be provided that an assembly comprises a braking and / or locking means. It may also be possible that a brake and / or locking means may be formed as an assembly.

The formation of corresponding axes of motion or

Assemblies may allow grippers to be moved along these axes by moving the respective carriers on which these grippers are located, with linear ones Movements or rotational movements can be provided. Thus, a device can be provided which is particularly flexible in terms of their usability for handling and movement of components and in particular also any setup can enable time reductions.

In order to further increase the flexibility with simultaneous set-up time reduction of the device, can in another

advantageous development of the invention be provided that the grippers each have at least one further movement axis, which is designed as an eccentric axis about a boom on a rotation axis.

In order to be able to provide a device which is further improved in terms of its flexibility while maintaining reduced set-up times, an advantageous development of the invention can provide that at least one further carrier, preferably cross member, is present, wherein the at least one further carrier at least one assembly for movement at least one carrier along a transverse axis

trained movement axis, which is substantially perpendicular to a longitudinal direction of the at least one

Carrier, preferably longitudinal beams, is arranged. Thus not only individual grippers can be moved or positioned, but also corresponding carriers on which

For example, a plurality of grippers can be arranged.

In order to be able to operate the device particularly simply and effectively, the invention can provide in a further embodiment that at least one robot, in particular

Multi-axis robot, is present, which is connected to the at least one carrier or at least one other carrier, wherein the at least one further carrier substantially arranged at right angles to the at least one carrier, preferably movable. Another advantage in the

Use of a robot is also the fact that

Requirements for handling and movement

existing components, e.g. Part size, component geometry, etc. can be changed very quickly, so that the device can be operated efficiently accordingly.

Further cost savings may u.U. be attributed to the fact that a robot can be provided anyway, which is now not used exclusively for movement of the gripper assembly.

Thus, it can be provided within the scope of the invention that the device has at least one robot, in particular one

Multi-axis robot comprises, by means of which at least the

Gripper assembly is movable. It is advantageous here

In particular, errors in manual assembly can be avoided by robot-enabled automatic positioning of the grippers on the carriers or on the gripper assembly. A device according to the invention, which comprises a robot, can be adapted to the component size, number of components and component geometry and is therefore

particularly flexible operation.

Such an adaptation can be carried out in a particularly simple manner by fixing the grippers and moving or positioning the carriers or the gripper arrangement, comprising carriers, relative to the gripper or to the grippers. If anyway a robot is formed, a

be provided according to inexpensive device.

In a further embodiment, the invention can provide that the at least one holding unit is arranged in a stationary manner. W

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This can e.g. reduced maintenance costs due

allow reduced mobility of the holding device. In order to provide a holding unit, which has an increased flexibility, a further advantageous

Embodiment of the invention provide that the holding unit for frictionally holding a gripper in the

Substantially plane holding surface and / or for the positive holding of a gripper at least one preferably

height-adjustable holding element, in particular a two- or three-armed holding forceps comprises. Such a linearly movable holding element may e.g. also different

Gripper designs, e.g. Gripper lengths, etc. take into account, thereby also an overall more flexible device for

Handling and moving components can be provided.

Instead of an exclusive linear mobility of the retaining element, the invention in a further

Design provide that the holding element is designed to be movable in at least two spatial directions, preferably in three spatial directions. These others

Movement possibilities may allow a more flexible holding element or a more flexible holding device

provide.

In an advantageous embodiment, the invention may further provide that at least one preferably plate-shaped connecting means between gripper and brake and / or locking means and / or between the at least one carrier and at least one further carrier is arranged. Such a connection means is an easy way to fix grippers stably on carriers. Nevertheless, any maintenance or repair work, for example Grippers, with manageable assembly or disassembly effort to be performed.

A preferred embodiment of the invention may provide that at least one gripper as a linearly movable gripper with at least one attachment point and / or as a rotatably movable gripper with an attachment point and

is formed at least one further attachment point. Such embodiments enable the efficient operation of a corresponding device, i. highest possible

Flexibility in terms of components used

correspondingly optimized, i. shortened set-up times.

In a further advantageous embodiment, the

Provide invention that the gripper are designed as a vacuum-operated suction pads and / or as a magnetic gripper. This represents simple possibilities, even components of larger dimensions or higher weight safely and reliably

handle, for example, lift, and move accordingly.

In order to be able to provide grippers with respect to their

Usability in a handling or moving components are particularly flexible, a particularly advantageous embodiment of the invention can provide that the gripper are designed as Scara gripper. Unlike linear-acting grippers, such scara grippers can also be used as

Grippers with double joint function can be understood. In Scara- grippers beyond a drive can be dispensed with, since the gripper according to the invention by a

Relative movement of the carrier are moved to the holding unit, wherein the arms of the scara gripper are individually or jointly adjustable, depending on which axis of rotation is determined by a locking means. Such drive-free grippers, especially but not exclusively Scara gripper, can also be understood as a passive gripper. Also linear grippers can be considered as passive grippers accordingly.

To secure as possible and stable attachment of gripper or braking and / or locking means to the carrier

To be able to provide, the invention can provide that the at least one carrier designed as a guide rail

Includes guide means and / or that the at least one further carrier comprises guide means formed as a guide rail.

For the purposes of the invention, braking and / or locking means may be formed in one piece or in several parts. It is also possible within the scope of the invention that brake and / or

FestStellmittel electronically and / or pneumatically operated. Such brake and / or locking means have proven themselves in practice because of high reliability.

In an advantageous embodiment, the invention can provide that grippers are movably arranged on at least one carrier in a longitudinal direction and / or that at least one further carrier is provided, to which further carrier the at least one carrier is arranged such that it is in a direction to the longitudinal direction Essentially perpendicular

Transverse direction is movable. Thus, a distance between adjacent supports can be increased and / or reduced, which results in a handling and movement of components

particularly flexible device can be provided.

The invention further relates to a method for handling and moving components by means of a gripper assembly, comprising grippers movably arranged on carriers, wherein the A method is characterized by the following method steps: a) Positioning the gripper assembly relative to a

Holding unit for producing a holding position and hold the gripper by means of holding unit; b) releasing a brake and / or locking means connected to this gripper at an attachment point and moving the carrier on which this gripper is arranged, from the

Holding position to a travel position, said gripper remains stationary during the movement of the carrier;

The method thus allows components

different size or shape, i. for example

Design can be handled and moved with little setup time requirement.

In a further development of the invention, it can be provided that a following to the process step b)

Process step c) Release the holding of the gripper. he follows. Thus, if necessary, further grippers can subsequently be connected according to the number of components or component geometry

be positioned accordingly. This can result in increased flexibility in the handling and movement of components, from which further appropriate

Set-up time shortening can result.

In order to obtain a high degree of automation and thus, if necessary, to achieve further set-up time savings, can in a development of the method according to the invention be provided that the positioning of the gripper assembly relative to the holding unit and / or the movement of the carrier takes place with a robot.

The advantage is that robots already exist ...

To relative movements between gripper assembly and

To be able to limit holding unit and in order to be able to better control, if necessary, processes or interaction of these components, a development of the invention

Provide method that the holding unit is arranged stationary and that the at least one carrier relative to the

Holding unit in a longitudinal direction and / or in a

Transverse direction is moved.

A development of the method according to the invention can provide that the gripper with dissolved brake and / or

Locking means is held stationary when held in the holding unit state that increases a distance between adjacent grippers and / or is reduced. The method thus allows the handling and movement of components to be independent of design, i. Size, shape, etc. of the components are always efficient, i. especially with reduced set-up time requirement, can be done. Thus, the process is in terms of handling and movement of components

different design particularly flexible.

In a further embodiment of the invention

Method may be provided that the gripper is held stationary in the state held in the holding unit, with closed brake and / or locking means on the gripper and open brake and / or locking means on the at least one carrier that increases a distance between adjacent carrier and / or reduced becomes. The procedure allows Thus, that the handling and movement of components, regardless of the design, ie size, shape, etc. of the components always efficiently, ie in particular with reduced set-up time can be done. Thus, the process is in terms of handling and movement of components

different design particularly flexible.

For the purposes of the invention, components are in particular flat components, preferably circuit boards, to be understood. For the purposes of the invention, the term component can also be construed as a sheet metal blank, sheet metal plate and in particular as a Taylored blank or formulated as such.

Fixing points can be understood in the context of the invention as clamping positions or positions at which a holding unit or a holding element for holding the

appropriate gripper can be set or positioned.

The invention will be explained in more detail with reference to drawings. Hereby shows:

Fig. 1: a schematic representation of an inventive

Device;

FIG. 2 shows an enlarged detail of the device shown in FIG. 1; FIG.

Fig. 3 to Fig. 7: further representations or positions according to the one shown in Fig. 1

device according to the invention; 8 shows a schematic representation of a section of a further embodiment of the invention

Device;

9a to 9c: greatly simplified different schematic plan views of a respective section of the device according to the invention.

For all Figs. 1 to 9, that for the operation of the

Device 1 required supply lines, such as pneumatic lines, etc. are not shown in detail for reasons of simplified illustration.

1 shows a device 1 for handling and moving components (not shown). The device 1 is shown here in an initial position 10. This starting position 10 can on the one hand as a rest position

be understood. On the other hand, the home position 10 can be considered as a position in which components can be manipulated and moved, but due to

constant components, e.g. in terms of number,

Dimensions, etc. no changes to the gripper assembly 2 is necessary.

The device 1 comprises a gripper arrangement 2

Gripper arrangement 2 comprises movable supports 3, 3a, 3b, 3c, which in the present case are designed as longitudinal members. The carriers 3, 3a, 3b, 3c are arranged in a longitudinal direction 9 and can thus be understood as longitudinal members. It is further illustrated that a plurality of grippers 5, 5a-n are arranged on the carriers 3, 3a, 3b, 3c. The grippers 5, 5a-n are movable relative to supports 3, 3a, 3b, 3c. Farther The gripper arrangement 2 comprises a further carrier 13, which is arranged in a transverse direction 14. The further carrier 13 can be understood as a cross member.

At the further carrier 13, a robot 15 is arranged, by means of which the gripper assembly 2 is movable. The carriers 3, 3a, 3b, 3c are movable on the further carrier 13

arranged.

The grippers 5, 5a-n are each connected to the carriers 3, 3a, 3b, 3c via a braking and / or locking means 6, 6a (see also FIG. 2). For reasons of simplified illustration, only the braking and / or locking means 6, 6a are shown.

The device 1 comprises a holding device 8 for holding a gripper 5, 5a-n. The holding device 8 is in this case formed spatially separated from the gripper assembly 2 and comprises a holding element 16. The gripper 5, 5a-n is in dissolved brake and / or locking means 6, 6a and in

held state in the holding device 8 relative to the carriers 3, 3a, 3b, 3c relatively movable. As a result, grippers 5, 5a-n, for example, depending on the design of components which are to be handled (see also FIG. 9), are moved flexibly along the respective carrier. The device 1 can thus be operated in a particularly flexible manner, which can also result in set-up time savings.

From Fig. 2 it can be seen that each plate-shaped

Connecting means 7, 7a between gripper 5, 5a and brake and / or locking means 6, 6a-c and between the carrier 3c and further carrier 13 are arranged. Furthermore, it can be seen that the carrier 3c designed as a guide rail

Guiding means 4, 4a comprises and that the at least one W 201

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Guiding means 17, 17a comprises. The grippers 5, 5a shown here are movable along the longitudinal axis 20. The

Carrier 3 c is movable along the transverse axis 29 of the further carrier 13.

The grippers 5, 5a each have at least one assembly 30 for movement along a movement axis, wherein the

Movement axis as a longitudinal axis 20 along a support 3c, 28), preferably longitudinal beams, is formed.

The one further carrier 13 likewise has an assembly 30a for moving the carrier 3c along a movement axis designed as a transverse axis 29. This movement axis is arranged essentially at right angles to a longitudinal direction (see FIG. 1) of the carrier 3c, preferably longitudinal members.

For the purposes of the invention, the terms transverse direction and transverse axis as well as longitudinal direction and longitudinal axis can each be understood as identical terms, but without having to.

In FIGS. 3 to 7, the device 1 is shown in each case in further positions. The method according to the invention will also be described below with reference to FIGS. 1 and 3 to 7

described. For this purpose, explanation will also be given to FIG. 9

referenced.

Starting from the starting position 10 shown in FIG. 1, it may be necessary to accommodate components (see FIG. 9) to change arrangements of the grippers 5n, 5m (FIG. 3). This can occur, for example, when components of other dimensions or different size or shape, etc., are to be handled and moved by means of the device. In order to be able to change a distance 22 between the grippers 5n and 5m, in a first step, a movement of the gripper assembly 2 by means of the robot 15, which is articulated on a carrier, so-called further carrier 13, to a holding unit 8.

In the sense of the method according to the invention, a positioning of the. Is thus carried out in a first step (FIG. 3)

Gripper assembly 2 relative to a holding unit 8 to

Production of a holding position 11 and holding the gripper 5n (Fig. 3) by means of holding unit 8. In the exemplary embodiment, the holding unit 8 for holding the gripper 5n comprises a holding element 16. In the present case, a form-fitting

Holding the gripper 5n by means of retaining element 16th

In a subsequent further step (FIG. 4), a release of a brake and / or locking means connected to this gripper 5n takes place (see FIG

2) and moving the carrier 3, on which this gripper 5n is arranged, from the holding position 11 (FIG. 3) to a traveling position 12 (FIG. 4), the gripper 5n stationary during the movement of the carrier

remains.

This can be understood to mean that the gripper 5n is not actively moved, but rather that the carrier 3, on which the gripper 5n is arranged, is actively moved or moved, in particular by active movement of the gripper arrangement.

It can be seen from FIG. 4 that, after a movement of the carrier 3 when the gripper 5n remains stationary, a distance 22 to a gripper 5m, which is adjacent to the gripper 5n, is reduced in comparison to the distance 22 shown in FIG. Thus, the gripper assembly 2 can be adapted to Different component designs, eg component size or component geometry or to different component arrangements to be handled and moved with the gripper assembly 2.

Once such a change in position of a gripper

is completed, the corresponding gripper can be held or fastened by means of braking and / or locking means again at its now changed position, so that further movements of the wearer can no longer influence the position of this previously moved gripper and now attached gripper, if not should be explicitly provided.

After a possible loosening of the gripper 5n or in the released state (see, for example, FIG. 5), the gripper arrangement 2 can be correspondingly flexibly adjusted according to an arrangement, quantity, etc. of components or a configuration of components (see FIG. 9). by a single or several grippers, eg Gripper 5n, with respect to e.g. changed component arrangement is incorporated or omitted.

From FIGS. 5 and 6 it can be seen that it is possible to change further distances between grippers (in this case distance 22a between grippers 5m and 51) in order to adapt the gripper arrangement flexibly to component dimensions or to the number of grippers

To adapt components. By way of example, it is shown that the distance 22a was reduced in comparison with FIG. 5 in the position shown in FIG. Thus, particularly fast, i. under set-up time saving, different

Components or component arrangements, etc., which are to be handled and moved, are taken into account. In addition, it is indicated in FIG. 5 that the holding device 8 or a holding element 16 optionally arranged thereon not only in one spatial direction, in this case in the y-direction

height-displaceable, but also in two spatial directions (x, y) or in three spatial directions (x, y, z) can be designed to be movable and accordingly one, two or three

Motion axes may include.

It is also evident from FIG. 7 that carriers (in this case carrier 3a) can be designed to be movable along a transverse direction 14 (see also FIG. 6). The movement of the carrier 3a takes place here relative to the further carrier 13 (see also FIG. 2). It can be seen, in comparison to FIG. 5, that a distance 22b between carriers 3 and 3a after movement (FIG. 7) has been reduced, if, for example, certain component arrangements or component configurations should be required (see also FIG. 9). ,

A schematic representation of a section of a further embodiment of the device according to the invention is shown in FIG. 8. Here it is shown that grippers 5, 5a are each designed as so-called scara grippers. Advantageous to the designed as a scraper grippers 5, 5a

For example, a component 21 having irregular geometries, e.g. Such components with dimensions deviating from regular polygons, easy to handle and move. This can i.a. on the increased mobility of the Scara grapple as a result of the formation of more

Movement axes are traced back.

The grippers 5, 5 a each have axes of movement, which as

Longitudinal axis 20 along the support 28 and as a rotation axis 23, 23 a to fastening points 18, 18 a are formed. The grippers 5, 5a each have a further movement axis, which is each formed as an eccentric axis 24, 24a about boom 25, 25a on rotation axis 23, 23a. Furthermore, the grippers 5, 5a each further attachment points 19, 19a.

In the present case, the grippers 5, 5a can be moved or positioned at positioning points 27, 27a-g and possibly held. For improved mobility, the grippers 5, 5a

each further a boom 26, 26 a, depending on

corresponding attachment point 19, 19a, each movable around eccentric axes 24, 24a are arranged. Overall, the grippers 5, 5 a, which are designed as scara grippers, each have three axes of movement and in each case two attachment points 18, 18 a, 19, 19 a.

The highly simplified schematic plan views shown in FIGS. 9a to 9c are intended to be

illustrate that in operation of the device 1, i. in handling and moving components 21, 21a-c

Different constellations or situations may be present, each depending for example on the

Design of the components 21, 21a-c or of their number, depending.

Contrary to the other illustrations, only three carriers 3, 3a, 3b are shown in FIGS. 9a to 9c for reasons of clearer presentation and for better understanding. It can be seen from FIG. 9a that two components 21, 21a are to be handled and moved. Accordingly, the gripper arrangement 2 or the grippers 5, 5a-k is / are positioned so that handling and movement of the components 21, 21a can take place. In the present case, therefore, the grippers 5, 5a-e, are positioned to handle and move the component 21 and the grippers 5f-k so that the component 21a can be handled and moved. Since this only two components are to handle and move, distances 22e, 22f can be kept correspondingly low.

The situation is different, for example, in the situation shown in FIG. 9b, in which now the number of components has changed and the dimensions of the components have changed. For the handling and movement of the components 21, 21a, 21b and 21c shown here, it is now according to the illustrations shown in FIGS. 1 and 3 to 7 and

Explanations are required to change the gripper arrangement 2 or the positioning of the grippers 5, 5a-k on carriers (see FIG. 9a) so that the distances 22f, 22e of the corresponding grippers are obtained. Specifically, this means im

In the embodiment shown, the distances 22e, 22f in FIG. 9b have been increased with respect to the distances 22e, 22f.

It should be expressly noted at this point that the constellations shown in FIGS. 9a to 9c represent only exemplary examples and the invention

by no means limited to these examples. Rather, the invention is applicable to all conceivable or imageable

Constellations of component arrangements interpreted and shows in this way the extent of particularly high flexibility of the device according to the invention and the inventive method.

For this purpose, an exemplary embodiment is shown in FIG. 9 c, in which the distance 22 c of two carriers 3, 3 a relative to the illustration in FIG

Distance 22d relative to the illustration in Fig. 9b is increased. Such a situation may exist, for example, if only the carriers 3, 3a or the grippers 5 arranged thereon, 5a-g to be used for handling and movement of components.

List of reference numbers:

1 device

2 gripper assembly

3 carriers

3a-c carrier

4 guiding means

4a guide means

5 grippers

5a-n gripper

6 brake and / or locking means 6a-c brake and / or locking means

7 connecting means

7a connecting means

8 holding device

9 longitudinal direction

10 starting position

11 stop position

12 travel position

13 carriers

14 transverse direction

15 robots

16 retaining element

17 guiding means

17a guide means

18 attachment point

18a attachment point

19 attachment point

19a attachment point

20 longitudinal axis

21 component

1a-c component

22 distance

2a-f distance axis of rotation

eccentric

boom

Positioning part-g Positioning parts

carrier

transverse axis

Assembly group Assembly

Claims

Ansprüc

1. Device (1) for handling and moving preferably flat components, in particular of printed circuit boards,

the device (1) comprising a gripper arrangement (2),

wherein the gripper arrangement (2) comprises at least one movable carrier (3, 3a, 3b, 3c, 28), preferably longitudinal carriers, wherein on the at least one carrier (3, 3a, 3b, 3c, 28) a plurality of grippers (5 , 5a-n) is arranged movable relative to the carrier (3, 3a, 3b, 3c, 28),

wherein the grippers (5, 5a-n) are connected to the at least one carrier (3, 3a, 3b, 3c, 28) at least via respective braking and / or locking means (6, 6a-c), characterized in that the device (1) comprises at least one holding device (8) for at least temporarily holding at least one gripper (5, 5a-n), wherein the holding device (8) is spatially separated from the gripper arrangement (2), wherein the

Gripper (5, 5a-n) with dissolved brake and / or locking means (6, 6a-c) and in the held state in the holding device (8) relative to the at least one carrier (3, 3a, 3b, 3c, 28) relative is movable.

2. Device according to claim 1, characterized in that the grippers (5, 5a-n) each have at least one assembly (30) for movement along a movement axis, wherein the movement axis as a longitudinal axis (20) along a support (3, 3a, 3b, 3c, 28), preferably longitudinal beams, or as

Rotation axis (23) about an attachment point (18, 18a, 19, 19a) on the support (3, 3a, 3b, 3c, 28) is formed.

3. Device according to one of the preceding claims, characterized in that the grippers (5, 5a-n) each

have at least one further movement axis, which as an eccentric axis (24) about a cantilever (25, 25 a) at one

Rotation axis (23) is formed.

4. Device according to one of the preceding claims, characterized in that at least one further carrier (13), preferably cross member, is provided, wherein the at least one further carrier (13) at least one assembly (30, 30 a) for moving at least one carrier ( 3, 3a, 3b, 3c) along a transverse axis (29) formed

Movement axis which is substantially at right angles to a longitudinal direction (9) of the at least one carrier (3, 3a, 3b, 3c, 28), preferably longitudinal members, is arranged.

5. Device according to one of the preceding claims, characterized in that at least one robot (15), in particular multi-axis robot, is present, wherein the robot (15) with the at least one carrier (3, 3a, 3b, 3c, 28) or at least a further carrier (13) is connected, wherein the at least one further carrier (13) substantially

arranged at right angles to the at least one carrier (3, 3a, 3b, 3c, 28), preferably movable.

6. Device according to one of the preceding claims, characterized in that the at least one holding unit (8) is arranged stationary.

7. Device according to one of the preceding claims, characterized in that the holding unit (8) for

frictionally holding a gripper (5, 5a-n) in the

Substantially plane holding surface and / or for the positive holding of a gripper (5, 5a-n) at least one preferably height-adjustable holding element (16), in particular a two- or three-armed holding forceps comprises.

8. Device according to one of the preceding claims, characterized in that the holding element (16) in

at least two spatial directions (x, y), preferably in three spatial directions (x, y, z) is designed to be movable.

9. Device according to one of the preceding claims, characterized in that each at least one preferably plate-shaped connecting means (7, 7a) between gripper (5, 5a-n) and braking and / or locking means (6, 6a-c) and / or between the at least one carrier (3, 3a, 3b, 3c, 28) and at least one further carrier (13) is arranged.

10. Device according to one of the preceding claims, characterized in that at least one gripper (5, 5a-n) as a linearly movable gripper (5, 5a-n) with at least one attachment point (18) and / or as a rotatably movable gripper (5 , 5a-n) with an attachment point (18) and at least one further attachment point (19) is formed.

11. Device according to one of the preceding claims, characterized in that the grippers (5, 5a-n) are designed as a vacuum-operated suction gripper and / or as a magnetic gripper.

12. Device according to one of the preceding claims, characterized in that the grippers (5, 5a-n) are designed as Scara- gripper.

13. Device according to one of the preceding claims, characterized in that the at least one carrier (3, 3a, 3b, 3c, 28) formed as a guide rail guide means (4, 4a) and / or that the at least one further carrier (13) formed as a guide rail guide means (17, 17a).

14. A method for handling and moving components by means of a gripper assembly (2), comprising on carriers (3, 3a, 3b, 3c, 13, 28) movably arranged gripper (5, 5a-n), characterized by the following method steps: Positioning the gripper assembly (2) relative to a holding unit (8) for producing a holding position (11) and hold the gripper (5, 5a-n) by means of holding unit (8); b) releasing a with this gripper (5, 5a-n) connected brake and / or locking means (6, 6a-c) on a

Attachment point (18, 19) and movement of the carrier (3, 3a, 3b, 3c, 13, 28), on which this gripper (5, 5a-n) is arranged, from the holding position (11) to a movement position (12) , wherein this gripper (5, 5a-n) during the movement of the

Carrier (3, 3a, 3b, 3c, 13, 28) remains stationary;

15. The method according to claim 14, characterized by a process step b) following process step c) releasing the holding of the gripper (5, 5a-n).

16. The method according to claim 14 or 15, characterized

characterized in that the positioning of the gripper arrangement (2) relative to the holding unit (8) and / or the movement of the carrier (3, 3a, 3b, 3c, 13, 28) with a robot (15)

he follows .

17. The method according to one or more of claims 14 to

16, characterized in that the holding unit (8) is arranged stationary and that the at least one carrier (3, 3a, 3b, 3c, 13, 28) relative to the holding unit (8) in a

Lengthwise (9) and / or in a transverse direction (14) is moved.

18. The method according to one or more of claims 14 to

17, characterized in that the gripper (5, 5a-n) with dissolved brake and / or locking means (6, 6a-c) is held stationary in the holding unit (8) state such that a distance (22, 22a-f) of adjacent grippers (5, 5a-n) is increased and / or reduced.

19. The method according to one or more of claims 14 to

18, characterized in that the gripper (5, 5a-n) in the state held in the holding unit (8), with closed brake and / or locking means (6, 6a-c) on the gripper and open brake and / or Locking means (6, 6a-c) on the at least one support (3, 3a, 3b, 3c, 13, 28), is arranged stationary such that a distance (22b, 22c, 22d) of adjacent support (3, 3a, 3b , 3c) is increased and / or reduced.