WO2021090049A1

WO2021090049A1 - Station gripper for a machine tool

Info

Publication number: WO2021090049A1
Application number: PCT/IB2019/059606
Authority: WO
Inventors: Wolfgang Fischer; Camelo Messina; Manuel BALLESTEROS ESCAMILLA; Marco Häfner; Roger MÜHLBAUER
Original assignee: Schleuniger Ag
Priority date: 2019-11-08
Filing date: 2019-11-08
Publication date: 2021-05-14

Abstract

The invention relates to a station gripper (10) for gripping a workpiece carrier (20), the station gripper (10) having a carrier contact face for supporting a workpiece carrier (20), and having a holding element and a positioning geometry. The invention also relates to a transfer gripper (40) for gripping a workpiece carrier (20), the transfer gripper (40) having a transfer contact face for supporting a workpiece carrier (20), and having a holding element and a positioning geometry. The invention also relates, inter alia, to a machine tool (100) comprising a station gripper (10) and transfer gripper (40).

Description

STATION GRIPPER FOR A MACHINING MACHINE

The present invention relates to a station gripper, a transfer gripper, a transfer module, a return lift, a return module and a processing machine as well as a method for operating a processing machine. The present invention relates in particular to a station gripper for gripping a workpiece carrier, a processing machine comprising at least two station grippers for gripping a workpiece carrier, a transfer gripper for gripping a workpiece carrier, a transfer module comprising a transfer gripper and a processing machine comprising a transfer module. In addition, the invention relates in particular to a return lift with a station gripper or a transfer gripper, a return module comprising a return lift and a processing machine comprising a return module or a return lift. The present invention relates in particular to a method for operating a processing machine according to the independent patent claims.

Various devices, devices and methods for transporting workpiece carriers and for operating processing machines have become known from the prior art.

A processing machine in the present case is one or more processing modules, for example of a production line. These processing modules can be designed separately and form individual processing stations. However, it is also conceivable that several processing modules are arranged within a single device and thus form a compact production line. A compact production line constructed in this way also falls under the term processing machine in the present case. In other words, a processing machine can thus have a modular structure and, depending on the requirements, have one or more processing modules.

In order to make the work processes efficient, it is typically provided that the processing machine is provided with a device that transports the workpiece carriers from one processing module to the next processing module.

The workpiece carriers are uniformly manufactured devices that are designed to receive workpieces to be processed accordingly. The workpieces to be machined can be cables or electrical conductors, for example.

The devices for conveying the workpiece carriers from one processing module to the next processing module can be designed as conveyor belts, for example. With EP1275601 B1 a device has become known in which workpiece carriers are transported from workstation to workstation. Provision is made here to provide several so-called transfer devices, a transfer device being arranged between the transfer devices. Both the transfer devices and the transfer device each have a double-sided toothed belt. The workpiece carriers are only placed on the respective toothed belt. The disadvantage of this construction is that, on the one hand, the workpiece carriers can be moved along the teeth and, on the other hand, the toothed belts can have an elongation that prevents the workpiece carriers from being precisely positioned. The handover from one transfer device to the next is time-consuming and complicated.

It is the object of the invention to overcome one or more disadvantages of the prior art. In particular, a station gripper and / or a transfer gripper and / or a transfer module and / or a return lift and / or a return module as well as a corresponding processing machine and / or a corresponding method are to be provided that make it possible to easily position and / or hold workpiece carriers and / or promote.

These objects are achieved by the devices and methods defined in the independent claims. Further embodiments emerge from the dependent claims.

A station gripper according to the invention for gripping a workpiece carrier has at least one carrier contact surface for supporting a workpiece carrier as well as at least one holding element and a positioning geometry.

The station gripper according to the invention is preferably part of a processing machine and particularly preferably part of a cable processing machine.

The positioning geometry makes it possible to hold a workpiece carrier in a defined position relative to the station gripper.

Here and in the following, a positioning geometry is understood to mean a geometry which enables a first element to be positioned relative to a second element in the direction of at least two and preferably in the direction of three axes. In other words, the position of the first element relative to the second element can be determined by means of a positioning geometry. The first element is preferably part of a workpiece carrier and the second element is part of a station gripper.

The holding element makes it possible to fix the workpiece carrier in a certain position. The workpiece carrier can thus be held in a safe position by the station gripper. It can be provided that the holding element is designed in such a way that it interacts with the positioning geometry and, for example, a workpiece carrier is pressed, for example into the positioning geometry, by the holding element.

The carrier contact surface for supporting a workpiece carrier makes it possible to specify a defined position for the workpiece carrier in relation to the station gripper. The carrier contact surface preferably interacts with a corresponding contact surface on the workpiece carrier in such a way that the workpiece carrier assumes a position defined in relation to the station gripper.

The carrier contact surface is preferably designed as a substantially planar surface. This enables a corresponding contact surface to be produced in a simple manner. This also enables precise production within a small tolerance range.

The contact surface is preferably arranged essentially vertically. Thus, a horizontal distance to a machine axis and / or to a workpiece carrier travel axis can be precisely defined and this distance is reproducible for each workpiece carrier or for each gripping or clamping of a workpiece carrier.

The holding element of the station gripper preferably has at least one centering pin, the workpiece carrier being able to be fixed by actuating the at least one centering pin.

Furthermore, the at least one centering pin is preferably arranged opposite the carrier contact surface. The arrangement is preferably such that the workpiece carrier can be clamped between the carrier contact surface and the at least one centering pin by actuating the centering pin. This enables the workpiece carrier to be held easily in the station gripper. The present arrangement of at least one centering pin and the carrier contact surface makes it possible to press the workpiece carrier with a corresponding stop surface on the workpiece carrier onto the carrier contact surface of the station gripper.

A centering pin can be designed as a centering pin with a precisely manufactured, cylindrical fit (and optionally a conical inlet). However, it is also conceivable that this is designed as a cone pin, in which the cone is not only the inlet, but also the centering. A centering pin that is cylindrical at the rear and has two surfaces converging towards one another in the area of the centering and thus is shaped like a flat screwdriver or like a tooth would also be possible. It can be provided here to provide two further, essentially parallel surfaces, which connect the surfaces converging towards one another or to design the end of the at least one centering pin as a truncated pyramid. The at least one centering pin is preferably mounted displaceably along its longitudinal axis. The at least one centering pin can be actuated in such a way that the at least one centering pin can be displaced in the direction of its longitudinal axis towards the carrier contact surface. This enables simple actuation of the holding elements and simple clamping of a workpiece carrier.

The holding elements can alternatively be designed, for example, as a magnet, in particular as an electromagnet or as a switching magnet. A corresponding magnet is preferably arranged in such a way that it pulls the workpiece carrier towards the carrier contact surface and brings the workpiece carrier, in particular a stop surface of the workpiece carrier, into contact with the carrier contact surface. The design of the holding elements as a magnet reduces the number of moving parts.

The holding element of the station gripper preferably advantageously has a plurality of centering pins, with which the workpiece carrier can be held securely and preferably in an aligned manner.

The holding element of the station gripper particularly preferably has exactly two centering pins. By arranging the centering pins in pairs, the workpiece carrier can be held securely and twisting of the workpiece carrier is prevented. In a preferred embodiment, the station gripper is essentially U-shaped. The carrier contact surface is preferably located on one leg of the U, while the holding element is located on the other leg of the U. The workpiece carrier is designed in such a way that the workpiece carrier can be carried out between the legs of the U. If the holding element has one or more centering pins, these are preferably arranged in the corresponding leg of the U with their longitudinal axis essentially perpendicular to the carrier contact surface.

Preferably, the holding element of the station gripper alternatively comprises an expanding gripper with at least two gripping elements in order to grasp and hold the tool carrier and, if necessary, to move it in a fixed manner.

The gripping elements are preferably designed to engage in an undercut of the workpiece carrier in such a way that when the gripping elements engage in the undercut, the workpiece carrier is moved against the carrier contact surface and a bearing surface of the workpiece carrier is brought into contact with the carrier contact surface. According to the configuration of the undercut in the tool carrier, the fixation of the same is improved in the state gripped by the expanding gripper.

The gripping elements are, for example, “finger-shaped” and advantageously designed in a slim design, so that the expanding gripper can be designed to be simple and compact in terms of construction. In addition or as an alternative, the positioning geometry is preferably formed on the holding element, which enables a simple structural design of the station gripper. The formation of the positioning geometry on the holding element enables the combination of two functions in one element. On the one hand, holding is made possible by the holding element, on the other hand, the workpiece carrier can also be positioned at the same time by actuating the holding element.

The positioning geometry can preferably have inclined surfaces or conical elements. These can preferably be brought into engagement with complementary surfaces on the workpiece carrier.

It can be provided that a, for example, hardened centering sleeve is located in the workpiece carrier, the inner edges of which are beveled. Correspondingly, centering can be achieved with at least one likewise beveled centering pin. Alternatively, a conical bore can also be provided in the workpiece carrier, a conical bore essentially representing a special design of an inclined surface.

In the case of an expanding gripper, the gripping elements are typically arranged in such a way that when the gripping elements are actuated, a distance between the ends of the gripping elements is increased. That is, such gripping elements can be inserted into a narrow opening and actuated, a circumference in which the gripping elements are inscribed corresponds at least to the diameter of the opening after they are actuated, such that the gripping elements can be clamped in the corresponding opening. It is also conceivable that the gripping elements each have, for example, a thickening at their outer ends, the distance between which in the open state of the gripping elements is greater than the largest diameter of the opening into which the gripping elements engage. The thickening then engages in an undercut of the workpiece carrier.

It is conceivable that the thickenings have an inclined surface, the inclined surface and the carrier contact surface having an angle that opens in the direction of actuation of the gripping elements. By actuating the gripping elements and the interaction of the corresponding inclined surfaces with the workpiece carrier, the workpiece carrier is moved towards the carrier contact surface and pressed against it. In a preferred embodiment, the carrier contact surface is designed as a separate surface on the station gripper. Alternatively, it is also conceivable for the carrier contact surface to be designed as one or more contact surfaces on the gripping elements. It is conceivable that the gripping elements are designed essentially symmetrically about a central axis. For gripping, the gripping elements can have an essentially V-shaped expression at their ends, the V being essentially perpendicular to the central axis. The shape of the V on the workpiece carrier can also be designed to be essentially complementary to the shape of the V in the gripping element.

This enables easy gripping of the workpiece carrier and precise positioning of the workpiece carrier along the central axis. The two legs of the V form a centering backdrop. One of the legs of the V can be designed as a carrier contact surface and the second leg as an inclined surface of the positioning geometry.

The surfaces on the gripping elements and on the workpiece carrier are essentially complementary.

For example, a station gripper can have a half gripper with a pin and counter surface, which allows a very high level of positioning accuracy, but may make gripping a workpiece carrier more difficult. Station grippers with two gripping elements, which advantageously have correspondingly slender jaws, are more suitable for gripping. For this reason, it can make sense to build station grippers with different designs of the folding elements in the same processing machine and to provide the counter surfaces required for this in the workpiece carriers. A station gripper with high positioning accuracy is preferably used in processing stations. Station grippers, which essentially serve to transport a workpiece carrier, are designed in a correspondingly structural manner to enable a workpiece carrier to be gripped and held in a simple manner.

The station gripper preferably has an actuating device for actuating the holding element, whereby the station gripper can be designed as an essentially self-contained system. In this case, the energy for actuating the actuating device can be supplied externally.

The actuating device can be designed either electrically, mechanically, pneumatically or hydraulically. The actuating device can in particular have an actuating rocker, a crank drive or a scissors joint.

In the case of a rocker switch, for example, it can be actuated by an external plunger, for example.

The holding element preferably has a spring for pretensioning the holding element, whereby the holding element can be pretensioned. The retaining element can be pretensioned by a spring in such a way that it assumes a specific position in each case in the non-actuated state. This position particularly preferably corresponds to the position of the holding element in the state in which the workpiece carrier is held in a clamped manner. This makes it possible to hold the workpiece carrier without the need for an active drive to hold it. The associated decoupling of the station gripper from the drive element enables relative movements of the station gripper with the workpiece carriers clamped therein Stations - without a large and heavy drive element having to move with it. The same drive element can also be used for all station grabs, for example a mechanical actuating tappet bar or a camshaft.

The spring can for example not be exhaustively enumerated as a tension, compression, leaf, plate or gas pressure spring.

Another aspect of the present invention relates to a processing machine, in particular a cable processing machine, comprising at least one station gripper as described here.

This enables the provision of a complete system in which the interfaces to the workpiece carriers are precisely defined in relation to the respective processing module. In the present case, the interface to the workpiece carriers is the carrier contact surface of the station gripper, as this can be set in a defined manner relative to the processing machine and defines a specific distance, or a specific position, of the workpiece carrier in relation to the station gripper.

The processing machine preferably comprises two or more station grippers as described here. In this case, at least two station grippers for actuating the folding element have a common actuating device. This enables simultaneous opening or closing of the at least two station grippers, in particular simultaneous release of workpiece carriers.

It can be provided that, in the case of several station grippers on the processing machine, several groups are provided, each of which has a common actuating device. Depending on the structure of the processing machine, that is, depending on the equipment of the processing machine with processing modules, the individual processing modules have different cycle times. It is thus possible, for example, for a first station gripper group to have a common cycle time and a second station gripper group to have a common cycle time, which may differ from the cycle time of the first station gripper group. Correspondingly, the respective station gripper groups each have a separate actuating device. This enables workpiece carriers to be opened and / or gripped independently of the other cycle time.

The station gripper or grippers are preferably arranged along a workpiece carrier travel axis, which enables a simple structure and simple set-up of the processing machine.

At least one of the station grippers can preferably be moved transversely to the workpiece carrier travel axis. The station gripper can be moved both in the horizontal direction and in the vertical direction. A zur Workpiece carrier traversing axis inclined process or a rotary movement or a non-linear movement, e.g. B. on backdrop guides.

This station gripper is particularly preferably arranged on a rail, which enables it to be moved along a defined route. A simple removal of a workpiece carrier that is located along the

Workpiece carrier traversing axis moved, from a workpiece carrier flow is given. For example, it is possible to remove a workpiece carrier with a workpiece on it from the regular cycle of the processing machine or a regular cycle of a group of processing modules and, for example, to feed it to a processing module or a group of processing modules which has a longer or shorter cycle time has / have for the respective processing step. In addition, it is possible, for example, with such an arrangement to remove a corresponding workpiece carrier with, for example, a defective workpiece or a workpiece to be checked from the production line and, for example, to feed it again at another point.

Such an arrangement also makes it possible, for example, to place the workpiece carrier on a return device, such as a return lift or a return conveyor belt. The workpiece carrier can be removed from this at one end of the production line and returned to the beginning of the production line and re-equipped with a workpiece.

Another aspect of the invention relates to a transfer gripper for gripping a

Workpiece carrier. The transfer gripper has a transfer contact surface for supporting a workpiece carrier as well as at least one folding element and a positioning geometry.

The transfer gripper according to the invention is preferably part of a processing machine and particularly preferably part of a cable processing machine.

The positioning geometry makes it possible to hold a workpiece carrier in a defined position relative to the transfer gripper.

Here and in the following, a positioning geometry is understood to mean a geometry which enables a first element to be positioned relative to a second element in the direction of at least two and preferably in the direction of three axes. In other words, the position of the first element relative to the second element can be determined by means of a positioning geometry. The first element is preferably part of a workpiece carrier and the second element is part of a transfer gripper. The holding element makes it possible to fix the workpiece carrier in a certain position. The workpiece carrier can thus be held in a safe position by the transfer gripper.

It can be provided that the holding element is designed in such a way that it interacts with the positioning geometry and, for example, a workpiece carrier is pressed, for example into the positioning geometry, by the holding element.

The carrier contact surface for supporting a workpiece carrier makes it possible to specify a defined position for the workpiece carrier in relation to the transfer gripper. The carrier contact surface preferably interacts with a corresponding contact surface on the workpiece carrier in such a way that the workpiece carrier assumes a position defined in relation to the transfer gripper.

The carrier contact surface is preferably arranged on a movable support jaw of the transfer gripper. This enables the relative positioning of the carrier contact surface in relation to the workpiece carrier. It is conceivable, for example, that the support jaw has a first position in an unactuated state which has an offset with respect to a transfer position of the workpiece carrier, such that the transfer gripper can be moved with respect to a workpiece carrier without a collision. In the actuated state, the support jaw can have a position in which the carrier contact surface is essentially in the same plane as a corresponding contact surface of the workpiece carrier. This makes it possible that the workpiece carrier does not change its position perpendicular to this carrier contact surface when the workpiece carrier is held or clamped by the transfer gripper. In other words, the relative position of the workpiece carrier does not change, at least with respect to one axis.

The transfer contact surface is preferably arranged essentially horizontally and / or the support jaw is movable in a vertical direction. Thus, a vertical distance to a machine axis and / or to a workpiece carrier travel axis can be precisely defined and this distance is reproducible for each workpiece carrier or for each gripping or clamping of a workpiece carrier.

In addition or as an alternative to an essentially horizontally arranged transfer contact surface, the support jaw can be moved in a vertical direction. Thus, a vertical distance to a machine axis and / or to a workpiece carrier travel axis can also or additionally be precisely defined and this distance is reproducible for each workpiece carrier or for each gripping or clamping of a workpiece carrier. The positioning geometry is preferably arranged on the transfer contact surface. The formation of the positioning geometry on the transfer contact surface enables the combination of two functions in one element. On the one hand, positioning in a first axis is made possible by the transfer contact surface; on the other hand, the workpiece carrier can be simultaneously positioned in further axes by means of the positioning element.

It can be provided that a, for example, hardened centering sleeve is located in the workpiece carrier, the inner edges of which are beveled. Correspondingly, with at least one, for example, conical element that is essentially complementary on the workpiece carrier, a desired form fit can be achieved such that the workpiece carrier is positioned in relation to the transfer gripper and is centered in the present case.

The holding element preferably has at least one clamping jaw. The design as a clamping jaw enables the transfer gripper to be easily manufactured and the workpiece carrier to be gripped securely. A clamping jaw can also be manufactured in a specific shape.

The clamping jaw is in particular designed to be pivotable about a pivot axis. The arrangement of the clamping jaw around a swivel axis also enables simple actuation and simple opening and closing of the transfer gripper. A workpiece carrier can be held securely in the transfer gripper. It can be provided that the positioning geometry is formed on the clamping jaw. It can be provided that the positioning geometry is designed as described here. The formation of the positioning geometry on the clamping jaw enables the combination of two functions in one element. On the one hand, the clamping jaw enables the workpiece holder to be clamped and held, and on the other hand, the workpiece holder can also be positioned at the same time by actuating the clamping jaw. In a further preferred embodiment, the holding element has several clamping jaws, which enables the workpiece carrier to be gripped even more securely. The clamping jaws can also be manufactured in specific shapes.

The holding element of the transfer gripper preferably has at least one centering pin, which enables the workpiece carrier to be held easily in the transfer gripper.

Furthermore, the at least one centering pin is preferably arranged opposite the transfer contact surface in such a way that the workpiece carrier can be clamped between the transfer contact surface and the at least one centering pin by actuating the centering pin. This makes it possible to easily hold the workpiece carrier in the Transfer gripper. The present arrangement of at least one centering pin and the transfer contact surface makes it possible to press the workpiece carrier with a corresponding contact surface on the workpiece carrier onto the transfer contact surface of the transfer gripper.

The at least one centering pin is preferably mounted displaceably along its longitudinal axis. The at least one centering pin can be actuated in such a way that the at least one centering pin can be displaced in the direction of its longitudinal axis towards the transfer contact surface. This enables simple actuation of the holding elements and simple clamping of a workpiece carrier.

The holding elements can alternatively be designed, for example, as a magnet, in particular as an electromagnet or as a mechanical switching magnet assembly. A corresponding magnet is preferably arranged in such a way that it pulls the workpiece carrier towards the transfer contact surface and brings the workpiece carrier into contact with the transfer contact surface accordingly. The design of the holding elements as magnets reduces the number of moving parts. In addition, both a station gripper and a transfer gripper can be designed in the same way, which makes it possible to use the same parts for different assemblies.

The holding element of the transfer gripper advantageously has a plurality of centering pins, with which the workpiece carrier can preferably be held securely and in an aligned manner.

The holding element of the transfer gripper particularly preferably has exactly two centering pins. By arranging the centering pins in pairs, the workpiece carrier can be held securely and twisting of the workpiece carrier is prevented. In a preferred embodiment, the transfer gripper is essentially C-shaped. C-shaped is comparable to U-shaped, with the legs in a C-shape tending to be aligned horizontally or rotated by 90 ° with respect to the legs of a U-shape. In particular, one leg of the C is designed as a clamping jaw and one leg of the C is designed as a support jaw. The carrier contact surface is preferably located on one leg of the C while the holding element is located on the other leg of the C. The workpiece carrier is designed in such a way that the workpiece carrier can be passed through between the legs of the C. If the holding element has one or more centering pins, these are preferably arranged in the corresponding leg of the C with their longitudinal axis essentially perpendicular to the transfer contact surface.

As a holding element, the transfer gripper preferably alternatively comprises an expanding gripper with at least two gripping elements in order to grasp and hold the tool carrier and, if necessary, to move it in a fixed manner. The gripping elements are preferably designed to engage in an undercut of the workpiece carrier, such that when the gripping elements engage in the undercut, the workpiece carrier is moved against the transfer contact surface. According to the configuration of the undercut in the tool carrier, the fixation of the same is improved in the state gripped by the expanding gripper.

Such a design of the gripping elements makes it possible to move the workpiece carrier transferred to a station gripper immediately vertically after opening the transfer gripper (up or down) without first having to move the transfer gripper transversely (in y = horizontal, transverse to the workpiece carrier axis of travel) - of course below the other Prerequisite that the workpiece carrier and transfer gripper are designed in such a way that this movement is possible without collision; and of course that the gripper jaws are fully retracted.

The gripping elements of the transfer gripper can be designed in accordance with the gripping elements of the station gripper as described here. In addition or as an alternative, the positioning geometry of the transfer gripper is preferably formed on the holding element, which enables a simple structural design of the transfer gripper. The formation of the positioning geometry on the holding element enables the combination of two functions in one element. On the one hand, holding is made possible by the holding element, on the other hand, the workpiece carrier can also be positioned at the same time by actuating the holding element.

The positioning geometry preferably has inclined surfaces or conical elements which can preferably be brought into engagement with complementary surfaces on the workpiece carrier.

The positioning geometry of the transfer gripper can be designed in accordance with the positioning geometry of the station gripper as described here. A movement of the support jaw and thus a movement of the transfer contact surface can preferably be controlled by a movement of the holding element. This movement can be controlled particularly advantageously by moving the clamping jaw.

The movement can be transmitted electrically, mechanically, pneumatically or hydraulically. In particular, an actuating rocker, a crank drive or a scissors joint can be provided for moving the support jaw.

If the movement of the support jaw is controlled by the movement of the holding element and in particular by the movement of the clamping jaw, the movements can be coordinated accordingly. This enables a simple and precise sequence of movements. The holding element of the transfer gripper preferably has at least one drive element for actuating the holding element. Alternatively, the holding element of the transfer gripper has several drive elements.

The at least one drive element of the transfer gripper can be designed electrically, mechanically, pneumatically and hydraulically. Particularly advantageous, in particular because of the low complexity, is a pneumatic design using one or more cylinders, each with one or more pistons and the associated air chambers. Each drive element can - as non-exhaustive examples - in particular have an actuating rocker, a crank drive or a scissors joint.

The holding element is preferably designed in such a way that at least two workpiece carriers can be held with one holding element. This enables several workpiece carriers to be gripped and / or moved with only one drive element. It can be provided, in the case of several drive elements per transfer gripper, that all drive elements can be controlled via a common limit switch or a number of common limit switches.

The at least one drive element preferably has one or more pneumatic closing pistons for closing the transfer gripper and / or one or more pneumatic opening pistons for opening the transfer gripper.

These pistons can be designed in a so-called tandem arrangement. In the present case, a tandem arrangement is an arrangement with two small pistons arranged next to one another instead of one large piston, whereby installation space can be saved in at least one direction (e.g. the Y direction of the processing machine). In a preferred embodiment, the opening pistons and the closing pistons are not arranged one behind the other, as in a normal cylinder, but next to one another, in particular offset from one another, which also allows installation space, for. B. saves in height (or in the Z direction of the processing machine).

It is also conceivable that, instead of classic cylinders with pistons and piston seals, elastic membranes or bellows are used in the air chambers for the at least one drive element, in other words, bellows or membrane cylinders. These are made of a flexible material and make it possible to compensate for tolerances when moving the holding element, in particular an offset in the y direction or a deviation in the angle between the holding element and the drive element when the holding element is driven.

The air chambers in the closing piston for closing / clamping are preferably dimensioned larger than those air chambers in the opening piston for opening. To the Instead of an actively controlled air chamber, a passive spring element can also be used for opening, i.e. like a single-acting cylinder.

The holding element preferably has a spring for pretensioning the holding element, whereby the holding element can be pretensioned. The retaining element can be pretensioned by a spring in such a way that it assumes a specific position in each case in the non-actuated state. This position particularly preferably corresponds to the position of the holding element in the state in which the workpiece carrier is held in a clamped manner. This makes it possible to hold the workpiece carrier without the need for an active drive to hold it. The associated decoupling of the transfer gripper from the drive element enables relative movements of the transfer gripper with the workpiece carriers clamped therein - without a large and heavy drive element having to move with it.

Another aspect of the invention relates to a transfer module. The transfer module comprises a transfer gripper with a positioning geometry. The positioning geometry is designed in particular as described here.

The positioning geometry is preferably arranged displaceably on the transfer gripper. The positioning geometry can be designed as displaceable toothed racks. The transfer module has, in particular, a transfer gripper as described here. The transfer module can also comprise an X-guide element for moving the transfer gripper, in particular in an oscillating manner. The X-guide element can be designed as a guide rail.

The arrangement of a transfer gripper on an X-guide element for moving the transfer gripper makes it possible to move the transfer gripper along a predetermined direction. A workpiece carrier appropriately held or clamped in the transfer gripper can be moved accordingly along the specified direction.

A workpiece carrier can therefore be moved from one processing position to a further processing position with a transfer module. Typically, a processing module is provided in each processing position, which, depending on the design, carries out different processing steps. For example, it is possible for a first processing module to strip a line end and a second processing module to crimp a corresponding crimp connection onto the stripped line end.

The transfer module can be provided with an X drive, this X drive being, for example, a cylinder, a linear motor direct drive or a servo drive with a spindle, toothed belt or rack. The X drive on the transfer module is designed in such a way that the transfer gripper can perform an oscillating movement. This means that the X-drive can be operated forwards and backwards so that the transfer gripper can be moved between two or more positions.

A transfer module as described here can comprise at least one second transfer gripper, in particular at least one second transfer gripper as described here. The at least two transfer grippers are preferably coupled to one another. It is conceivable to establish the coupling via common holding elements of the transfer grippers.

Alternatively or additionally, it is also possible to provide very wide transfer grippers with correspondingly wide holding elements, in particular support jaws and / or clamping jaws. Such wide transfer grippers can simultaneously or together men grip two or more workpiece carriers with the same movement. For such wide transfer grippers, several drive elements can be used in parallel, preferably several pneumatic drives that share the same pair of limit switches. This enables several workpiece carriers to be moved at the same time with the same transfer gripper.

If, for example, two transfer grippers are arranged side by side in a transfer module and they are each in a first position, the position of a first transfer gripper corresponds to the corresponding position of a first processing module and the position of a second transfer gripper corresponds to the corresponding position of a second processing module. If the transfer module is activated, i.e. the transfer grippers of the transfer module are moved by one position, the position of the first transfer gripper then corresponds to the corresponding position of the second processing module and the position of the second transfer gripper corresponds to a corresponding position of a third processing module. This means that the workpiece carriers are correspondingly shifted along the workpiece carrier travel axis by one position in the machining direction or in the workpiece carrier travel direction. After this movement, the respective transfer grippers are opened and moved back to the original position.

Before the transfer grippers are opened, the respective workpiece carriers are taken over or clamped or held in place by a station gripper in the appropriate position, for example within a processing machine. The station gripper can preferably be a station gripper as described here.

Another aspect of the present invention relates to a processing machine, in particular a cable processing machine, comprising at least one transfer module as described here. The transfer module is preferably arranged along a workpiece carrier travel axis. That is, the oscillating movement of the The transfer gripper of the transfer module has essentially the same direction as the workpiece carrier axis.

This enables the provision of a complete system in which the positions of the interfaces to the workpiece carriers can be approached precisely in relation to the respective processing module. In the present case, the positions of the interfaces are defined by the specific arrangement of the individual processing modules. In the case of a processing machine with transfer grippers as described here, the interface also corresponds to the transfer contact surface of the transfer gripper, since this can be set in a defined manner relative to the processing machine, and thus relative to a processing module, and a specific distance or a specific position of the workpiece carrier defined in relation to the transfer gripper.

The processing machine as described here preferably comprises transfer grippers for actuating the holding elements of the transfer grippers of a transfer module, which have a common actuating device. The actuating device has a common drive element for actuating the holding elements of the transfer grippers of a transfer module.

The transfer grippers preferably use holding elements, in particular support jaws and / or clamping jaws, which are designed so wide that they can hold / grip more than just one workpiece carrier. This enables the multiple transfer grippers of a transfer module or the wide transfer gripper for multiple workpiece carriers to be opened or closed at the same time. In this way, several workpiece carriers can be released or gripped together.

The processing machine preferably comprises at least one second transfer module.

The respective transfer modules can preferably be controlled independently, which enables the respective workpiece carriers of the respective transfer module to be moved separately.

This enables a workpiece carrier to be placed and removed at a respective machining position, that is to say on or near a respective machining module, regardless of the duration of the machining of a second machining module. For example, a processing machine can have a first group of processing modules, all of which have essentially the same processing duration. This processing machine can have a second group of processing modules which have a processing duration that differs from the first group of processing modules. Thus, for example, the first group of processing modules can be equipped with a first transfer module and the second group of processing modules can be equipped with a second transfer module. A further transfer module can be provided in order to convey workpiece carriers from the first group of processing modules to the second group of processing modules. Thus, within the first group of machining modules and the second group of machining modules, the respective workpiece carriers can be conveyed independently of the respective other group of machining modules and the corresponding workpieces can be machined.

If the processing machine at least comprises a first and a second transfer module, then these transfer modules have an X-guide element on which the transfer grippers are arranged. This makes it easier to adjust and align the individual elements. The X-guide element is designed in particular as a guide rail, which enables a simple structural design of the transfer module.

These transfer modules preferably have a common X-guide element, which additionally simplifies their structural design and their handling.

The transfer modules are preferably designed such that the transfer grippers can be placed in three or more positions and at least one position of the first transfer module overlaps with a position of the second transfer module.

Each transfer module is preferably designed in such a way that the transfer grippers can be displaced along the workpiece carrier travel axis in an oscillating movement, in particular relative to a position of the station gripper. The distance of the displacement is at least the distance between the first station gripper and a second station gripper. This enables the precise positioning of a workpiece carrier in exactly two positions.

The distance is preferably twice the distance between the first station gripper and the second station gripper. If there is a distance which corresponds to twice the distance between the first station gripper and the second station gripper, provision can be made, for example, to provide a third station gripper, which is arranged in the third position between the first and the second station gripper and to which a corresponding processing module is assigned is. This also makes it possible to skip a processing station, i.e. to transfer a workpiece carrier directly from the first to the second position, which is, for example, a transfer station for transferring a workpiece carrier to a transfer gripper of a second transfer module. This enables the alternative gripping of a workpiece carrier at this position by one transfer gripper each of the first and second transfer modules.

Another aspect of the invention relates to a processing machine, in particular a cable processing machine, comprising at least one transfer module and including at least one station gripper, the processing machine being configured in accordance with a processing machine with a transfer module as described here and in accordance with a processing machine with a station gripper as described here. This enables the provision of a complete system in which both the interfaces to the workpiece carriers are precisely defined in relation to the respective machining module and the positions of the interfaces to the workpiece carriers can be approached precisely in relation to the respective machining module. This enables the transfer of a workpiece carrier from a transfer gripper to a station gripper and vice versa. With a transfer gripper, a workpiece carrier can thus be transported from a first interface of a first station gripper to a first interface of a second station gripper. The processing machine can be precisely adjusted and configured to the respective requirements.

Depending on the desired configuration, the processing machine can thus have one or more processing modules and / or one or more groups of processing modules. The transfer modules are configured accordingly. In other words, the processing machine can have one or more transfer modules and preferably a corresponding station gripper for each processing module. In a preferred embodiment, the transfer gripper or grippers are arranged essentially parallel to the station grippers, in such a way that a workpiece carrier can be transferred from a transfer gripper to a station gripper.

This facilitates the transfer of a workpiece carrier from a transfer gripper to a station gripper.

The station grippers are preferably arranged in such a way that the carrier contact surfaces of a plurality of station grippers lie in one plane. This plane extends along the workpiece carrier travel axis and also along an axis of the X-guide element of the transfer module. The X-guide element, the workpiece carrier axis of travel and the carrier contact surface are preferably spaced apart in parallel. This enables simple adjustment and alignment of the respective elements.

Another aspect of the present invention relates to a return lift, comprising a return gripper, which is designed as a transfer gripper as described here or as a station gripper as described here. The return lift has one or more Z-guide elements and / or one or more Y-guide elements which enable the return gripper to be moved between two or more pick-up points and / or between two or more transfer points.

The two tapping points or the two transfer points are preferably each arranged in a first plane and in a second plane offset vertically from this plane. This enables the removal of a workpiece carrier at a first tapping point or transfer point, which can be arranged, for example, along the workpiece carrier axis of travel and in particular can correspond to a transfer position of a transfer gripper, as well as placing the workpiece carrier at a second tapping point or transfer point, which can correspond, for example, to a transfer position of a return conveyor belt. In other words, with the transfer module, the workpiece carriers are transported from one processing module to the next processing module. B. a return conveyor belt, the workpiece carriers are transported from the end of the production line back to the beginning of the production line, preferably in the opposite direction. Two or more return lifts transport the workpiece carriers between the transfer module and the return conveyor belt. More complex combinations with several transfer modules, return conveyor belts and return lifts are also possible, as is, for example, the networking of several processing machines via conveyor belts, lifts, branches, magazines, group transport systems and other transport and logistics systems. In the case of such networked processing machines, not only empty workpiece carriers are returned to restart the circulation operation, but workpiece carriers with partially processed products can also be transported on from a first processing machine to one or more processing machines for subsequent processing. For this purpose, controllable branches and buffer sections are preferably provided to compensate for fluctuations in the processing speed and the utilization of the various individual processing machines. The lifts and conveyor belts required for this are advantageously constructed similarly to the return lifts and return conveyor belts described here. They are preferably designed in such a way that they also offer the necessary space for the product on the loaded workpiece carrier.

It can be provided that the movement from the first plane into the second plane is at least partially vertical. This enables a workpiece carrier to be moved or shifted quickly and easily.

The return lift can have one or more Z guide elements and / or one or more Y guide elements for moving the return gripper. The return lift can therefore be designed as an independent unit.

The Z guide elements and / or the Y guide elements can for example be designed as a cylinder, a linear motor direct drive or a servo drive with a spindle, toothed belt or rack.

An advantageous embodiment of a simple combination of Z guide elements, Y guide elements, Z drives and Y drives for mainly vertical movements is 2-axis kinematics with pneumatically driven linear axes, ideally with a rodless cylinder for the vertical axis. Rotary movements and / or non-linear link guides can also be used for more complex movements. With more than two pick-up points and / or transfer points or non-parallel workpiece carrier travel axes, the use of an articulated arm industrial robot is advantageous. Conveyor belts with curves and branches can be used to network several processing machines.

The different designs of the individual station grippers, transfer grippers and return grippers can be combined as required. In a preferred embodiment, the station gripper is designed with one or more centering pins as holding elements, the transfer gripper is designed with one or more support and clamping jaws as holding elements and / or the return gripper is designed with one or more expanding grippers as holding elements.

Another aspect of the present invention relates to a return module comprising a first return lift as described here and a second return lift as described here. A return conveyor belt for returning the workpiece carriers is arranged between the first return lift and the second return lift.

Alternatively, two return lifts, as described here, can be installed on both sides of the processing machine or the return conveyor belt and operated in pendulum fashion in pairs, which enables a faster processing machine cycle time. When installing two return lifts on each side in pairs, the two Z-axes are preferably coupled to one another. For example, the two Z-axes are mechanically coupled, e.g. B. via a toothed belt or a rope. Coupling the two Z-axes enables the same drive element to be used for both Z-axes and the use of the other return lift as a counterweight (analogous to a cable car)

A return module designed as in the present case enables the removal of workpiece carriers at the end of the production line from a processing level, the return of the respective workpiece carriers to the beginning of the processing line and the insertion of the respective workpiece carriers into the processing level. The return conveyor belt is advantageously arranged in the return plane.

In other words, this means that the workpiece carriers are taken from a workpiece carrier flow and fed to a return flow. The workpiece carrier flow and the return flow typically have different directions. In particular, these directions can be opposite.

The return conveyor belt is preferably made up of several segments. An independently drivable conveyor belt can be arranged in each segment. It can be provided that a segment is located directly below a return lift, which is driven against the return flow under the given condition, e.g. if there is a workpiece carrier in the return lift that has to be treated separately, thus automatically removing a defective one, for example Workpiece carrier, advantageously by reversing direction, allows. A feedback module designed as in the present case also enables an existing processing machine to be upgraded.

Another aspect of the present invention relates to a processing machine, in particular a cable processing machine, preferably a processing machine as described here, comprising at least one return lift or at least one

Feedback module as described here.

This enables the provision of a complete system which is individually adapted to the respective needs. The processing machine can have one or more station grippers, one or more transfer modules and one or more return lifts or return modules. This makes it possible to provide a complete production line in which a cycle of workpiece carriers is closed.

Another aspect of the present invention relates to a method for operating a processing machine, in particular a cable processing machine, preferably for operating a processing machine as described here. In the present method, workpiece carriers are transferred to a first transfer gripper. The

Transfer gripper transports the respective workpiece carrier along a workpiece carrier axis and transfers the workpiece carrier to a station gripper at a corresponding position.

The method is preferably carried out with a station gripper as described here and / or with a transfer gripper as described here.

This enables workpiece carriers to be moved easily from a first position to a second position.

In this method, the transfer gripper preferably performs an oscillating movement along the workpiece carrier travel axis, in particular relative to a position of the station gripper. The transfer gripper is moved back and forth by the distance between the first station gripper and a second station gripper. This enables the precise positioning of a workpiece carrier in exactly two positions.

The transfer gripper can in particular be moved back and forth by twice the distance between the first station gripper and the second station gripper. If there is a movement which corresponds to twice the distance between the first station gripper and the second station gripper, provision can be made to provide a third position which corresponds to an intermediate position. It is conceivable, for example, that a further station gripper, to which a corresponding processing module is assigned, is provided at the third position between the first and the second station gripper. It is also possible to skip a processing station, i.e. to transfer a workpiece carrier directly from the first position to the second position, which is, for example, a transfer station for transferring a workpiece carrier to a transfer gripper of a second transfer module. Another aspect of the present invention relates to a method for operating a processing machine, in particular a cable processing machine, preferably a method for operating a processing machine as described here, wherein a workpiece carrier is removed from a workpiece carrier flow in a first level and a return flow in a second level is fed. This enables a closed circuit to be provided in a simple manner.

The invention is explained in more detail below on the basis of figures, which merely represent exemplary embodiments. It shows:

FIG. 1: A processing machine in a perspective view; FIG. 2: a station gripper in a perspective view;

FIG. 2A: the station gripper from FIG. 2 in an orthogonal view; FIGS. 3A, 3B the section A-A from FIG. 2A; FIG. 3C shows the view according to FIG. 3A in the intended use of the station gripper in a processing machine; FIG. 4: a transfer gripper in a perspective view;

FIG. 4A: the transfer gripper from FIG. 4 in a top view; FIG. 4B: the transfer gripper according to FIG. 4 in a second perspective view

FIGS. 5A, 5B: the section B-B from FIG. 4A; shown transparently with some elements

Figure 5C, 5D: the views according to Figures 5A and 5B of an alternative

Embodiment of the transfer gripper;

FIG. 5E: the section C-C from FIG. 4A in a perspective sectional view

FIGS. 6A-6D: a sectional view similar to FIG. 3 through an alternative embodiment of the station gripper; FIGS. 7A, 7B: a sectional view similar to FIG. 5 through an alternative embodiment of the transfer gripper;

FIGS. 8A-8C: Variants of positioning geometries in a perspective

Detail display;

FIG. 9: a transfer module in a perspective view;

Figure 10A-10 F: a schematic sequence of the method of conveying the

Workpiece carrier in workpiece carrier flow;

FIG. 11: a return lift;

FIG. 12: a feedback module; and

13A-13K: a schematic sequence of the removal of a workpiece carrier from the workpiece carrier flow.

FIG. 1 shows a processing machine. The processing machine is designed as a cable processing machine 100. The coordinate system is drawn in relation to the workpiece carrier movement. The direction of the X-axis is the direction in which the workpiece carriers 20 are moved along the workpiece carrier travel axis, the Y-axis is the direction of horizontal transverse movement in certain processing stations 110 and the Z-axis corresponds to the vertical direction.

The workpiece carriers 20 move according to the thick arrows in the workpiece carrier flow. A plurality of and, in the present case, two processing modules 110 are formed on the cable processing machine 100. The processing modules 110 are fastened to a frame 101. A return module 80 is also attached to the frame 101. The return module 80 has two return lifts 70 and a return conveyor belt 81. A side guide 82 (see also FIG. 6D) is arranged on the return conveyor belt 81. A transfer module 60 is arranged on the frame 101. The transfer module 60 is fastened to the frame 101 with a plurality of supports, not shown in detail. The transfer module 60 extends along a workpiece carrier travel axis. The workpiece carrier travel axis is defined by the conveying direction of the workpiece carrier 20 and in the present case coincides with the X axis of the cable processing machine 100. Several station grippers 10 are also arranged along the workpiece carrier travel axis. A workpiece carrier 20 is located in each of the station grippers. For the sake of clarity, only one of the workpiece carriers 20 and one of the station grippers is designated with reference numerals. The feedback module 80 is only shown schematically. Due to the specific arrangement of the transfer module 60, the individual workpiece carriers 20 can be transported in the direction of the X-axis along the workpiece carrier travel axis from one processing module 110 to the next processing module 110. This The process and the respective elements are explained with reference to the following figures. In a supplementary embodiment, the workpiece carrier flow can be interrupted in the area of one of the two return lifts 70 and the direction of transport can be reversed at least temporarily (double arrow drawn in dashed lines). Thus, for example, a defective workpiece carrier 20 can optionally be ejected by temporarily reversing the direction of the return conveyor belt 81 under the return elevator 70 (for the downward movement of the workpiece carriers 20) shown on the left in FIG. In a supplementary embodiment, the return conveyor belt 81 can have a section or a segment which can be driven and controlled separately. The cable processing machine 100 can have an additional device in order to further transport these workpiece carriers 20 removed in this way.

FIG. 2 shows a station gripper 10 in a perspective view. The station gripper 10 is essentially U-shaped and has a carrier contact surface 11. In the present case, the carrier contact surface 11 is formed within the U and is formed as an essentially planar surface.

The station gripper 10 has two holding elements 12. The holding elements 12 are formed on one of the two legs of the U's. To actuate the holding elements 12, an actuating rocker 31 is provided, which is part of an actuating device 30 (see FIG. 3C). The actuating device 30 can be designed as an integral part of the cable processing machine 100 (see FIG. 1). However, it is also conceivable that each station gripper 10 has its own actuating device 30, which, for example, can be controlled separately for each station gripper 10. The rocker switch 31 is attached pivotably about a pivot pin 32.

2A shows the station gripper 10 from FIG. 2 in an orthogonal view in the direction of the carrier contact surface 11. In FIG. 2A, a section line A-A is drawn, which extends centrally through one of the two holding elements 12 and through the associated actuating rocker 31.

The station gripper 10 is shown in isolation in the present case. Typically, however, this is either fixedly connected to the cable processing machine 100 or to a processing module 110 attached to it (see FIG. 1) or, alternatively, it is movably arranged on a guide rail, for example.

FIG. 3A shows the section AA from FIG. 2A through the station gripper 10. In contrast to the perspective view from FIG. 2, a workpiece carrier 20 is drawn in the station gripper 10 in FIG. 3A. In FIG. 3A, the workpiece carrier 20 is held loosely within the station gripper 10 and at the present time by a transfer gripper 40 (not shown here) (see FIG. 5B). The station gripper 10 is in an activated state in FIG. 3A, in other words, the station gripper 10 is open and thus actuated. To operate the

Station gripper 10, the rocker switch 31 is operated in the Reilrichtung, that is, acted upon by a force. The actuating rocker 31 is pivotally attached to a pivot pin 32 and engages with its one end in a corresponding recess of the holding element 12 (see FIG. 2 in this regard). The second end of the actuating rocker 31 is intended to be actuated, for example, with a pneumatic or electric plunger (32) which is part of an actuating device (30) (see FIG. 3C). In an unactuated state (see FIG. 3B), the actuating rocker 31 is held in its original state by a spring 123, which is designed here as a conical compression spring. When actuating the rocker switch 31, the spring 123 is compressed in the present case. By this actuation of the rocker switch 31, a centering pin 121 of the holding element 12 is moved against the direction of the arrow. At its end facing the carrier contact surface 11, the centering pin 121 has a positioning geometry 13 which is designed as a conical element 131.

A centering 22 is formed on the workpiece carrier 20 which has surfaces 231 which are essentially complementary to the conical elements 131 of the positioning geometry 13. This centering 22 and the complementary surfaces 231 are formed in a separate bushing, which is pressed into an opening on the workpiece carrier 20, which is not designated in any more detail here. The workpiece carrier 20 faces the complementary

Surfaces 231 have a stop surface 25. The stop surface 25 is designed essentially complementary to the carrier contact surface 11 of the station gripper. In the illustration shown in FIG. 3A, the carrier contact surface 11 and the stop surface 25 are spaced apart from one another by the distance S1.

FIG. 3B shows the cross section according to FIG. 3A through the station gripper 10. The station gripper 10 is shown in FIG. 3B in an unactuated state. This means that the workpiece carrier 20 is clamped in the station gripper 10. The actuating rocker 31 is no longer acted upon by the aforementioned force in FIG. 3B. The end of the actuating rocker 31, which is at the bottom in FIG. 3B, is moved by the spring 123 counter to the direction of the groove. Correspondingly, the end of the actuating rocker 31 which is at the top in the figure is moved in the Reilrichtung. Thus, the centering pin 121 also moves in the ridge direction. The conical surfaces 131 of the positioning geometry 13 are in contact with the essentially complementary surfaces 221 of the centering 22 of the workpiece carrier 20. The movement of the rocker switch 31 moves the centering pin 121 in the direction of the carrier contact surface 11 (ridge direction). The workpiece carrier 20 is correspondingly moved in the direction of the carrier contact surface 11. The support surface 25 of the workpiece carrier 20 thus rests on the carrier contact surface 11. The distance S1 shown in FIG. 3A is therefore no longer present. The workpiece carrier 20 thus assumes a defined position. It must be taken into account that the station gripper 10 has two Actuating rockers 31 and correspondingly two holding elements 12 and thus also two centering pins 121 are formed.

FIG. 3C shows the cross section according to FIG. 3A, but the station gripper 10 is arranged in the cable processing machine 100 (see FIG. 1). In this illustration, the workpiece carrier 20, the station gripper 10, a transfer gripper 40 (see, for example, FIG. 5A) in a transfer module 60 (see, for example, FIG. 9) and an actuating device 30 are visible. In the present case, the transfer module 60 comprises a transfer gripper 40, an X-guide element 61 and a guide carriage 63 arranged thereon.

The illustration according to FIG. 3C is a sectional illustration in the Y-Z plane of the coordinate system (see FIG. 1). Several station grippers 10 are arranged one behind the other along the workpiece carrier travel axis in the direction of the X axis. The actuation device 30, which in the present case comprises the actuation rocker 31 and a plunger 33, acts simultaneously on several actuation rockers 31 of several station grippers 10.

FIG. 4 shows a transfer gripper 40 in a perspective view. The transfer gripper 40 is essentially C-shaped in the area in which a workpiece carrier 20 (see FIG. 5A) is gripped. The transfer gripper 40 is arranged on a guide carriage 63 for guidance on an X-guide element 61 (see FIG. 9). The transfer gripper 40 has a drive element 50, which in the present case is designed as a pneumatic cylinder. The pneumatic cylinder comprises pistons and the associated air chambers, which are arranged in parallel in an asymmetrical tandem arrangement. In this special compact design, this pneumatic cylinder has two opening pistons 51 for opening the transfer gripper 40 and one closing piston 52 for closing the transfer gripper 40. The movement of the opening piston 51 and the closing piston 52 is transmitted to the holding element 42 (see FIG. 5A). The holding element 42 has a support jaw 423 and a clamping jaw 424.

FIG. 4A shows the transfer gripper 40 according to FIG. 4 in an orthogonal plan view. A section line B-B is drawn in FIG. 4A, which extends through an opening piston 51 and a closing piston 52. A second section line C-C is also shown in FIG. 4A. This runs where one or more actuating rockers 4231 (see FIGS. 5A, 5B, 5E) can be installed.

FIG. 4B shows the transfer gripper 40 according to FIG. 4 again in perspective and at an angle from below. The positioning geometry 43, which is designed here as a toothing, is visible here. This toothing extends over the entire length of the clamping jaw 424 (see also FIG. 5A). FIG. 5A shows section BB from FIG. 4A through a transfer gripper 40. The transfer gripper 40 is shown open in FIG. 5A, that is, the opening piston 52 is pressurized and the two closing pistons 51 for closing are depressurized . In contrast to the illustration according to FIG. 4, the transfer gripper 40 is shown here together with a workpiece carrier 20. In the state shown in FIG. 5A, the workpiece carrier 20 is still held by a station gripper 10 (see, for example, FIG. 3B). The workpiece carrier 20 essentially corresponds to the workpiece carrier 20 which was described with reference to FIGS. 3A and 3B. The workpiece carrier 20 has, on its side directed towards the transfer gripper 40, an element which is not designated in more detail and which has a centering 24 and surfaces 241 which are complementary to the centering 24. The complementary surfaces 241 are essentially complementary to a positioning geometry 43 which is formed on the transfer gripper 40.

The clamping jaw 424 of the holding device 42 was actuated with the drive element 50. The clamping jaw 424 is pivotably mounted on a pivot pin 4241. The clamping jaw 424 has a contact surface 4242 which is provided to interact with a corresponding contact surface 4235 of an actuating rocker 4231. By activating the actuating device 50, the clamping jaw 424 was pivoted with its right-hand end in FIG. 5A upwards (direction of the ridge). The clamping jaw 424 has a positioning geometry 43 which has conical elements 431. The conical elements 431 are designed to be essentially complementary to surfaces 241 on the workpiece carrier 20. The transfer gripper 40 has a support jaw 423 which is designed in two parts. In the present case, the support jaw 423 comprises a fixed part 4234 and a movable part 4233. The movable part 4233 is movable at least in a vertical direction. An actuating rocker 4231 is arranged within the fixed part 4234 and is pivotably mounted on a pivot pin 4232. The rocker switch 4231 can be operated by the clamping jaw 424. The fixed part 4234 is shown transparently here.

A stop surface 27 is formed on the workpiece carrier 20 which, in the position shown here, is formed essentially parallel to the transfer contact surface 41 of the transfer gripper 40. In the present case, the transfer contact surface 41 is arranged on the movable part 4233 of the support jaw 423. The transfer contact surface 41 is spaced apart from the stop surface 27 by the distance S2.

FIG. 5B shows the cross section according to FIG. 5A, but the transfer gripper 40 is closed. In other words, the closing piston 51 for closing is activated or pressurized and the two opening pistons 52 for opening are depressurized. Som it is the clamping jaw 424 and the support jaw 423 in a closed state.

By activating the closing piston 51 and / or by deactivating the opening piston 52 of the drive element 50, the clamping jaw 424 with its in the figure now has 5B, the right end is pivoted around the pivot pin 4241 in the direction of ripping. By pivoting the clamping jaw 424, the contact surface 4242 was also pivoted. The contact surface 4242 is thus in operative connection with the contact surface 4235 of the actuating rocker 4231 and has moved the actuating rocker 4231 accordingly. Since the rocker switch 4231 is pivotably mounted about the pivot pin 4232, the end of the rocker switch 4231 on the right in FIG. 5B has been moved upwards against the ridge direction and accordingly has the movable part 4233 of the support jaw 423 upwards in the direction of the stop surface 27 of the workpiece holder 20 emotional. The transfer contact surface 41 was thereby brought into connection with the stop surface 27 of the workpiece holder 20. The distance S2 (see FIG. 5A in this regard) is therefore no longer present.

By pivoting the clamping jaw 424, the positioning geometry 43, and in this case the conical elements 431 (see FIG. 5A), was brought into operative connection with the centering 24 and the corresponding complementary surfaces 241 (see FIG. 5A). As a result of this operative connection, the workpiece carrier 20 was correspondingly aligned with respect to the transfer gripper 40. It is provided that a plurality of elements with a corresponding positioning geometry 43 are arranged on the clamping jaw 424 and form a tooth system (see FIG. 4B). The workpiece carrier 20 is precisely positioned by the corresponding positioning geometry 43 and by the support of the stop surface 27 on the transfer contact surface 41. In an alternative embodiment according to FIGS. 5C and 5D, which representations essentially correspond to the representations according to FIGS. 5A and 5B and are described across the board, the transfer gripper 40 on the holding element 42 does not have any actuating rockers 4231 (see FIG. 5A). The distance S2 is achieved here in that the workpiece carrier 20 is offset by this distance S2 from a station gripper 10 (see, for example, FIG. 3B) according to the state shown in FIG. 5C in relation to the clamped position in the transfer gripper 40 (according to FIG. 5D) is held. In contrast to the embodiment according to FIGS. 5A and 5B, the support jaw 423 is only constructed in one piece and has no moving part. The process for clamping a workpiece carrier 20 therefore corresponds to that which is described with reference to FIGS. 5A and 5B, but without a movable part of the support jaw 423 being moved upwards. Rather, when the clamping jaw 424 is activated, the workpiece carrier 20 is moved downward by the amount of the distance S2. The distance S2 disappears (FIG. 5D) and the workpiece carrier 20 is securely held between the clamping jaw 424 and the supporting jaw 423.

FIG. 5E shows the sectional view along the section line CC from FIG. 4A in a perspective view. In this view, two of the four operating rockers 4231 installed here are visible. These are arranged between the movable part 4233 and the fixed part 4234. This arrangement shown here enables a good introduction of force into the movable part 4233, since this arrangement of the actuating rockers 4231 a force introduction at several points on a surface of the movable part 4233, which extends essentially parallel to the XY plane (see Figure 1) and is aligned in the direction of the Z axis, enable.

A transfer gripper 40 as described here is typically arranged on a transfer module 60 (see FIG. 9 in this regard). The transfer of a workpiece carrier 20 from a station gripper 10 to a transfer gripper 40 is described below with reference to FIGS. 10A to 10F.

It can be provided that several transfer grippers 40 each have common support jaws 423 and clamping jaws 424 and are thus connected to one another.

FIGS. 6A to 6C show a sectional view similar to FIG. 3 through an alternative embodiment of a station gripper 210. According to these figures, this station gripper 210 is also designed as a return gripper 71. With regard to the location and the position of the workpiece carrier 20, the illustration according to FIG. 6A essentially corresponds to the illustration according to FIG. 3A. The station gripper 210 has holding elements 112 which, in this embodiment, are designed as expanding grippers 122. It can be provided that the holding elements 112 are arranged in pairs on the station gripper 210. The expanding gripper 122 has two gripping elements 1221. These are each mounted pivotably about an unspecified axis. An opening 28 is provided on the workpiece carrier 20, which opening is provided in order to engage with the expanding gripper 122 or with the respective gripping elements 1221.

The gripping elements 1221 have a positioning geometry 113 at their front end, on the left in FIG. 6A. The positioning geometry 113 on each gripping element 1221 is essentially V-shaped. The positioning geometry 113 comprises inclined surfaces 132 and carrier contact surfaces 111. Accordingly, essentially complementary elements are provided on the workpiece carrier 20, namely complementary surfaces 221 and a stop surface 25. These are located in the opening 28 of the workpiece carrier 20. The complementary surfaces 221 form an undercut 21. These complementary surfaces 221 can be formed circumferentially in the opening 28. In the present case, with reference to FIG. 6A, they are formed at the top and bottom in the opening 28, wherein, for the sake of clarity, they are only provided with reference numbers at the bottom. The following description also relates only to one gripping element 1221 and applies equally to the second gripping element 1221.

The station gripper 210 must be moved in the Y direction (ie, horizontally transversely to the workpiece carrier travel axis) in order to grasp and dissolve the gap S1. In the present representation according to FIG. 6A, the movement in the ridge direction takes place from right to left. FIG. 6B shows the station gripper 210 or return gripper 71 after it has been moved in the direction of the arrow (see FIG. 6A). This position of the station gripper 210 and of the workpiece carrier 20 essentially corresponds to the position and location as described for FIG. 3B. The carrier contact surface 111 is spaced apart from the stop surface 25 by the distance S1 *. The gripping elements 1221 are still in the position shown in FIG. 6A relative to one another, their front ends being moved towards one another. In the position shown in FIG. 6C, the gripping elements 1221 have been pivoted according to the arrow (see FIG. 6B). The inclined surfaces 132 of the positioning geometry 113 are in operative connection with the complementary surfaces 211 of the opening 28 of the workpiece carrier 20. In addition, the carrier contact surface 111 is in operative connection with the stop surface 25. The workpiece carrier 20 is thus held securely with the station gripper 210. In the present embodiment, all of the positioning geometries 113 and stop surfaces are formed on both gripping elements 1221 of the expanding gripper 122.

FIG. 6D shows an arrangement according to FIG. 6A, with the difference that the workpiece carrier 20 is not held by a transfer gripper, but is located on a return conveyor belt 81 of a return module 80. A side guide 82 is formed on the return module 80. In the present case, this lateral guide 82 is designed in such a way that it leaves the opening 28 of the workpiece carrier 20 free. A second variant of the side guide 82 is shown in dashed lines, in which the side guide 82 extends to above the opening 28 and covers it. In this embodiment it is provided that there are upwardly open slots 84 in the side guide 82 so that the station gripper 210 can be moved vertically downwards together with the workpiece carrier 20 held therewith (according to FIG. 6C) until the workpiece carrier 20 is on the return conveyor belt 81 rests. The holding elements 112, which are designed as gripping elements 1221, reach through the slots 84 of the side guide 82. The station gripper 210 then carries out the steps according to FIGS. 6A to 6C in reverse order and releases the workpiece carrier 20. The arrangement according to FIG. 6D corresponds in particular to the arrangement of a return gripper 71 (see also FIGS. 11 to 13).

FIGS. 7A and 7B show a sectional view similar to FIG. 5 through an alternative embodiment of the transfer gripper 40. The transfer gripper 40 has holding elements 42, which in the present case are designed as an expanding gripper 422. The expanding gripper 422 has gripping elements 4221. For the sake of clarity, only one of the two gripping elements 4221 has been provided with all reference numerals. All of the following statements apply accordingly to both gripping elements 4221.

The positioning geometry 43 is formed on the gripping elements 4221. The positioning geometry 43 has inclined surfaces 432. The positioning geometry 43 is formed on each gripping element 4221. The position shown in FIG. 7A essentially corresponds to the position shown in FIG. 5A, that is, the transfer gripper 40 is in the FIG. 7A is shown in an actuated, in other words, activated position and is open. The transfer gripper 40 is shown together with a workpiece carrier 20. In the state shown in FIG. 7A, the workpiece carrier 20 is still held by a station gripper 10 (see, for example, FIG. 3B). In the embodiment shown here, the gripping elements 4221 are pivoted completely out of the clearance profile of the workpiece carrier 20. This can thus be moved, for example, by a station gripper in this position directly upwards, into the plane of the sheet and out of the plane of the sheet. It is not necessary to increase a distance S2 before moving in these directions.

A stop surface 25 of the workpiece carrier 20 is spaced apart from the transfer gripper 40 by the distance S2. The distance S2 corresponds to the distance between a transfer contact surface 41 of the transfer gripper 40 and the stop surface 25 of the workpiece carrier 20. In the present embodiment, the workpiece carrier 20 has an undercut 23 which is designed for the gripping elements 4221 of the expanding gripper 422 to engage. The undercut 23 has complementary surfaces 231, which are essentially complementary to the inclined surfaces 432.

FIG. 7B essentially corresponds to FIG. 5B in terms of position and location. The workpiece carrier 20 is held by the transfer gripper 40 in FIG. 7B. The transfer contact surface 41 of the transfer gripper 40 is in contact with the stop surface 25 of the workpiece carrier 20. By pivoting the gripping elements 4221 about axes not specified here, they are in engagement with the undercut 23 of the workpiece carrier 20 inclined surfaces 432 is formed on the respective gripping elements 4221, in operative connection with a complementary surface 231 of the undercut 23. This operative connection pulls the workpiece carrier 20 in the direction of the transfer gripper 40 such that the distance S2 between the transfer contact surface 41 and the stop surface 25 no longer exists. In principle, it would be conceivable to also design the station gripper with gripping elements in accordance with the embodiment according to FIGS. 7A and 7B.

The variant of a positioning geometry 93 shown in FIG. 8A has two inclined flat surfaces 931 which converge towards one another towards the free end. The design of this positioning geometry 93 is comparable to the blade end of a screwdriver for slotted screws.

The variant of a positioning geometry 193 shown in FIG. 8B has two inclined flat surfaces 1931 which converge towards the free end, as well as two flat surfaces 1932 which are arranged perpendicular thereto and which run parallel to one another. The variant of a positioning geometry 293 shown in FIG. 8C has four inclined flat surfaces 2931 which converge towards one another towards the free end. The design of this positioning geometry 293 is comparable to a truncated pyramid.

FIG. 9 shows a transfer module 60 in a perspective view. The transfer module 60 has two transfer grippers 40 which are coupled to one another and form a transfer carriage 64 (second transfer gripper 40 not visible in this figure). The coupling can take place, for example, via common support jaws 423 or via common clamping jaws 424 (see FIG. 4) or intermediate pieces not described in more detail. Both transfer grippers 40 are arranged with one or more guide carriages 63 (see FIG. 4 in this regard) on an X guide element 61. To move the coupled transfer grippers 40, an X drive 62 is provided in the transfer module 60, which enables the coupled transfer grippers 40 to move linearly along the X guide element 61. In the present case, the X-drive 62 has an electric motor which moves a toothed belt via a pinion. The toothed belt is connected to the coupled transfer grippers 40. Depending on the direction of rotation of the electric motor, the coupled transfer grippers 40 are shifted along the X guide element 61 in the direction of the workpiece carrier travel axis or in the opposite direction. The process of shifting and transferring workpiece carriers 20 is described below with reference to FIGS. 10A to 10F.

FIGS. 10A to 10F show a schematic sequence of the method of conveying the workpiece carriers 20 in the workpiece carrier flow. For each figure there is a detailed view, not designated in more detail, in which the respective direction of movement can be seen.

FIG. 10A shows an original position of a transfer module 60 in a processing machine with station grippers 10. The processing machine not shown here (indicated by the hatched area in the station grippers 10) has several station grippers 10, these being structurally identical and only one of the station grippers 10 is provided with a reference number. Each of the station grippers 10 has a folding element 12. In the present arrangement, the processing machine has seven station grippers 10, of which two of the station grippers 10 are not occupied by workpiece carriers 20. The last station gripper 10, which is occupied, is marked with the position P1 and the first station gripper 10, which is not occupied, with the position P2. The transfer module 60 has five transfer grippers 40, these five transfer grippers 40 being coupled to one another and accordingly being able to be opened at the same time. Each transfer gripper 40 has a holding element 42. The transfer grippers 40 are coupled to an X-drive 62 with a connection, which is not designated in any more detail.

For the sake of simplicity, only reference is made here to the transfer gripper 40, the holding element 42 of which has a reference number, and to the two station grippers 10, which are provided with the positions P1 and P2. The explanations also apply in each case for the further transfer grippers 40 and / or station grippers 10, each of which has the same status as the transfer gripper 40 and / or station gripper 10 described. In the original position according to FIG. 10A, a workpiece carrier 20 is held at position P1 with the holding element 12 of the station gripper 10. The transfer gripper 40 of the transfer module 60 is located in a corresponding position opposite the workpiece carrier 20 (FIG. 10A). In a first step, the holding element 42 of the transfer gripper 40 is activated (symbolic line according to the detailed view of FIG. 10A) in such a way that the workpiece carrier 20 is held by the transfer gripper 40 (see, for example, FIG. 5B). This end position is shown in FIG. 10B.

The holding element 12 of the station gripper 10 is then opened (see, for example, FIG. 3A) in such a way that the workpiece carrier 20 is released (symbolically represented by the movement arrow in the detailed view of FIG. 10B). The workpiece carrier is now held on the transfer gripper 40 of the transfer module 60. This position is shown in FIG. 10C. In a next step, the X drive 62 of the transfer module 60 is activated. The transfer gripper 40, together with the workpiece carriers 20, is now moved from position P1 to position P2 in the direction of the line in FIG. 10C. As soon as this position P2 is reached, the operation of the X-drive 62 is stopped. This position is shown in FIG. 10D.

The workpiece carrier 20 is then transferred back to the station gripper 10. For this purpose, in a next step, the workpiece carrier 20 is gripped with the holding element 12 of the station gripper 10 (symbolic movement arrow according to the detailed view in FIG. 10 D) and held (see FIG. 3B). The holding element 42 of the transfer gripper 40 is then released (symbolic movement arrow in the detailed view of FIG. 10E) and the workpiece carrier 20 is released (see FIG. 5A). The workpiece carrier 20 originally located at position P1 is now at position P2 and can be processed further with a processing module 110 (see FIG. 1).

In order to restore the original position of the transfer module 60, the X-drive 62 is activated in the opposite direction (in the direction of the Reiles in accordance with FIG. 10 F). The transfer module now moves back to the original position counter to the ripping direction from FIG. 10C, in such a way that the transfer module 40 originally located at position P1 is also located again at position P1. This process can be repeated as often as desired, in such a way that all workpiece carriers 20 are moved past each position P1, P2. In other words, the workpiece carriers 20 are conveyed in one direction in a workpiece carrier flow. The workpiece carriers 20 can be removed from the workpiece carrier flow at the end of the workpiece carrier flow and returned to the beginning of the workpiece carrier flow. This can be done manually or automatically. A facility for Returning or removing workpiece carriers 20 from the workpiece carrier flow is described below.

FIG. 11 shows a return lift 70 as part of a return module 80 (see FIGS. 1 and 12). The return lift 70 comprises a vertical Z guide element 72 for a movement along the Z axis (see FIG. 1), a horizontal Y guide element 74 for a movement along the Y-axis transversely to the workpiece carrier travel axis, as well as the drives required for these two movements, a Z-drive 73 and a Y-drive 75 as well as unspecified guide carriages. The vertical Z guide element 72 is in the present case part of a vertically arranged, actively driven linear axis, with the associated Z drive 73 designed as a rodless cylinder with an intermediate stop. The Y-guide element 74 is presently part of a horizontally arranged actively driven linear axis, with the associated Y-drive 75 designed as a normal round cylinder. If the return lift 70 is installed in a return module 80 (see FIG. 12), which in turn is arranged on a cable processing machine 100 (see FIG. 1), the Z guide element 72 extends in the direction of the Z axis (see FIG. 1) and the Y-guide element 74 in the direction of the Y-axis (see Figure 1). Return grippers 71 are arranged on the Y-guide element 74. The return grippers 71 are in the present case designed as two pairs of station grippers 10, as described with reference to FIGS. 6A to 6D. With the help of the Z guide element 72 and the Y guide element 74 as well as the Z drive 73 and the Y drives 75, this return gripper 71 can be moved freely in the YZ plane, that is, in both directions transversely to the workpiece carrier axis, both empty and together with one or more workpiece carriers 20.

FIG. 12 shows a return module 80 in a perspective view. The feedback module

80 has two return lifts 70. The return lifts 70 are identical. In addition, the return module 80 has a return conveyor belt 81. The return lifts 70 and the return conveyor belt 81 together men form a substantially U-shaped arrangement. In the return conveyor belt 81, two workpiece carriers 20 are shown, of which only one of the workpiece carriers 20 is provided with reference symbols. To drive the return conveyor belt

81 a feedback drive 86 is provided. In the present case, the return conveyor belt 81 is designed as a toothed belt on which the workpiece carriers 20 can be placed. The return lift 70 shown on the left in FIG. 12 removes the workpiece carrier 20 from a workpiece carrier stream and places the workpiece carrier 20 on the return conveyor belt 81. The workpiece carriers 20 are transported by the return conveyor belt 81 in the negative X direction (along the Reil) to the return lift 70 shown on the right in FIG. If the return module 80 is arranged on a cable processing machine 100 (see FIG. 1), the return conveying direction extends in the direction of the X-axis (see FIG. 1). This return lift 70 removes the respective workpiece carriers 20 from the return conveyor belt 81 and feeds them to the workpiece carrier flow. In the present case, the return conveyor belt 81 is provided with side guides 82 (see also FIG. 6D), with side guides 82 Upwardly open slots 84 are provided (in this illustration) through which the gripping elements 1221 (see FIG. 6D) can engage to remove a workpiece carrier 20 from the return conveyor belt 81. In the area below the return lift 70 shown on the right, an end stop 83 is provided at which the conveyed workpiece carriers 20 are stopped and positioned at the same time so that they can be removed with the return lift 70.

FIGS. 13A to 13K show a schematic sequence of removing a workpiece carrier 20 from the workpiece carrier flow of a transfer drive and placing it in a return conveyor belt 81. According to FIG. 13A, a workpiece carrier 20 is held in a transfer gripper 40 in the original position. According to this illustration, the return conveyor belt 81 is located below the workpiece carrier 20. The return conveyor belt 81 is provided with a side guide 82. Arranged parallel to these elements is a return lift 70 with a return gripper 71, which is slidably mounted on a Z-guide element 72 and a Y-guide element 74 and active in the YZ plane via the two drives 73 and 75 (see FIG. 11) can be moved. In a first step (FIG. 13B) the return gripper 71 is moved in the direction of the horizontally aligned rope (see also FIG. 13A) towards the workpiece carrier 20 until its gripping elements penetrate into an opening 28 (see FIG. 6B) of the workpiece carrier 20. In the present case, the workpiece carrier 20 is embodied, for example, in accordance with the workpiece carrier 20 from FIGS. 6A to 6D and the return gripper 71 is likewise embodied in accordance with the station gripper 10 from FIGS. 6A to 6D. After this step, the gripping elements of the return gripper 71 are essentially located within a corresponding opening 28 of the workpiece carrier 20.

In the next step (FIG. 13C), the gripping elements of the return gripper 71 are spread apart (in the direction of the double arrow in FIG. 13B) moved in such a way that they essentially assume a position as shown in FIG. 6C. This means that the workpiece carrier 20 is now held by means of the return gripper 71.

The transfer gripper 40 is then opened. In the present case, the transfer gripper 40 is designed in accordance with the transfer gripper 40 according to FIGS. 5A and 5B. After opening, this releases the workpiece carrier 20 (FIG. 13D). For this purpose, a support jaw 423 (see FIG. 5A) is pivoted away (in the direction of the Reil in FIG. 13C).

After the workpiece carrier 20 has been released from the transfer gripper 40, the return gripper 71 is moved along the ripping direction according to FIG. 13D into the position according to FIG. 13E, the workpiece carrier 20 being completely removed from the transfer gripper 40. In FIG. 13D, the transfer gripper 40 moves back empty (Reil into the plane of the sheet) in order to fetch a new workpiece carrier 20. This takes place advantageously at the same time as the further processes of the return lift 70, which, however, is not shown here. After the movement of the return gripper 71 according to FIG. 13D, the return gripper 71 has assumed the position according to FIG. 13E. In this position, the return gripper 71 is moved along the Z-guide element 72 in the direction of the rope in FIG. 13E towards the return conveyor belt 81 (FIG. 13F). As soon as this movement has progressed so far that the workpiece carrier 20 is outside the clearance profile of the transfer gripper 40, the return gripper 71, as shown in Figure 13G, is moved along the direction of the Reil in Figure 13F, such that the workpiece carrier 20 is again essentially above the return conveyor belt 81. The vertical movement of the return gripper 71 is then continued along the Z guide element 72 (in the direction of the Reil in FIG. 13G) until the workpiece carrier 20 is deposited on the return conveyor belt 81. The side guide 82 of the return conveyor belt 81 is designed in accordance with the side guide according to FIG. 12 and has upwardly open slots 84 through which the gripping elements 1221 (see FIG. 6D) can grip.

After the workpiece carrier 20 has been set down or brought into contact with the return conveyor belt 81, the gripping elements 1221 (see FIG. 6D) of the return gripper 71 are opened (FIG. 131) by moving the gripping elements 1221 (see FIG. 6D) towards one another in the direction of the reed in FIG. 13H become. The return gripper 71 is removed from the opening of the workpiece carrier 20 (FIG. 13K) and for this purpose is moved in the direction of the arrow in FIG. 131.

The return gripper 71 then moves upwards along the Z guide element 72 and assumes the position shown in FIG. 13A. The process of removing a workpiece carrier 20 from the workpiece carrier flow can thus be repeated as soon as a new workpiece carrier 20 has been delivered again by the transfer gripper 40 (shown in dashed lines in FIG. 13K).

The return of a workpiece carrier 20 back into the workpiece carrier flow typically takes place with a second return lift 70 in the reverse order.

The list of reference symbols as well as the technical content of the claims and figures are part of the disclosure. The same reference symbols denote the same components or assemblies with the same function. List of reference symbols

10 station grabs

11 carrier contact area

111 carrier contact area

112 retaining element

113 Positioning Geometry

12 retaining element

121 centering pins

122 expanding gripper

1221 gripping element

123 spring

13 Positioning Geometry

131 conical elements

132 inclined surfaces

20 workpiece carriers

21 undercut

210 station grabs

211 complementary surfaces

22 centering

221 complementary surfaces

23 undercut

231 complementary surface

24 centering

241 complementary surfaces

25 stop surface

26 counterpart

27 stop surface

30 actuating device

31 rocker switch

32 pivot pins

33 tappets

40 transfer grippers

41 Transfer contact area

42 retaining element

422 expanding gripper

4221 gripping elements

423 support jaw

4231 rocker switch

4232 pivot pin

4233 moving part 4234 fixed part

4235 contact area

424 jaw

4241 pivot pin

4242 contact area

43 Positioning Geometry

431 conical elements

432 inclined surfaces

50 drive element

51 closing piston

52 Open piston

60 transfer module

61 X-guide element

62 X drive

63 guide carriages

64 transfer cars

70 return lift

71 Return gripper

72 Y-guide element

73 Y drive

74 Z guide element

75 Sterndrive

80 feedback module

81 Return conveyor

82 side guides

83 end stop

84 slot

86 feedback drive

100 cable processing machine

101 frame 110 processing module

93 Positioning Geometry

931 inclined surface

193 positioning geometry

1931 sloping surface

1932 parallel surface

293 Positioning Geometry

2931 inclined surface X X axis

Y Y axis

Z Z axis

51 distance

S1 * distance

52 distance

P1 position

P2 position

Claims

1. Station grippers (10; 210), in particular station grippers (10; 210) of a

Processing machine, preferably a cable processing machine (100), for gripping a workpiece carrier (20), characterized in that the station gripper (10; 210) for at least one carrier contact surface (11; 111)

Support of a workpiece carrier (20) and at the same time a holding element (12; 112) and a positioning geometry (13; 93; 113; 193; 293).

2. Station gripper (10) according to claim 1, characterized in that the carrier contact surface (11; 111) is designed as a substantially planar surface.

3. Station gripper (10) according to claim 1 or 2, characterized in that the holding element (12) has at least one centering pin (121) which is preferably arranged opposite the carrier contact surface (11), such that by actuating the at least one centering pin (121) the workpiece carrier (20) between the carrier contact surface (11) and the at least one centering pin

(121) can be clamped, the holding element (12) preferably having a plurality of centering pins (121), particularly preferably two centering pins (121).

Station gripper (10) according to one of claims 1 to 3, characterized in that the holding element (12) comprises an expanding gripper (122) with at least two gripping elements (1221), the gripping elements (1221) preferably for engaging in an undercut (21 ) of the workpiece carrier (20) are designed such that when the gripping elements (1221) engage in the undercut (21), the workpiece carrier (20) is moved against the carrier contact surface (11).

5. Station gripper (10) according to one of claims 1 to 4, characterized in that the positioning geometry (13) is formed on the holding element (12), the positioning geometry preferably having inclined surfaces (132) or conical elements (131), which preferably can be brought into engagement with complementary surfaces (211, 221) on the workpiece carrier (20).

6. Station gripper (10) according to one of claims 1 to 5, characterized in that the station gripper (10) has an actuating device (30) for actuating the holding element (12).

7. Station gripper (10) according to one of claims 1 to 6, characterized in that the holding element (12) has a spring (123) for biasing the holding element (12).

8. Processing machine, in particular a cable processing machine (100), comprising at least one station gripper (10) according to one of claims 1 to 7.

9. Processing machine according to claim 8 comprising two or more station grippers according to one of claims 1 to 7, wherein at least two

Station grippers (10) have a common actuating device (30) for actuating the holding element (12).

10. Processing machine according to claim 8 or 9, characterized in that the station grippers (10) are arranged along a workpiece carrier travel axis.

11. Processing machine according to Claim 10, characterized in that at least one station gripper (10) can be moved transversely to the workpiece carrier travel axis and is in particular arranged on a rail.

12. Transfer gripper (40), in particular transfer gripper (40) of a processing machine, preferably a cable processing machine (100), for gripping a workpiece carrier (20), characterized in that the

The transfer gripper (40) has a transfer contact surface (41) for supporting a workpiece carrier (20) and, at the same time, a holding element (42) and a positioning geometry (43; 93; 193; 293).

13. Transfer gripper (40) according to claim 12, characterized in that the transfer contact surface (41) is designed as a substantially planar surface, the transfer contact surface (41) preferably being arranged on a movable support jaw (423).

14. Transfer gripper (40) according to claim 12 or 13, characterized in that the positioning geometry (43) is arranged on the transfer contact surface (41).

15. Transfer gripper (40) according to one of claims 12 to 14, characterized in that the holding element (42) has at least one clamping jaw (424), preferably several clamping jaws (424), wherein the at least one clamping jaw ( 424) is designed to be pivotable in particular about a pivot axis. 16. Transfer gripper (40) according to one of claims 12 to 14, characterized in that the holding element (42) at least has a centering pin which is preferably arranged opposite the transfer contact surface (41), such that the actuation of the at least one centering pin Workpiece carrier (20) can be clamped between the transfer contact surface (41) and the centering pin, the holding element (42) preferably having a plurality of centering pins, particularly preferably two centering pins.

17. Transfer gripper (40) according to one of claims 12 to 14, characterized in that the holding element (42) comprises a spreading gripper (422) with at least two Greifelem ducks (4221), the Greifelem duck (4221) preferably for engaging in an undercut (23) of the workpiece carrier (20) are formed such that when the gripping elements (4221) engage in the undercut (23), the workpiece carrier (20) is moved against the transfer contact surface (41).

18. Transfer gripper (40) according to claim 12 or 17, characterized in that the positioning geometry (43) is formed on the holding element (42), the positioning geometry preferably having inclined surfaces (432) or conical elements (431), which are preferably m it can be brought into engagement with complementary surfaces (231, 241) on the workpiece carrier (20).

19. Transfer gripper (40) according to one of claims 12 to 18, characterized in that a movement of the support jaw (423) and / or the transfer contact surface (41) by a movement of the holding element (42), in particular by a movement of the clamping jaw (424 ) is controllable. 20. Transfer gripper (40) according to one of claims 12 to 19, characterized in that the holding element (42) has at least one drive element (50) for actuating the holding element (42).

21. Transfer gripper according to Claim 20, characterized in that the holding element (42) is designed in such a way that at least two workpiece carriers (20) can be held with one holding element (42).

22. Transfer gripper (40) according to claim 20 or 21, characterized in that the indest one drive element (50) has one or more pneumatic closing pistons (51) for closing the transfer gripper (40) and / or one or several pneumatic opening pistons (52) for opening the transfer gripper (40), which are preferably designed in a tandem arrangement and these are preferably arranged next to one another, these preferably being designed as bellows or membrane cylinders.

23. Transfer gripper (40) according to one of claims 12 to 22, characterized in that the holding element (42) has a spring for pretensioning the holding element (42).

24. Transfer module (60) comprising a transfer gripper (40) with a positioning geometry (42), in particular a transfer gripper (40) according to one of the

Claims 12 to 23, and an X-guide element (61), in particular a guide rail, for moving the transfer gripper (40), in particular in an oscillating manner.

25. Transfer module according to claim 24, comprising a second transfer gripper (40), in particular a transfer gripper according to one of claims 12 to 23, characterized in that the transfer grippers (40) are coupled to one another.

26. Processing machine, in particular a cable processing machine (100), comprising at least one transfer module according to one of claims 24 or 25, wherein the transfer module is preferably arranged along a workpiece carrier travel axis.

27. Processing machine according to claim 26, characterized in that the transfer grippers (40) for actuating the holding elements (42) of the transfer grippers (40) of a transfer module have a common actuating device (50).

28. Processing machine according to claim 26 or 27, characterized in that the processing machine has at least one second transfer module, wherein the respective transfer modules can be controlled independently.

29. Processing machine, in particular a cable processing machine (100), according to one of claims 26 to 28 and according to one of claims 8 to 11.

30. Processing machine according to claim 29, characterized in that the transfer gripper or grippers (40) are arranged substantially parallel to the station gripper or grippers (10), in such a way that a workpiece carrier (20) is transferred from a transfer gripper (40) to a station gripper ( 10) is transferable.

31. Return lift (70) comprising a return gripper (71) which is designed as a transfer gripper (40) according to one of claims 12 to 23 or as a station gripper (10) according to one of claims 1 to 7, characterized in that the

Return lift (70) has one or more Z-guide elements (72) and / or one or more Y-guide elements (74) that move the return gripper (71) between two or more pick-off points and / or between two or more Allow transfer points, the two tapping points or the two transfer points preferably each being arranged in a first level and in a second level offset vertically with respect to this level.

32. return lift (70) according to claim 31, characterized in that the return lift (70) has one or more Y-drives (73) and / or one or more Z-drives (75) for moving the return gripper (71) from the first Has level in the second level.

33. Return module (80) comprising a first return lift (70) according to one of claims 31 or 32 or a first pair of two return lifts (70) each according to one of claims 31 or 32 and at least a second return lift (70) according to one of the Claims 31 or 32 or a second pair of two return lifts (70) each according to one of claims 31 or 32, characterized in that a return conveyor belt (81) is arranged between the first return lift (70) and the second return lift (70).

34. Processing machine, in particular a cable processing machine (100), preferably a processing machine according to one of claims 26 to 28 or according to one of claims 8 to 11 or according to claim 29, comprising at least one return lift (70) according to one of claims 31 or 32 or at least one feedback module (80) according to claim 31.

35. Method for operating a processing machine, in particular one

Cable processing machine (100), preferably for operating a

Processing machine according to one of claims 29 or 30, wherein workpiece carriers (20) are transferred to a first transfer gripper (40) and the transfer gripper (40) transports the respective workpiece carrier (20) along a workpiece carrier axis and the workpiece carrier (20) at a corresponding position Station gripper (10) is passed.

36. The method according to claim 35, wherein the transfer gripper (40) performs an oscillating movement along the workpiece carrier axis, in particular relative to a position of the station gripper (10), the transfer gripper (40) by the distance from the first station gripper (10) to a second Station gripper (10) is moved back and forth, in particular by twice the distance between the first station gripper (10) and the second station gripper (10).

37. A method for operating a processing machine, in particular a cable processing machine (100), preferably for operating a processing machine according to claim 34, wherein the workpiece carrier (20) by means of a return gripper (71) can be removed from a workpiece carrier flow in a first level and fed to a return flow in a second level.