Method for operating a transfer system and transfer system

Abstract

The invention relates to a method for operating a transfer system and a transfer system, in particular to a method for operating a transfer system. The transfer system is operated either according to a first operating mode or according to a second operating mode, wherein in the first operating mode, a control device is switched into a first switching position, so that a first supply device is activated for supplying a certain number of tool tubes, so that the first supply device selectively supplies the tool tubes with compressed air or vacuum via a respective supply line at a respective energy connection of each tool tube, wherein in the second operating mode, the control device is switched into a second switching position, so that a second supply device is activated for supplying the certain number of tool tubes, so that the second supply device supplies the tool tubes via the respective energy connections with compressed air via the first supply line and via the second supply line.

Description

Technical Field

[0001] The invention relates to a method for operating a transfer system and to a transfer system for carrying out the method. Background Art

[0002] A pneumatic manipulator is known from DE 20 2016 102 137 U1, which comprises a manipulator with a crossbeam, the manipulator comprises at least one adapter mounted on the crossbeam, and the manipulator comprises at least one compressed air supply, wherein each adapter comprises a base frame and at least one tooling (Tooling, sometimes referred to as a tool) with a tooling tube (Toolingrohr, sometimes referred to as a tool tube), wherein each base frame comprises at least one energy connection for the at least one tooling tube, and wherein each energy connection comprises at least two outputs for compressed air and / or vacuum for connecting the at least one tool. Summary of the invention

[0003] The object of the present invention is to provide a method for operating a transfer device and a transfer device in which a free choice can be made between different operating modes of vacuum generation while maintaining the interface between the tool tube and the base frame.

[0004] This object is achieved by a method according to the invention for operating a transfer device and a transfer device. The invention has a number of advantageous and expedient developments.

[0005] The method according to the invention for operating a transfer system provides that the transfer system is operated either according to a first operating mode, also referred to as central vacuum generation, or according to a second operating mode, also referred to as decentralized vacuum generation, wherein in the first operating mode (central vacuum) the control means is switched into a first switching position, so that for supplying a certain number of tool tubes the first supply means is activated, so that the tool tubes are optionally supplied with compressed air or vacuum by the first supply means via a respective supply line at a respective energy connection of each tool tube, wherein in the second operating mode (decentral vacuum) the control means is switched into a second switching position, so that for supplying the certain number of tool tubes the second supply means is activated, so that the tool tubes are supplied with compressed air for blowing off by the second supply means via the respective energy connections, respectively via the first supply line and respectively via the second supply line, respectively via the second supply line. As a result, the tool tubes installed at the transfer device can be supplied with compressed air or vacuum as required in a central or decentralized manner, without the need for additional replacement or modification of components.

[0006] Furthermore, the invention provides that, for the operation of the transfer system in accordance with the first operating mode, the supply of the tool pipe via the (decentralized) second supply means is blocked by a stop valve, and for the operation of the transfer system in accordance with the second operating mode, the supply of the tool pipe via the first supply means is blocked by a stop valve, which is arranged between the central first supply means and the decentralized second supply means. This prevents undesired mutual influence of the active or passive supply devices in the corresponding operating mode, thereby ensuring functional safety and a process that saves compressed air.

[0007] Finally, the method provides that, for the operation of the transfer system according to the (central) first operating mode, for each tool tube only the first outlet of the corresponding energy connection is used for the alternating introduction of compressed air or vacuum, and the corresponding second outlet is closed by a closure, in particular a valve or a stopper (sometimes called a plunger), and for the operation of the transfer system according to the (decentral) second operating mode, for each tool tube the first outlet of the corresponding energy connection is used for the introduction of compressed air for blowing out and the second outlet of the corresponding energy connection is used for the introduction of compressed air for vacuum generation. It is thereby possible to supply the tool tube pneumatically via only two outlets of the energy connection both in the central operating mode and in the decentral operating mode.

[0008] The transfer system according to the invention is designed such that the transfer system comprises a first supply device connected to the compressed air supply for providing compressed air and vacuum, the transfer system comprises a second supply device connected to the compressed air supply for providing compressed air, and the transfer system comprises a control device, wherein in a first switching position of the control device, the at least one tool pipe is supplied with compressed air and vacuum via the first supply device, and wherein in a second switching position of the control device, the at least one tool pipe is supplied with compressed air via the second supply device. As a result, the tool pipes installed at the transfer device can be supplied with compressed air or vacuum in a central or non-central manner as required, without the need for additional replacement or modification of components.

[0009] It is also provided that the (central) first supply device comprises at least one vacuum generating device operated with compressed air and the (decentral) second supply device comprises a first valve and a second valve, wherein the first supply device is connected to a first input of the energy connection of the base frame and optionally feeds the first input with compressed air or vacuum, and wherein the second supply device is connected to a first input and a second input of the energy connection of the base frame and feeds one of the inputs with compressed air and also the other of the inputs with compressed air. By such a connection of the two supply devices, the energy connection only has to provide two inputs for two supply variants.

[0010] It is also provided that the control means and the (non-central) second supply means are arranged at the manipulator or at the crossbeam or at the base frame, and the (central) first supply means are arranged at the base frame or the crossbeam. Thus, the weight of the base frame is kept low.

[0011] Furthermore, it is provided that the control device comprises a switching valve and a plurality of shut-off valves, wherein the shut-off valves are arranged between the first supply device and at least one energy connection and between the second supply device and at least one energy connection in such a way that in a first switching position of the control device, the supply line between the second supply device and the input of the energy connection is shut off and one or more supply lines between the first supply device and one or more inputs of the energy connection are open, and in a second switching position of the control device, one or more supply lines between the first supply device and one or more inputs of the energy connection are shut off and the supply line between the second supply device and the input of the energy connection is open. As a result, pressure losses are effectively prevented, so that the transfer device does not have unnecessary energy consumption.

[0012] It is also provided that one of the tool tubes is connected to one of the energy couplings in such a way that the tool tube and the suction gripper arranged thereon are connected in a first switching position of the control means to one of the outputs of the energy coupling which is connected to an input of the energy coupling which is connected to the first supply means, wherein the respective other output of the energy coupling is in particular closed by the tool tube, or that one of the tool tubes is connected to one of the energy couplings in such a way that the tool tube and the suction gripper arranged thereon are connected in a second switching position of the control means to outputs of the energy coupling which are connected to inputs of the energy coupling which are connected to the second supply means. As a result, the respective tool tube can be prepared in the simplest way for a central or decentral supply.

[0013] Furthermore, it is provided that the transfer system comprises two base frames connected to the crossbeam, each of which has two energy couplings, and that the transfer system comprises four tool tubes, wherein the four tool tubes are connected to the four energy couplings. Such a transfer system is particularly suitable for handling two planar workpieces.

[0014] It is also provided that at least one vacuum generating device of the first supply means is designed as a pneumatically controlled vacuum generating device with a compact ejector or at least one vacuum generating device of the first supply means is designed as an electrically controlled vacuum generating device with a compact ejector. As a result, the first supply means can be designed optimally for the control technology preferred with respect to the transfer device.

[0015] Finally, it is provided that each tool operated in the second switching position of the control device comprises a single ejector for generating vacuum at each of its suction grippers. As a result, the tool can generate different suction forces at its individual suction grippers, which are matched to the function of the individual suction grippers, by using different single ejectors.

[0016] In the context of the present invention, central vacuum generation is understood to mean a vacuum generation which takes place close to the tool and in particular close to the crossbeam and / or close to the base frame.

[0017] In the context of the present invention, decentralized vacuum generation is understood to mean vacuum generation which takes place directly at each suction gripper of the tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Further details of the invention are described with reference to exemplary embodiments shown in the drawings.

[0019] Here:

[0020] Figure 1 The manipulator with the crossbar is shown in a perspective view;

[0021] Figure 2 A base frame with two toolings is shown;

[0022] Figure 3 The detailed diagram shows the Figure 2 The base frame shown in;

[0023] Figure 4 The detailed diagram shows the Figure 2 The tooling shown in;

[0024] Figure 5 A schematic pneumatic principle diagram for a first switching position is shown, wherein pneumatic control is performed;

[0025] Figure 6 Shows Figure 5 Pneumatic schematic diagram in the second switching position;

[0026] Figure 7 A schematic pneumatic principle diagram for a first switching position is shown, wherein the control is electrically controlled;

[0027] Figure 8 Shows Figure 7 The pneumatic schematic diagram in the second switching position, and

[0028] Fig. 9 A schematic diagram of a transfer system is shown.

[0029] Reference numerals list

[0030] 1Transfer system

[0031] 2 Manipulator

[0032] 3 beam = crossbar

[0033] 3a The left cantilever of 3

[0034] 3b The cantilever on the right of 3

[0035] 4 Adapter

[0036] 5 4 base frame = load-bearing frame

[0037] 6 4's first tooling

[0038] 6a 6 tooling pipe

[0039] 6b-6f 6 suction grabber

[0040] 7 Second tooling

[0041] 7a 7 tooling pipe

[0042] 7b-7f 7 suction grabber

[0043] 8 Compressed air supply

[0044] 9Energy Connection

[0045] 10Energy Connection

[0046] 11,12 9 input part

[0047] 13,14 9 output part

[0048] 15,16 10 input part

[0049] 17,18 10 output part

[0050] 19First Supply Device

[0051] 20 Second supply device

[0052] 21 Control devices

[0053] 22 conversion valve as 21

[0054] 23,24 19 Vacuum generating device

[0055] 23a Supply line between 23 and 9

[0056] 24a Supply line between 24 and 10

[0057] 25-1 20 first valve

[0058] 25-2 20 second valve

[0059] 25a Supply line between 25-1 and 9 / 10

[0060] 25b Supply line between 25-2 and 9 / 10

[0061] 26-30 19 stop valve

[0062] 31,32 20 stop valve

[0063] 105 Second Frame

[0064] 106,107 Third tooling, fourth tooling

[0065] 123,124 Vacuum generating device

[0066] A6a, A6b 5, receiving part for R6a, R6b

[0067] A7a, A7b 5, receiving part for R7a, R7b

[0068] R6a, R6b Slider at 6 (Reiter, sometimes called bracket)

[0069] R7a, R7b Slider at 7

[0070] S1 21 first switching position

[0071] S2 22 second switching position

[0072] S9 6, plug connector for 9

[0073] S10 7, for 10 connectors

[0074] V14, V17 The closed part of 14 or 17. DETAILED DESCRIPTION

[0075] exist Figure 1 and 2 , important components of the transfer system 1 according to the present invention are shown. Figure 1 A manipulator 2 is shown in a perspective view with a crossbeam 3 , also referred to as a crossbar, which is fastened to the manipulator 2 . Figure 2 The adapter 4 is shown in a perspective view and comprises a base frame 5 and two fixtures 6, 7 connected to the base frame 5 via receptacles. The fixtures 6, 7 comprise fixture tubes 6a, 7a and suction grippers 6b to 6f and 7b to 7f connected to the fixture tubes 6a, 7a. The base frame 5 is also referred to as a carrier frame. The transfer system 1 comprises Figure 1 and 2 , wherein the adapter 4 is connected to the left-hand extension arm 3a of the cross member 3 in the assembled state, and wherein it is provided that a further, not shown, adapter is connected to the only partially shown, right-hand extension arm 3b of the cross member 3.

[0076] Accordingly, the transfer system 1 comprises a manipulator 2 with its crossbeam 3, an adapter 4 mounted on the crossbeam 3 and a compressed air supply 8. The base frame 5 comprises a first energy connection 9 for connecting the first tool 6 and a second energy connection 10 for connecting the second tool 7 (see Figure 2 ).

[0077] exist Figure 3 In the figure, a slightly enlarged view is shown. Figure 2 A known base frame 5 (which is without tooling). The first energy connection part 9 and the second energy connection part 10 each include two input parts 11, 12 or 15, 16 and respectively include two output parts 13, 14 or 17, 18 for compressed air and / or vacuum. The transfer system 1 includes a first supply device 19 for providing compressed air and vacuum, which is connected to the compressed air supply part 8. The first supply device 19 is arranged on the base frame 5 or, according to an embodiment variant not shown, is arranged at the crossbeam 3 or at the manipulator 2. The transfer system 1 includes a second supply device 20 for providing compressed air and vacuum, which is connected to the compressed air supply part 8. The supply device 20 is arranged at the manipulator 2 (see Figure 1 ). In addition, the transfer system 1 comprises a control device 21, which is designed as a switching valve 22 (see Figure 1 ).

[0078] In the first switching position S1 (see Figure 5 or 7), compressed air and vacuum are supplied to the two tooling pipes 6a, 7a via the first supply device 19. In the second switching position S2 of the control device 21 (see Figure 6or 8), supplying the two tooling tubes 6a, 7a with compressed air and vacuum via a second supply device 20.

[0079] exist Figure 4 In the figure, the two fixtures 6, 7 are shown separately. The fixture 6 comprises a plug-in connector S9, by means of which the fixture is connected to the first energy connection part 9 of the base frame 5 (see also Figure 2 The tool 7 also includes a plug-in connector S10, by means of which the tool is connected to the second energy connection part 10 of the base frame 5 (see also Figure 2 ) As soon as operation in the second switching position S2 is realized, the following tools are installed, which include individual ejectors for generating vacuum, wherein each suction gripper is associated with an individual ejector.

[0080] Furthermore, each fixture 6, 7 comprises two slides R6a, R6b or R7a, R7b, which are pushed into the associated receiving portions A6a, A6b or A7a, A7b of the base frame 5 in order to connect the fixture 6, 7 to the base frame 5 (see Figure 3 and 4 ).

[0081] Then with the help of Figure 5 The schematic pneumatic principle diagram shown in FIG. 1 illustrates the already mentioned first switching position S1 of the control device 21. Figure 5 As can be seen from the pneumatic principle diagram of the first supply device 19, the first supply device 19 comprises two vacuum generating devices 23, 24. Here, the vacuum generating device 23 is connected to the second input 16 of the second energy connection 10 via a supply line 23a, and here, the vacuum generating device 24 is connected to the first input 11 of the first energy connection 9 via a supply line 24a. Accordingly, compressed air or vacuum is provided at the outputs 13 and 18, respectively. The vacuum generating devices 23, 24 are designed as pneumatically controlled compact ejectors, which are sold, for example, by J.Schmalz GmbH under the product name SCPi.

[0082] In addition, it can be seen from the pneumatic principle diagram that the second supply device 20 includes a first valve 25-1. The first valve 25-1 is connected to the first input part 11 of the first energy connection part 9 and to the first input part 15 of the second energy connection part 10 via a supply line 25a, and can provide compressed air via the supply line 25a. The second supply device 20 includes a second valve 25-2. The second valve is connected to the second input part 12 of the first energy connection part 9 and to the second input part 16 of the second energy connection part 10 via another supply line 25b, and can provide compressed air via the supply line 25b. It can also be seen from the pneumatic principle diagram that in Figure 5 The first switching position S1 shown in Figure 6The switch between the second switching positions S2 shown in FIG. 2 is realized by means of seven shut-off valves 26 to 32 . Five shut-off valves 26 to 30 are associated with the first supply means 19 , and two shut-off valves 31 , 32 are associated with the second supply means 20 .

[0083] Compressed air is applied via the switching valve 22 in the switching position S1 and the five shut-off valves 26 to 30 are opened. Thus, in the switching position S1, the supply lines 23a and 24a leading from the first supply means 19 to the energy connection 9 or 10 are open, so that the energy connection 9, 10 can be supplied with vacuum or compressed air via these supply lines. The shut-off valves 28, 29 are also open, so that the first supply means 19 can be supplied with compressed air from the compressed air supply 8. The shut-off valve 30 is also open, so that the first supply means 19 can be supplied with compressed air for control purposes. The shut-off valves 31, 32 associated with the second supply means 20 are not applied with compressed air in the switching position S1 and are therefore blocked, so that there is no connection between the second supply means 20 and the energy connection 9, 10. The first supply means 19 is arranged on the base frame 5 as already mentioned. According to a variant embodiment not shown, it is also provided that the first supply means is arranged at the crossbeam or at the manipulator. Thus, the supply of the fixtures 6, 7 is realized in a central manner. The output 14 of the energy coupling 9 and the output 17 of the energy coupling 10 are respectively closed by the closure V14 or V17 shown by way of example in the case of central operation of the fixtures 6, 7. Here, the closures V14, V17 can each be constructed by a filler.

[0084] Depend on Figures 5 to 8 as well as Figure 3 It can be seen that each energy connection 9 , 10 comprises two further inlets to which the pre-air and the recirculation air are connected. Such additional supplies can be provided optionally.

[0085] exist Figure 6 Now by Figure 5The known pneumatic principle diagram shows that the switching valve 21 is in its second switching position S2 and in this second switching position, the shut-off valves 31, 32 are acted upon with compressed air, so that the supply lines 25a, 25b are released, which connect the second supply means 20 to the two energy connections 9, 10. In the second switching position S2, the shut-off valves 26 to 30 associated with the first supply means 19 are not acted upon with compressed air, so that the supply of compressed air to the first supply means 19 is blocked and the supply lines 23a, 24a connecting the first supply means 19 to the two energy connections 9, 10 are interrupted. Thus, a return flow of compressed air from the energy connections 9, 10 is also prevented. In the second switching position S2, compressed air is provided at the first outputs 13, 17 of the energy connections 9, 10, and in the second switching position S2, compressed air is also provided at the second outputs 14, 18 of the energy connections 9, 10.

[0086] Figure 7 and 8 The pneumatic schematic shown in Figure 5 and 6 The difference is that the first supply device 19 is not equipped with a vacuum generating device that is designed as a pneumatically controlled compact ejector, but is equipped with a vacuum generating device that is designed as an electrically controlled compact ejector. Electrically controlled compact ejectors are sold, for example, by J.Schmalz GmbH under the product name SXMP. By using an electrically controlled compact ejector, the pneumatic schematic is simplified as follows, so that the first supply device 19 only needs to be associated with two shut-off valves 26, 27. Accordingly, in the switching position S1 (see Figure 7 ), the shut-off valves 26, 27 are open and the shut-off valves 31, 32 associated with the second supply means 20 are closed. Figure 8 ), the shut-off valves 26, 27 are closed and the shut-off valves 31, 32 are open. Thus, the tool is supplied centrally with vacuum and compressed air via the energy connections 9, 10 in the first switching position S1 and decentrally with compressed air in the second switching position S2.

[0087] exist Fig. 9 1 shows a transfer system 1 by way of example. The crossbeam 3 of the manipulator 2 carries a base frame 5 and a further base frame 105. Two tools 6, 7 are arranged on the base frame 5 and two further tools 106, 107 are arranged on the second base frame 105. Accordingly, the transfer device 1 comprises two vacuum generating devices 23, 24 for the tools 6, 7 and two further vacuum generating devices 123, 124 for the tools 106, 107.

Claims

1. A method for operating a transfer system (1), characterized in that The transfer system (1) can be switched between a first operating mode and a second operating mode. - wherein in the first operating mode the control device (21) is switched into a first switching position (S1), so that the first supply device (19) is activated for supplying a certain number of tool tubes (6a; 7a), so that the first supply device (19) supplies compressed air or vacuum to each tool tube (6a; 7a) via a respective supply line (23a; 24a) at a respective energy connection (9; 10) of the tool tube (6a; 7a), - wherein, in the second operating type, the control device (21) is switched to the second switching position (S2), thereby activating the second supply device (20) for supplying the certain number of tooling tubes (6a, 7a), so that the second supply device (20) supplies the tooling tubes (6a; 7a) with compressed air for blowing open via the first supply line (25b) and with compressed air for vacuum generation via the second supply line (25a) via the corresponding energy connection parts (9; 10).

2. The method for operating a transfer system according to claim 1, characterized in that In order for the transfer system (1) to operate in accordance with the first operating type, the supply of the tooling pipe (6a; 7a) through the second supply device (20) is blocked by a stop valve (26-30; 31, 32); and in order for the transfer system (1) to operate in accordance with the second operating type, the supply of the tooling pipe (6a; 7a) through the first supply device (19) is blocked by a stop valve (26-30; 31, 32), which is arranged between the first supply device (19) and the second supply device (20).

3. The method for operating a transfer system according to claim 1 or 2, characterized in that In order for the transfer system (1) to operate according to the first operating type, for each tooling tube (6a; 7a), only one output part (13; 18) of the corresponding energy connection part (9; 10) is used for the alternating introduction of compressed air or vacuum, and the other output part (14; 17) is closed by a closing part (V14, V17); and in order for the transfer system (1) to operate according to the second operating type, for each tooling tube (6a; 7a), the first output part (13; 17) of the corresponding energy connection part (9; 10) is used for introducing compressed air for blowing and the second output part (14; 18) of the corresponding energy connection part (9; 10) is used for introducing compressed air for vacuum generation.

4. The method for operating a transfer system according to claim 3, characterized in that The closing part (V14, V17) is a valve or a plug.

5. A transfer system (1) for performing the method according to any one of claims 1 to 4, the transfer system comprising - a manipulator (2) with a crossbeam (3), - at least one adapter (4) mounted on said crossbeam (3), - at least one compressed air supply (8), -in, Each adapter (4) comprises a base frame (5) and at least one tool (6; 7), the at least one tool having a tool tube (6a; 7a), - wherein each base frame (5) comprises at least one energy connection (9; 10) for the at least one tool tube (6a; 7a), - wherein each energy connection (9; 10) comprises at least two outputs (13, 14; 17, 18) for compressed air and / or vacuum for coupling the at least one tool (6; 7), It is characterized in that The transfer system (1) comprises a first supply device (19) connected to the compressed air supply (8) for providing compressed air and vacuum. - the transfer system (1) comprises a second supply device (20) for providing compressed air, which is connected to the compressed air supply (8), - the transfer system (1) comprises a control device (21), wherein, in a first switching position (S1) of the control device (21), the at least one tooling tube (6a; 7a) is supplied with compressed air and vacuum via the first supply device (19), and - wherein, in a second switching position (S2) of the control device (21), the at least one tool pipe (6a; 7a) is supplied with compressed air via the second supply device (20).

6. The transfer system according to claim 5, characterized in that: - the first supply means (19) comprises at least one vacuum generating device (23, 24) operating with compressed air, and - the second supply means (20) comprises at least a first valve (25-1) and a second valve (25-2), wherein the first supply means (19) is connected to a first input (11; 16) of the energy connection (9; 10) of the base frame (5) and is fed with compressed air or vacuum, and - wherein the second supply device (20) is connected to a first input part (11; 15) and a second input part (12; 16) of the energy connection part (9; 10) of the base frame (5) and feeds one of the input parts (11; 15) with compressed air and also feeds the other of the input parts (12; 16) with compressed air.

7. The transfer system according to claim 5 or 6, characterized in that: The control device (21) and the second supply device (20) are arranged on the manipulator (2) or on the crossbeam (3) or on the base frame (5), and the first supply device (19) is arranged on the base frame (5) or on the crossbeam (3).

8. The transfer system according to claim 5 or 6, characterized in that: - the control device (21) comprises a switching valve (22) and a plurality of stop valves (26-30; 31, 32), -in, The shut-off valves (26-30; 31, 32) are arranged between the first supply means (19) and the at least one energy connection (9; 10) and between the second supply means (20) and the at least one energy connection (9; 10) such that - in a first switching position (S1) of the control device (21), a supply line (25a; 25b) between the second supply device (20) and an input (11, 12; 15, 16) of the energy coupling (9; 10) is blocked, and one or more supply lines (23a; 24a) between the first supply device (19) and one or more inputs (11; 16) of the energy coupling (9; 10) are opened, and - In the second switching position (S2) of the control device (21), one or more supply lines (23a; 24a) between the first supply device (19) and one or more input parts (11; 16) of the energy connection part (9; 10) are blocked, and the supply line (25a; 25b) between the second supply device (20) and the input parts (11, 12; 15, 16) of the energy connection part (9; 10) is opened.

9. The transfer system according to any one of claims 5 to 6, characterized in that: - one of the tool tubes (6a; 7a) is connected to one of the energy couplings (9; 10) in such a way that the tool tube (6a; 7a) and the suction gripper (6b-6f; 7b-7f) arranged on the tool tube are connected in a first switching position (S1) of the control device (21) to one of the outputs (13; 18) of the energy coupling (9; 10), which is connected to an input (11; 16) of the energy coupling (9; 10) which is connected to the first supply device (19), wherein the corresponding other output (14; 17) of the energy coupling (9; 10) is closed, or - One of the tooling tubes (6a; 7a) is connected to one of the energy coupling parts (9; 10) in such a way that the tooling tube (6a; 7a) and the suction gripper (6b-6f; 7b-7f) arranged on the tooling tube are connected to the output parts (13, 14; 17, 18) of the energy coupling part (9; 10) in the second switching position (S2) of the control device (21), and these output parts are connected to the following input parts (11, 12; 15, 16) of the energy coupling part (9; 10), which are connected to the second supply device (20).

10. The transfer system according to claim 9, characterized in that: The respective other output part (14; 17) of the energy connection part (9; 10) is closed by the tooling tube (6a; 7a).

11. The transfer system according to any one of claims 5 to 6, characterized in that: The transfer system (1) comprises two base frames (5; 105) connected to the crossbeam (3), each of which has two energy coupling parts (9, 10), and wherein the transfer system (1) comprises four tooling tubes (6a; 7a), wherein the four tooling tubes are connected to four energy coupling parts (9; 10).

12. The transfer system according to claim 6, characterized in that: - at least one vacuum generating device (23; 24) of the first supply means (19) is designed as a pneumatically controlled vacuum generating device with a compact ejector, or At least one vacuum generating device (23; 24) of the first supply means (19) is designed as an electrically controlled vacuum generating device with a compact ejector.

13. The transfer system according to any one of claims 5 to 6, characterized in that: Each tool (6; 7) operated in the second switching position (S2) of the control device (21) comprises a single ejector for generating vacuum at each of its suction grippers (6b-6f; 7b-7f).

Images