Transport device for transporting a workpiece, production line and method for transporting a workpiece

Abstract

The invention relates to a transport device (6) for transporting a workpiece (W) into a station (5) or out of a station (3) or between stations (3, 5) of a production line (1), wherein at least some of the stations (3, 5) are designed in particular as processing stations (3a; 5a) and preferably as forming machines.

Claims

[1] Transport device (4; 6; 206) for transporting a workpiece (W) into a station (3; 5) or out of a station (2; 3) or between stations (2, 3; 3, 4; 4, 5) of a production line (1), wherein at least some of the stations are designed in particular as a processing station (3a; 5a) and preferably as a forming machine, - wherein the transport device (4; 6; 206) comprises a carrier (7) and an articulated arm (8; 108), - wherein the articulated arm (8; 108) comprises a first lever arm (9; 109) and a first pivot drive (10), a second lever arm (11; 111) and a second pivot drive (12), a third lever arm (13; 113; 213) and a third pivot drive (14), a boom (15; 115; 215) and a boom drive (AA) and at least one gripping device (17; 117; 217), - wherein the first lever arm (9; 109) is pivotally connected to the support (7) about a stationary, first axis of rotation (D9) and is pivotable about the stationary, first axis of rotation (D9) by means of the first pivot drive (10), - wherein the second lever arm (11; 111) is pivotally connected to the first lever arm (9; 109) about a second axis of rotation (D11) and is pivotable about the second axis of rotation (D11) by means of the second pivot drive (12), - wherein the third lever arm (13; 113; 213) is pivotally connected to the second lever arm (11; 111) about a third axis of rotation (D13) and is pivotable about the third axis of rotation (D13) by means of the third pivot drive (14), - wherein the boom (15; 115; 2015) is articulated to the third lever arm (13; 113; 2013) in a linearly displaceable manner and is movable relative to the third lever arm (13; 113; 213) by means of the boom drive (16; 216), - whereby all three axes of rotation (D9; D11; D13) are aligned parallel to each other, - wherein the at least one gripping device (17; 117; 217) on the boom (15; 115; 215) is movable between a first end position (E17a) and a second end position (E17b). [2] Transport device according to claim 1, characterized by that the boom (15; 115; 215) and the at least one gripping device (17; 117; 217) is or are movable transversely to the axes of rotation (D9; D11; D13) of the three lever arms (9; 11; 13; 109; 111; 113; 213). [3] Transport device according to claim 1 or 2, characterized by that the boom drive (16; 216) also indirectly moves the at least one gripping device (17; 117; 217) on the boom (15; 115; 215) when the boom (15; 115; 215) is moved. [4] (Toothed belt) Transport device according to at least one of the preceding claims, characterized byin that the transport device (4; 6; 206) comprises a first linear guide (20), wherein the first linear guide (20) is formed between the third lever arm (13; 113; 213) and the boom (15) such that the boom (15; 115; 215) can be moved linearly relative to the third lever arm (13; 113; 213) by means of the boom drive (16; 216). [5] (Toothed belt) Transport device according to at least one of the preceding claims, characterized by that the transport device (4; 6; 206) comprises a second linear guide (24), wherein the second linear guide (24) is formed between the boom (15; 115; 215) and the gripping device (17; 117; 217), wherein the gripping device (17; 117; 217) - either is coupled to the boom drive (16) in such a way that it is moved relative to the boom (15; 115) synchronously with the boom (15; 115) and in the same direction as the boom (15; 115), - or the gripping device (217) can be moved by means of its own travel drive (250) on the boom (215) independently of the first travel drive (216). [6] Transport device according to at least one of the preceding claims, characterized by that the at least one gripping device (217) comprises a tilting drive (230) whose tilting axis (K230) can be pivoted parallel to the axes of rotation of the lever arms (213), and / or that the at least one gripping device (217) comprises a rotational drive (231) and / or that the at least one gripping device (217) comprises a rolling device (252) by means of which a / the gripping device can be tilted about a longitudinal axis (L252) which runs in a vertical plane (E252) in which the direction of passage (DR) also lies. [7] Production line (1) comprising: - a transport device (6; 206) according to at least one of claims 1 to 6, which comprises at least two stations (1; 3; 5), - wherein two adjacent stations (3; 5) are designed as machining stations (3a; 5a), each with a tool (18; 19), - wherein the transport device (6; 206) removes a workpiece (W) from the tool (18) of the first processing station (4a), transports it to the second processing station (5a) and places it in the tool (19) of the second processing station (5a). [8] Method for transporting a workpiece (W) in a throughput direction (DR) through a production line (1) according to claim 7, - wherein the workpiece (W) is gripped from the first tool (18) by the gripping device (17; 217) when the boom (15; 215) is extended and horizontally aligned counter to the direction of travel (DR) and when the gripping device (17; 217) is moved counter to the direction of travel (DR); - wherein the workpiece (W) is removed by reducing an angle (α) enclosed between the first lever arm (9) and the second lever arm (11), wherein at the same time the third lever arm (13 213) is pivoted such that the boom (15; 215) remains horizontally aligned; - wherein the boom (15; 215) is moved into a central position (M15) in the through-pass direction (DR) with respect to the third lever arm (13; 213) and wherein the gripping device (17; 217) is moved into a central position (M17) with respect to the boom (15; 215) in the through-pass direction (DR), wherein, in parallel thereto, further pivoting movements of the first lever arm (9) and / or the second lever arm (11) are carried out to move the third lever arm (13; 213) in the through-pass direction (DR); - wherein subsequently a further movement of the boom (15; 215) in the direction of passage (DR) and a further movement of the gripping device (17; 217) in the direction of passage (DR) is carried out, wherein parallel thereto further pivoting movements of the first lever arm (9) and / or the second lever arm (11) are carried out for the further movement of the third lever arm (13; 213) in the direction of passage (DR), - wherein, for inserting the workpiece (W) into the second tool (19), an angle (γ) enclosed between the first lever arm (9) and the second lever arm (11) is increased and, at the same time, the third lever arm (13; 213) is pivoted such that the boom (15; 215) remains horizontally aligned during insertion. [9] Method according to claim 8, characterized bythat the boom (15; 215) is kept horizontally aligned in space by corrective pivoting movements of the third lever arm (13; 213) even after the workpiece (W) has been lifted off and until the workpiece (W) has been inserted, despite the movement of the first lever arm (9) and / or the second lever arm (11). [10] Method according to claim 8 or 9, characterized by that all three lever arms (9; 11; 13; 213) are rotated about axes of rotation (D9; D11; D13) by means of their own pivoting drives (10; 12; 14), said axes of rotation (D9; D11; D13) being aligned parallel to one another and transversely to the direction of passage (DR).

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