Transport device for transporting a workpiece and production line

Abstract

The invention relates to a transport device (1) for transporting a workpiece (W1) into a station or out of a station (2) or between stations (2) of a production line (F), wherein at least some of the stations (2) are designed in particular as processing stations (2a), wherein the transport device (1) comprises a carrier (10) and an articulated arm (11).

Claims

[1] Transport device (1; 101) for transporting a workpiece (W1; W2) into a station (2, 3) or out of a station (2, 3) or between stations (2, 3) of a production line (F), wherein at least some of the stations (2, 3) are designed in particular as a processing station (2a, 3a) and preferably as a forming machine, - wherein the transport device (1; 101) comprises a carrier (10; 110) and an articulated arm (11; 111), - wherein the articulated arm (11; 111) comprises a first lever arm (12; 112) and a first pivot drive (13; 113), - wherein the articulated arm (11; 111) comprises a second lever arm (14; 114) and a second pivot drive (15; 115), - wherein the articulated arm (11; 111) comprises a boom (16; 116) and a boom drive (17; 117) and - wherein the articulated arm (11; 111) comprises at least one gripping device (18; 118), - wherein the first lever arm (12; 112) is pivotally connected to the support (10; 110) about a first axis of rotation (D12; D112) and is rotatable relative to the support (10; 110) about the first axis of rotation (D12; D112) by means of the first pivot drive (13; 113), - wherein the second lever arm (14; 114) is pivotally connected to the first lever arm (12; 112) about a second axis of rotation (D14; D114) and is rotatable relative to the first lever arm (12; 112) about the second axis of rotation (D14; D114) by means of the second pivot drive (15; 115), - wherein the boom (16; 116) is attached to the second lever arm (14; 114) in a linearly displaceable manner and is movable relative to the second lever arm (14; 114) by means of the boom drive (17; 117), - wherein the gripping device (18; 118) is attached to the boom (16; 116) in a linearly displaceable manner, - wherein the articulated arm (11; 111) comprises a linear drive (19; 119) and wherein a distance (a1; a2) between the first axis of rotation (D12; D112) and the second axis of rotation (D14; D114) can be changed by means of the linear drive (19; 119). [2] Transport device according to claim 1, characterized by that the distance (a1; a2) between the first axis of rotation (D12; D112) and the second axis of rotation (D14; D114) is changed by means of the linear drive (19; 119) such that an effective length (L1; L2; L101; L102) of the first lever arm (12; 112) between the axes of rotation (D12; D112; D14; D114) is shortened or lengthened. [3] Transport device according to at least one of the preceding claims, characterized by , - that the first lever arm (12) is designed to be telescopic and the linear drive (19) is arranged between a first arm section (12a) of the first lever arm (12) connected to the first axis of rotation (D12) and a second arm section (12b) of the first lever arm (12) connected to the second axis of rotation (D14) or - that the linear drive (119) is arranged between the first pivot drive (113) and the first lever arm (112) such that the linear drive (119) can be pivoted by the pivot drive (113) and the first lever arm (112) can be moved by the linear drive (119) relative to the first pivot drive (113). [4] Transport device according to at least one of the preceding claims, characterized bythat the gripping device (18) is also coupled to the boom drive (17), wherein the boom (16) moves relative to the second lever arm (14) and wherein the gripping device (18) moves relative to the boom (16), and wherein these are each moved in the same direction (DR; x') by the boom drive (17). [5] Transport device according to at least one of claims 1 to 3, characterized by that the gripping device (118) comprises its own drive (140). [6] Transport device according to at least one of the preceding claims, characterized byin that the gripping device (18; 118) comprises a tilting drive (42; 142) by means of which a gripping tool (43; 143) of the gripping device (18; 118) can be pivoted relative to the boom (16; 116) about a tilting axis (K42; K142) and / or in that the gripping device (118) comprises a rotational drive (144) by means of which a / the gripping tool (143) of the gripping device (118) can be rotated relative to the boom (116) about a vertical axis (H144) and / or in that the at least one gripping device (18) comprises a rolling device (44) by means of which a / the gripping device (18) can be tilted about a longitudinal axis (L45) which runs in a vertical plane in which the direction of travel (DR) also lies. [7] Transport device according to at least one of the preceding claims, characterized bythat the first axis of rotation (D12; D112), the second axis of rotation (D14; D114) and in particular also the tilting axis (K42; K142) run parallel to one another and are aligned transversely to a transport direction (DR). [8] Production line (1) comprising: - a transport device (1; 101) according to at least one of claims 1 to 7, which comprises at least two stations (2; 3), - wherein two adjacent stations (2; 3) are designed as processing stations 2a; 3a), each with a tool (4; 5), - wherein the transport device (1; 101) removes a workpiece (W1; W2) from the tool (4) of the first processing station (2a), transports it to the second processing station (3a) and places it in the tool (5) of the second processing station (3a).

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