Method and device for quality assurance of a product unit

Abstract

The invention relates to a method and a device for quality assurance of a product unit, in which a product unit is moved along a product conveyor path from a product feed side to a product discharge side and defective parts of the product unit are exchanged between the product feed side and the product discharge side. This is characterized according to the invention in that a manufactured product unit, before a part of it is exchanged, is detected and checked for possible defects and, based on the detected defects, parts of the product unit are removed from the product unit by at least one manipulator and sorted into a first storage area. The removed parts of the product unit are then replaced by the manipulator with identical parts of a defect-free product unit temporarily stored in a second storage area.The faultless product unit required to replace individual parts of the product units was fed from the product conveyor path to the second storage unit, and a product unit composed of accumulated, faulty parts from the first storage unit is returned to the product conveyor path.

Description

[0001] The invention relates to a method for quality assurance of a product unit, in which a product unit is moved along a product conveying path from a product feed side to a product discharge side, and defective parts of the product unit are exchanged between the product feed side and the product discharge side. Furthermore, the invention also relates to a device for quality assurance of a product unit, comprising at least one product conveying device forming the product conveying path, having a product feed side and a product discharge side, and a product exchange section arranged between the product feed side and the product discharge side.

[0002] To avoid product defects in fully or largely automated production processes, comprehensive quality assurance measures are usually required. One such production process is the manufacture of concrete blocks, which are produced in so-called concrete block factories in a wide variety of shapes and sizes, including paving stones, curbstones, kerbstones, slabs, or brick slips. After hardening, these blocks may exhibit holes, inclusions, stains, broken edges, or cracks in their material structure and must be sorted out accordingly. Since several concrete blocks are usually formed and processed as a single product unit, and typically only individual parts or concrete blocks within such a product unit exhibit defects, the detection of defects and the sorting of affected parts are usually carried out manually by an employee working in the product exchange section.This work is relatively difficult and physically demanding, partly due to the weight of the individual parts of such a product unit.

[0003] The object of the invention is therefore to ensure that product units or parts thereof with corresponding defects are detected and sorted out and the physical strain on employees is reduced.

[0004] This object is achieved in terms of the method with the features of claim 1. In terms of the device, the object is achieved according to the features of claim 11. Further developments and advantageous embodiments of the invention are specified in the respective subordinate claims.

[0005] The method for quality assurance of a product unit, in which a product unit is moved along a product conveyor path from a product feed side to a product discharge side and defective parts of the product unit are exchanged between the product feed side and the product discharge side, is characterized according to the invention in that a manufactured product unit is detected and checked for possible defects before a part of it is exchanged, that on the basis of the detected defects, the defective parts of the product unit are removed from the product unit by at least one manipulator and sorted into a first storage area, that the removed parts of the product unit are replaced by the at least one manipulator with similar parts of a defect-free product unit temporarily stored in a second storage area,that the faultless product unit required to replace individual parts of the product units has been fed to the second storage unit from the product conveyor path and that a product unit composed of accumulated, faulty parts is returned from the first storage unit to the product conveyor path.

[0006] The use of the manipulator eliminates these physically demanding tasks, as individual parts of the product units no longer need to be moved and replaced manually, making work more ergonomic. By removing the fault-free product units required for replacement and the product units assembled from accumulated defective parts from the product conveyor and returning them to it, a self-contained system is created that requires no intervention during ongoing production.

[0007] The manipulator is controlled by transmitting information obtained during the scanning of the product unit regarding the parts identified as defective. The manipulator is then moved to the affected parts according to the information received and replaces them with non-defective parts. The information transmitted to the manipulator therefore includes at least the position of the parts on or in the product unit and their size.

[0008] In a further development of the process, individual parts of the product units are exchanged between the product units, where possible, keeping their position accurate, thus ensuring that identical parts are exchanged for identical parts. This is particularly important for product units with parts of different sizes, allowing for easy assignment.

[0009] In the case of product units with parts of different sizes, it can also happen that all of the same, faultless parts from the product unit held in the second storage area were previously required to replace defective parts, even though the product unit in the first storage area is not yet fully filled with rejects. In this case, the preferred procedure provides that all parts of the product unit stored in the second storage area are removed by the manipulator and fed to the product unit with the accumulated, faulty parts, before the product unit composed of accumulated, faulty parts is returned from the first storage area to the product conveyor path. This ensures that a faultless part of the product unit is available in one of the two storage areas at all times.

[0010] According to a further development, after a product unit composed of accumulated defective parts has been returned to the product conveyor, the first storage unit is filled with a faultless product unit from the product conveyor, and faulty parts are replaced with parts from the product unit stored in the first storage unit. After the first storage unit has been filled with a faultless product unit, the faulty parts of the product units from the product conveyor are then fed to the second storage unit.

[0011] Accordingly, the first storage unit and the second storage unit advantageously swap functions each time a product unit formed from accumulated, defective parts is fed back into the product conveyor. This procedure is particularly advantageous for product units in which the individual parts of the product unit rest on a product base. The respective storage unit from which the non-defective parts were removed is then always already occupied with a product base on which the next defective parts to be replaced can be placed until this product base is also fully occupied and is replaced with a new product unit with non-defective parts.

[0012] In order to be able to handle the parts of a product unit precisely with the manipulator, a further development provides for the parts of the product unit to be recorded along with their position relative to the product unit and the product conveying path before any faulty parts are replaced. The data to be recorded includes, on the one hand, how the product unit is aligned with the manipulator and also with the two storage devices, and, on the other hand, where the parts of the product unit are located in relation to the product unit, particularly if they are resting on a product base of the product unit. The manipulator can then be aligned according to the received data regarding the position of the parts of the product unit relative to these parts.

[0013] The position of the product unit or parts of the product unit relative to the manipulator can be easily determined simultaneously with the detection of potential defects, as only a single, common product detection device is then required. This device is preferably more compact and less expensive to purchase than individual devices.

[0014] A particularly suitable method for detecting both defects and the position of parts in a manufactured product unit is to optically scan and evaluate the manufactured product unit before a defective part is replaced. Optical measurement can be used to: the exact position and size of the parts in the product unit are determined, broken corners, edges or holes, as well as cracks that occurred during production, are recorded and irregularities in a material or surface structure, such as inclusions, color changes, mixed agglomerates or grain deviations are identified.

[0015] According to a further development, the product units are guided past a product recording section in which at least three different images are generated for each product unit, which images represent at least a height profile of the concrete blocks, an orientation of normal vectors of the concrete blocks and a coloring of the concrete blocks, the images are compared with data stored in an evaluation program and evaluated, and defective concrete blocks of a product unit are stored and / or marked in the evaluation program.

[0016] The different images can be used to identify various deviations or defects in the concrete blocks of a product unit from the target. The individual images each refer to individual aspects affecting the quality of the concrete blocks of a product unit. The combination of the different images enables a comprehensive inspection of the position, shape, and appearance of the product unit(s).

[0017] For one of the product unit images, a photograph of the product unit is first created after an initial training session. This can be used, among other things, to determine the color of the concrete blocks. Color variations can result from, for example, different concrete mixes or lime stains, and can lead to an undesirable appearance.

[0018] In order to be able to compare the photograph of a product unit with the data stored in the evaluation program, this is further developed and produced under defined lighting conditions in the product detection section, whereby a constant brightness of the immediate surroundings of the product unit is ensured by means of illumination of the product detection section.

[0019] Furthermore, according to a further development, at least one structured light pattern is projected onto the product unit, and at least one of the images is then calculated using the values obtained from the light pattern. The at least one structured light pattern is advantageously generated using a 3D laser scanner, with the geometry of the concrete blocks being reconstructed from the structured light pattern. The geometry of the concrete blocks can be provided to a user in the form of a depth map or a point cloud.

[0020] In detail, the evaluation program then calculates at least the height profile of the concrete blocks in a product unit and the orientation of the normal vectors of the concrete blocks in a product unit from the depth map or the point cloud. In the images, the height profile and the orientation of the normal vectors can be displayed in different color gradations. Identical normal vectors and identical heights are then each depicted homogeneously in one color tone. In particular, the images of the height profile and the orientation of the normal vectors are stored in different color tones or color spectra to make it easier for the user to distinguish the type of deviation or defect in the concrete blocks. For example, a representation of the height profile has a red base tone in the product conveying plane, which changes with increasing product height above the product conveying plane, corresponding to the HSV color band, for example.

[0021] In contrast, the representation of the normal vectors preferably exhibits bluish hues for normal vectors aligned perpendicular to the product conveying plane. Depending on the direction and angle at which the normal vectors are inclined from their perpendicular orientation, they then exhibit a different color. In particular, the normal vectors inclined in the conveying direction of the product units can be assigned a different color than the normal vectors inclined perpendicular to the conveying direction.

[0022] In addition to the images of the height profile and the orientation of the normal vectors, a 2D representation can also be generated from the at least one structured light pattern, which in particular highlights a texture of the concrete blocks and can be used to support the light image in the evaluation of color deviations, such as lime stains, among others.

[0023] The evaluation can be performed either fully automatically by comparing the data stored in the evaluation program or manually, with a person viewing the images generated from the data by the evaluation program and marking defective concrete blocks. The person can switch between the different views to reliably assess defects in the concrete blocks that may only be visible in certain images.

[0024] Particularly in combination with an inspection carried out by a person, the evaluation program can also be designed to learn, so that as the data set of the evaluation program increases, a more refined, more precise detection of defective concrete blocks is possible.

[0025] According to a further development, the optical scanning of the product unit with the structured light pattern can be coupled with the illumination of the product detection section, wherein the product detection section is darkened while the structured light pattern is projected onto the product unit.

[0026] In the case of parts of the product unit positioned on a product support, these can also adhere or stick to the product support after a drying process, such as in concrete block production. In such a case, the invention allows corresponding parts of the product unit to be detached from the product support before defective parts are replaced. By detaching the parts, the manipulator grasps and lifts only the defective part and not the entire product unit.

[0027] In order to avoid unnecessarily blocking the product conveyor path, another development provides that product units with defective parts to be replaced are lifted out of the product conveyor path and fixed in a predetermined position between the first and second storage units before defective parts of the product unit are exchanged using the manipulator. Product units identified as being free of defects can then be guided past a product exchange section formed by the storage units and the manipulator during the exchange of a defective part. In particular, the free of defects product unit to be fed to the first storage unit or second storage unit is then lifted and moved laterally out of the product conveyor path relative to the product conveyor path and stored in the first or second storage unit.

[0028] The replacement of defective parts can also be accelerated by keeping the manipulator's travel distances as short as possible. By arranging both the product units stored in the storage areas and the product unit lifted from the product conveyor path next to each other in a common exchange plane, especially directly adjacent to each other, the manipulator can be guided at the lowest possible height with short travel and lifting distances above the product units.

[0029] In a further embodiment of the method according to the invention, product units assembled from accumulated, defective parts are removed from the product conveyor path downstream of the replacement and removal of individual parts of the product units in the conveying direction of the product conveyor path and combined with other product units assembled from accumulated, defective parts. For example, many products are shipped on pallets, with the product units assembled from accumulated, defective parts then being loaded onto different pallets than the non-defective product units. For this purpose, the product conveyor path can, for example, branch off.

[0030] Furthermore, the invention relates to a device for quality assurance of a product unit, comprising at least one product conveying device forming a product conveying path with a product feed side and a product discharge side and a product exchange section arranged between the product feed side and the product discharge side.This device is characterized according to the invention in that a product detection device is connected upstream of the product exchange section in the direction of the product conveying path, that the product exchange section has at least one first storage device and at least one second storage device for receiving at least one product unit each, that the two storage devices are assigned inlet and outlet means with which the two storage devices can be brought into engagement with the product conveying device in a product unit-transferring manner, and that the product exchange section with the first storage device and the second storage device is assigned at least one manipulator with at least one gripper for exchanging at least one part of the product unit.The product exchange section, formed by a combination of manipulator, storage and inlet and outlet devices associated with the storage, then results in a self-contained system that replaces all physically demanding work.

[0031] According to the invention, the product detection device acquires the information required for all other components of the device, and in particular for the product exchange section, regarding the product units moving along the product conveying path and forwards it accordingly. Important information relates to the position of the parts of a product unit and defects in the parts. This information is advantageously acquired via at least one camera system that optically detects the parts.

[0032] For this purpose, according to a further development, the product detection device has at least one product detection section in the product conveying path, to which a frame is assigned, wherein at least two different optical detection systems are arranged on the frame, the optical detection systems have a detection area with which they are directed from a product support side onto a product conveying plane of the product conveying path, and the detection areas have a width in the product conveying plane that completely covers the product conveying path.

[0033] The optical detection systems mounted on the frame can thus completely and contactlessly detect a product unit containing concrete blocks at a defined distance. This ensures that the position of individual concrete blocks relative to the product unit, a production document for the product unit, or the product conveyor path can be determined. Furthermore, the data obtained with the optical detection systems can be easily evaluated and compared with stored data.

[0034] To minimize distortion of the images to be created of the product units, a further development provides that at least one of the optical detection systems, in particular all of the optical detection systems, are aligned perpendicular to the product conveying path, in particular with their detection areas aligned perpendicular to the product conveying path. Furthermore, the optical detection systems are advantageously aligned centrally to the conveying path, i.e., aligned on both sides at the same distance from the edges of the conveying path in the conveying direction.

[0035] As one of the optical detection systems, the device advantageously has at least one 3D laser scanner, with which at least one structured light pattern can be generated. In a further embodiment, the other optical detection system is a 2D camera for creating a light image. Of these, according to a further development, at least the 2D camera is then aligned perpendicular to the product conveying path. In a further embodiment, the 3D laser scanner can be inclined at an angle of up to 20° to the product conveying plane, in particular at an angle of up to 15° to the product conveying plane, in particular at an angle of up to 10° to the product conveying plane, whereby resulting distortions of a generated 3D image are calculated out.

[0036] In a further development, the frame is mounted on vibration buffer elements, or the optical detection systems are attached to the frame via vibration buffer elements. Vibrations occurring in a concrete plant or a hall are thus not transmitted to the device or the device's optical detection systems, thus enabling more precise data acquisition. This data and the resulting images can then be used to detect even the smallest errors and deviations, thus increasing the sensitivity of the device thanks to the vibration buffer elements.

[0037] To protect against external environmental influences, such as light or dust, the optical detection systems are further arranged within a housing of the frame, with the product conveying path passing through the housing. The product detection section is then located within the housing, where the surrounding housing ensures the most consistent conditions possible.

[0038] In a further embodiment, the incidence of disruptive light during optical detection of the product unit into the housing can be minimized by providing the housing with housing openings for the product conveying path, the size of which can be adjusted to the product unit to be detected. Such adjustable housing openings can then either be completely closed during optical detection of the product unit or have elements that reduce the housing openings to such an extent that, starting from the product support side of the product conveying plane, they are lowered to a maximum height of the product unit. Product units can then be conveyed through the housing opening even when it is partially closed.

[0039] To keep dust and other particles out of the product capture section, particularly from the capture area of the capture section, according to a further development, the frame has at least one ventilation system that generates an air flow directed toward the optical capture systems or their capture areas. Interfering particles are then blown out of the product capture area or the product capture section in a predetermined manner.

[0040] In a further embodiment, lighting is arranged in the housing. This allows stable lighting conditions to be created within the housing, which primarily make the images of the product unit generated by the 2D camera easier to evaluate and compare. The lighting of the product detection section can be combined with a switch-off device coupled to the 3D laser scanner. For a period of time during which at least one structured light pattern is projected onto the product unit by the 3D laser scanner, the lighting can then be configured to create a darkened environment in the product detection section.

[0041] Alternatively, an employee can be interposed to mark the parts of the product units identified as defective and transmit this information to the device at an input station. The product detection device can therefore simply be formed by a specific position on the product conveyor path and a corresponding input station with an employee. Further variations and combinations of the aforementioned product detection devices are possible. For example, the product units can also be detected optically using a camera system; the image captured by the camera system is transmitted to the input station, and the employee marks the parts on a touchscreen or similar device.

[0042] According to a further development, the manipulator comprises at least one machine frame with at least one rail-mounted trolley, which is movable in a horizontal plane of the machine frame along a longitudinal axis of the same. In a further embodiment, the longitudinal axis with the trolley is aligned at a right angle to the product conveying path and, starting from a support surface of the device, is arranged in a higher horizontal plane than the product conveying path. The machine frame acts as a portal, spanning at least one of the two storage units and the product conveying path, so that the trolley can be moved between the at least one storage unit and the product conveying path.

[0043] According to a further refinement, the gripper is mounted on an underside of the trolley facing the product units and is movable at least along a vertical axis. By being movable along the vertical axis, the gripper can be lowered and raised to grasp and transfer individual parts of the product units. Starting from the support surface of the device, the trolley with the gripper is thus arranged above the product units.

[0044] In a further embodiment, the gripper is held on a lifting frame of the trolley, which is displaceable relative to the trolley along the vertical axis.

[0045] In order to reach all positions on a product unit stored in the storage area or on a product unit containing a defective part that needs to be replaced, and to optimally grip the parts, the gripper can also be moved along a horizontal axis perpendicular to the longitudinal axis of the trolley, particularly parallel to the product conveying path. By superimposing these three mutually perpendicular movement directions, every point on the product units can be addressed. At the same time, the gripper can be controlled with minimal computational effort.

[0046] By having the first and second storage units flank the product conveying path laterally and opposite one another, it is easily achieved that the manipulator, with the gripper mounted on the trolley, can span both storage units, in particular a first storage unit and a second storage unit, and the product conveying path. To replace the defective parts, advantageously only a single gripper is then required. However, for a shortened replacement time, this gripper can be combined with one or more additional grippers, with the additional gripper then being moved in the same way on rails within the machine frame. A further machine frame with a manipulator can also be provided.

[0047] According to another refinement, the infeed and outfeed means of the two storage units are formed by motor-driven roller conveyors on which a product unit to be fed into or out of the product conveyor path rests. To move the product units laterally, the roller conveyors have rollers with longitudinal axes aligned in the direction of the product conveyor path.

[0048] Since the infeed and outfeed means of the two storage units each have a lowering table, which in a further embodiment forms at least a section of the roller conveyor, the infeed and outfeed means can be moved out of the product conveying path and, in particular, out of the product conveying plane. The lowering tables are then only positioned in the product conveying path when needed, when a product unit is being infeed or outfeed.

[0049] If the storage units are arranged opposite each other along the product conveyor path, the lowering tables can also interact to handle a single product unit together. This can be achieved, for example, via a shared drive for the lowering tables or an appropriately programmed control unit that controls both lowering tables simultaneously.

[0050] To clear the product conveyor path during the replacement of a defective part, the lowering tables advantageously have a lifting path with which the respective product unit can be raised to a replacement level above the product conveyor path. The first storage unit and the second storage unit are then arranged accordingly in the replacement level.

[0051] Furthermore, it is provided that positioning means for at least one product unit with at least one defective part to be replaced are assigned to the product exchange section. These positioning means determine the position of the product unit or a product support of the product unit relative to the storage devices and the manipulator and are preferably assigned to opposite corners of the product unit or the product support.

[0052] In a further embodiment, the positioning means are assigned to the infeed and outfeed means. Each infeed and outfeed means preferably has two of the positioning means, which can be easily formed by pneumatic cylinders acting horizontally in the exchange plane.

[0053] In the manufacture of concrete blocks and many other products that are formed and dried on a product support, these must be removed from their product support before defective parts can be replaced. According to the invention, a parts release device can be arranged upstream of the product exchange section in the conveying direction of the product conveying path. A hammer, a stop plate, or the like can be arranged below the product conveying level as the parts release device, in particular integrated into the product conveying device, with which the parts are shaken.

[0054] Furthermore, the gripper can have at least one suction unit. The suction unit can apply a vacuum to the part to be replaced, thereby ensuring gentle handling of the parts to be moved. For this purpose, at least one vacuum generator is assigned to the suction unit, which is advantageously mounted directly on the trolley, in particular on the lifting frame of the trolley, and can thus be spatially close to the suction unit and of simple construction.

[0055] In a further embodiment, the suction unit is divided into suction sections of different sizes, which can be individually switched on and off. The division into suction sections has the advantage that the generated negative pressure only needs to be provided to the suction sections required for a particular part to be handled. The different-sized suction sections also allow adaptation to different-sized parts of a product unit. In particular, smaller parts of a product unit can be controlled specifically in this way. For larger parts of a product unit, the suction sections can also be combined with one another to form larger combination suction sections.

[0056] According to a further development, the gripper is formed by an interchangeable attachment, wherein the lifting frame has an attachment frame at one end which can be brought into contact with a mounting nozzle of the interchangeable attachment and is firmly connected to the attachment frame via fastening means. The interchangeable attachment then has the suction unit, wherein the mounting nozzle can form a support frame on its side facing away from the attachment frame, to which the suction unit is held. Because the gripper is formed by an interchangeable attachment, this can be easily exchanged for an interchangeable attachment which has a geometry adapted to this other product, for example when the production line is converted to a different product. The mounting nozzle which is in contact with the attachment frame also ensures that the interchangeable attachment can be guided precisely by the lifting frame in the work area.

[0057] In order to compensate for different weights or load distributions of parts of a product unit to be lifted, a further development provides for the suction unit to be resiliently mounted in the suction direction relative to the mounting nozzle, in particular only in the suction direction relative to the mounting nozzle. With the interchangeable attachment that is only resilient in the suction direction, on the one hand it is achieved that the suction unit compresses when placed on a part of the product unit to be replaced, thereby counteracting possible damage to the part. On the other hand it is achieved that the suction unit is not inclined, in particular tilted, towards the mounting nozzle due to one-sided load distribution, and thus canting resulting from such an inclination, damage to the tilting part or damage caused by the tilting part is avoided.

[0058] In a further embodiment, the support frame is widened relative to the mounting bracket, and compressible spring elements are assigned to the positions of the support frame and an intake area of the intake unit that are as far apart as possible. The forces acting on the mounting bracket when handling the parts to be replaced are thus distributed over the largest possible area, thus promoting advantageous load distribution. In particular, the compressible spring elements are assigned to the corners of a rectangular or square support frame and the intake area of the intake unit and only compress at right angles to the intake area.

[0059] Each intake section is advantageously assigned an intake duct, whereby the intake ducts can be easily joined at the mounting bracket and merge into an intake line within the lifting frame via aligned intake openings in the attachment frame and the mounting bracket. In a further embodiment, the lifting frame itself then forms the intake line.

[0060] Routing the intake line within the lifting frame simplifies quick swapping of one interchangeable attachment with another, as no additional intake line is required. The intake ducts, or at least one manifold of the intake ducts branching into the individual intake ducts at the valves, is then routed from the mounting bracket toward the intake area. According to a further development, lever clamps are arranged on both sides of the lifting frame as fastening devices, engaging behind the clamping hooks on the mounting bracket.

[0061] In order to accommodate as many different shapes of parts as possible to be lifted from a product unit with an interchangeable attachment, the suction area can also be formed by a flat surface to which at least one adapter plate can be attached. By attaching the adapter plate, special shapes or particularly heavy parts that require additional lateral guidance can also be lifted, particularly in addition to the variously sized suction sections that can handle flat parts of different dimensions.

[0062] To secure such an adapter plate, additional lifting clamps are preferably provided, which can be clamped parallel to the adapter plate and / or the intake area in the direction of a central area or a central axis of the intake area. These are advantageously assigned to corners of the intake area.

[0063] According to a further development, at least one storage rack for interchangeable attachments is assigned to the manipulator. A lifting frame can thus be assigned several interchangeable attachments, which can be removed from the storage rack in an orderly manner and deposited therein, in particular automatically. For this purpose, the storage rack advantageously has at least two storage locations, one of which is provided for the storage of an assembled interchangeable attachment, and the other storage location holds another interchangeable attachment ready for exchange.

[0064] In order to feed the interchangeable attachments stored in the storage rack to the lifting frame of the manipulator, a further design provides for the storage rack to be movable into and out of the device's working area. The working area, and thus also the danger zone of the manipulator, can thus be limited to the area necessary for exchanging parts of the product units. At the same time, interchangeable attachments in the storage rack can be exchanged during operation of the production line, allowing a larger number of interchangeable attachments to be provided to the lifting frame even with only two storage locations.

[0065] The storage rack can be easily moved in and out using rails along which it slides. This allows the storage rack to be assigned a specific position within the manipulator's working area, which is stored in a control unit of the manipulator and enables targeted guidance of the manipulator's lifting frame.

[0066] To ensure short distances are covered when changing the interchangeable attachment with the lifting frame, the storage locations are advantageously located on a replacement level of the manipulator or between the replacement level and a level in which the manipulator or the manipulator's gripper can be moved. The distances required when changing the interchangeable attachment are thus no longer than if a part of a product unit had to be replaced.

[0067] An embodiment of the invention, from which further essential features of the invention may emerge, is illustrated in the drawing. Identical parts are provided with the same reference numerals throughout the figures of the drawing. They show: Fig. 1: a perspective view of the device according to the invention; Fig. 2: a perspective view of a memory according to the invention of the device according to Fig. 1 ; Fig. 3: a perspective view of a product conveying path with associated storage of the device according to Fig. 1 and Fig. 2 ; Fig. 4: a perspective view of a section of a manipulator according to the invention according to Fig. 1 ; Fig. 5: a perspective view of a gripper of the manipulator with an interchangeable attachment according to the invention; Fig. 6: a perspective view of an inventive storage rack for interchangeable attachments according to Fig. 5 ; Fig. 7: a perspective view of the storage rack according to Fig. 6 in relation to further components of the device; Fig. 8: a schematic representation of a suction area of a gripper according to the invention; Fig. 9: a perspective representation of a product detection device of the device according to Fig. 1 ; and Fig. 10a to 10f: a schematic representation of a process sequence for replacing a defective part in plan view of a product exchange section of the device according to Fig. 1 bis 4 .

[0068] In Fig. 1 1 shows a device according to the invention which has a product conveying device 1. The product conveying device 1 forms a product conveying path 2 which has a product feed side 2a and a product discharge side 2b, wherein product units 3 are conveyed by the product conveying device 1 in a product conveying plane A from the product feed side 2a in the direction of the product discharge side 2b. A product detection device 101 and a manipulator 201 are integrated into the product conveying path 2, wherein the manipulator 201 is connected downstream of the product detection device 101 in the conveying direction B of the product units 3.

[0069] From the product detection device 101 is in Fig. 1 only a housing 102 surrounding it is visible, through which the product conveying device 1 is guided at corresponding housing openings 103.

[0070] The manipulator 201 forms a product exchange section 4 with a first storage unit 301 and a second storage unit 301'. The manipulator 201 has a portal-like machine frame 202 that spans the product conveyor 1 and the two storage units 301, 301'. This machine frame 202 is formed by two longitudinal beams 203, 203' aligned parallel to one another in a horizontal plane, four vertical supports 204, 204', 204", 204', and two cross beams 205, 205' assigned to the ends of the longitudinal beams 203, 203', each of which connects the ends of the longitudinal beams 203, 203' at the level of two of the supports 204, 204', 204", 204'.

[0071] A rail-mounted trolley 206 is arranged on the machine frame 202 on the two parallel longitudinal beams 203, 203'. The trolley 206 is movable along a longitudinal axis of the longitudinal beams 203, 203', as intended, above the storage units 301, 301' and above a product conveying plane A of the product conveying device 1 at a right angle to a conveying direction B of the product conveying path 2. The trolley 206 is guided in the direction of the longitudinal beams 203, 203' by means of a motor-driven belt drive 207, which engages guides 209, 209' of the trolley 206 via belts 208, 208' arranged on both sides of the trolley 206 on the longitudinal beams 203, 203', and moves the trolley 206 along the longitudinal beams 203, 203'.Furthermore, a ram protection 210 is assigned to the ends of the longitudinal beams 203, 203', which protects the trolley 206 in its end position from external damage, in particular the end position opposite a drive of the belt drive 207 from external damage.

[0072] On an underside of the trolley 206 facing the product units 3, a gripper 211 for parts of the product units 3 is arranged. Two servomotors 212, 213 mounted on the trolley 206 are assigned to the gripper. A first servomotor 212 moves the gripper 211, which is held at its end on a lifting frame 214, along a vertical axis. The second servomotor 213 moves the gripper 211 together with the lifting frame 214 along a horizontal axis aligned parallel to the conveying direction B of the product conveying path 2.

[0073] Furthermore, the trolley 206 has a suction unit 215, to which a vacuum generator 216 is assigned, arranged opposite the gripper 211 on the lifting frame 214. The vacuum generator 216 can then apply a vacuum to the suction unit 215 of the gripper 211, with the lifting frame 214 forming a suction line between the suction unit 215 and the vacuum generator 216. In order to supply the trolley 206 or individual components thereof with power and / or information, for example, to control the gripper 211, energy chains 217, 217', 217" are assigned to all components that are movable relative to one another, which follow the movements of the trolley 206 or parts thereof.

[0074] The storage units 301, 301' are identical in construction and each have a storage frame 302, 302' with a storage area 303, 303' for one product unit 3 each. The storage racks 302, 302' are arranged laterally to the product conveying path 2, opposite each other, between the supports 204, 204', 204", 204" of the machine frame 202. The storage areas 303, 303' are arranged in a common exchange plane C, which is located above the product conveying plane A of the product conveying path 2. Both storage units 301, 301' have inlet and outlet means 304, 304', each with a lowering table 305, 305'. The lowering tables 305, 305' are movable from below the product conveying plane A through the product conveying path 2 to the exchange plane C. The lowering tables 305, 305' extend from the opposite storage units 301, 301' equally in the direction of a center axis of the product conveying path. 2 and have a common stroke control.In the exchange level C, the two lowering tables 305, 305' also form a support surface for a product unit 3 with a part to be exchanged.

[0075] In Fig. 2 Details of the storage units 301, 301' are shown using the storage unit 301. Its approximately cube-shaped storage frame 302 has the storage surface 303 on its upper side and the lowering table 305 on its front side, which is intended to face the product conveying device 1. Both the storage surface 303 and the lowering table 305 are formed by a roller conveyor 306, 306a and have rollers 307, 307a aligned with their rotational axes parallel to the exchange plane C of the product conveying path 2.

[0076] The rollers 307a of the lowering table 305 are held between a first leg of each of two angle plates 308, 308' in a horizontal lowering table plane. The second leg of the angle plates 308, 308' is guided in vertically aligned guide rails 309, 309' on the front of the storage frame 302. A belt drive 310 for raising and lowering the lowering table 305 is arranged below the roller conveyor 306 of the storage surface 303, starting from a support surface of the device, and acts on the lowering table 305 via a belt 311.

[0077] In addition to the lowering table 305 and its belt drive 310, the infeed and outfeed device 304 also includes bevel gear motors 312, 313, and 313a. The bevel gear motors 313, 313a are each assigned to one of the roller conveyors 306, 306a and are arranged below the respective roller conveyor 306, 306a. The bevel gear motor 312 drives the belt drive 310.

[0078] When the lowering table 305 is raised with the lowering table level to the exchange level C with the storage surface 303, the rollers 307, 307a of the two roller conveyors 306, 306a form a common product support surface. The bevel gear motors 313, 313a acting on the roller conveyors 306, 306a can drive the rollers 307, 307a, and a product unit 3 can be conveyed sideways to the product conveying path 2 from the lowering table 305 to the storage surface 303 or from the storage surface 303 to the lowering table 305.

[0079] In order to position a product unit 3 or a product base 5 of the product unit 3 on the storage surface 303 of the storage 301, the rollers 307 of the roller conveyor 306 are assigned lateral guide elements 314, 314' and, opposite the front side, an end stop 315, which align the product unit 3 on the storage surface 303 in a specific manner with respect to the manipulator 201.

[0080] A product unit 3 resting on a support surface formed by the lowering tables 305, 305' is fixed in a specific position relative to the manipulator 201 by means of positioning means 316, 316'. As positioning means 316, 316', the storage unit 301 has pneumatic cylinders 317, 317' arranged in the exchange plane C as an extension of the guide rails 309, 309' and acting in a horizontal plane, with horizontally displaceable positioning holders 318, 318' to be applied to the product unit 3. The bevel gear motor 313a, which can be moved with the lowering table 305, is connected by means of a further energy chain 319 in order to be able to follow the movements of the lowering table 305.

[0081] The Fig. 3 In addition to the product exchange section 4 with the two storage devices 301, 301', a parts release device 8 is provided upstream of the product exchange section in the conveying direction B of the product conveying path 2. This parts release device 8 is formed by a stop plate 9 integrated into the product conveying device 1. The stop plate 9 is arranged centrally below the product conveying plane A of the product conveying path 2, starting from a support surface of the device, and can be raised or pressed in the direction of the product conveying path 2 up to above the product conveying plane A, in particular by means of spring force against a product unit 3.

[0082] When this is lifted, the stop plate 9 then strikes against a product base 5 of the product unit 3 and releases parts of the product unit 3 adhering to the product base 5. Defective parts can then be lifted from the product base 5 and replaced with the manipulator 201 without the manipulator 201 having to apply force to release adhering parts.

[0083] Further shows Fig. 3 how product units 3 with defect-free parts 7 are conveyed in the product conveying plane A below the exchange plane C in the direction of the product discharge side 2b. The product conveying device 1 has conveyor carriages 10 between the product feed side 2a and the product discharge side 2b, at least in the area of the parts release device 8 and the product exchange section 4, which are moved back and forth below the product conveying plane A in the conveying direction B by at least one length of a product unit 3 or a product base 5 of the product unit 3. Unidirectionally acting pawl drivers 11 are formed on these conveyor carriages 10, which engage behind the product units 3 or product bases 5 and push them in the conveying direction B. During a return movement opposite to the conveying direction B, they are folded in by the product unit 3 or the product base 5 and slide underneath them.In the area of the lowering tables 305, 305', a recess 12 is formed between the conveyor carriages 10 in an end position of the conveyor carriages 10, through which the lowering tables 305, 305' can be raised and lowered. The product units 3 or product supports 5 rest only with their outer corners and on a central web between the lowering tables 305, 305', with the lowering tables 305, 305' being spaced apart from one another by the central web.

[0084] Fig. 4 shows a section of a manipulator 201' with the trolley 206. From this section, in addition to Fig. 1 It can be seen that the longitudinal beams 203, 203' have recirculating ball bearing guides 218, 218', on which the trolley 206 rests on both sides. At the ends of the recirculating ball bearing guides 218, 218', end stops 219, 219' for the trolley 206 are arranged, which limit its movement. The servomotors 212, 213 engage belts 220, 221 tensioned in the respective direction of movement, with corresponding end stops 222, 222' also assigned to at least the belt 221 of the servomotor 213 to limit the travel of the gripper 211 and the recirculating ball bearing guides 223, 223a.

[0085] Further shows Fig. 4 In addition to the belt drive 207 with the belts 208, 208', a further belt drive 224 with the belts 225, 225', which are arranged between the belts 208, 208' and the exchange plane C on the longitudinal beams 203, 203'. This belt drive 224 is a preparation of the manipulator 201' for the integration of another trolley 206.

[0086] In Fig. 5 The gripper 211 of the manipulator 201 is shown, which is formed by an interchangeable attachment 401 held on the lifting frame 214. The lifting frame 214 has, for this purpose, an attachment frame 402 at its end, which is brought into contact with a mounting socket 403 of the interchangeable attachment 401. Two mounting webs 404, 404' aligned parallel to one another are arranged on the attachment frame 402, orthogonal to a contact surface between the mounting socket 403 and the attachment frame 402, wherein each of the mounting webs 404, 404' is assigned to an outer edge of the attachment frame and has two lever clamps 405. The lever clamps 405 each engage behind a clamping hook 406 of the mounting socket 403 and thus pull the interchangeable attachment 401 towards the attachment frame 402 of the lifting frame 214.

[0087] The mounting frame 402 also has a securing web 407 projecting from the mounting nozzle 403, parallel to the contact surface of the mounting nozzle 403 and the mounting frame 402. A securing bracket 408 engages this securing bracket 407 and is in turn hooked into a retaining element 409 of the trolley 206. The retaining element 409 is aligned parallel to the lifting frame 214 and, unlike the lifting frame 214, is arranged in a fixed position on the trolley 206. The securing bracket 408 engaging the lifting frame 214 and the retaining element 409 thus block the lifting frame 214 in the vertical direction of movement and enable safe access for personnel performing maintenance work, for example, during maintenance work.

[0088] A support frame 410 is formed on the mounting socket 403, which is wider than the mounting socket 403 and extends parallel to the contact surface of the mounting socket 403 and the attachment frame 402, as well as parallel to an intake area 411 of the intake unit 215. The mounting socket 403 is connected via the support frame 410 to an intake plate 412 of the intake unit 215, which holds the intake unit 215 to the lifting frame 214. For this purpose, spring elements 413 are arranged between the intake plate 412 and the support frame 410 at corners of the support frame 410 and the intake plate 412, which spring elements 413 are located at the greatest possible distance from one another on the support frame 410 and the intake plate 412. Each of these spring elements 413 can only be compressed orthogonally to the intake plate 412, so that the intake unit 215 compresses in the intake direction, in particular only parallel to the compression direction of the spring elements 413.

[0089] The intake area 411 is assigned a plurality of intake channels 414, which are integrated into the intake plate 412, the dimensions of the intake area 411 being limited by the intake plate 412. The intake channels 414 extend out of the intake plate 412, rearwardly of the intake area 411, on the side of the intake plate 412 facing the support frame 410. On a circumferential boundary frame 415 of the intake unit 215, the intake channels 414 are combined at opposing strips 416, 416' of the boundary frame 415 to form a respective collecting line 417, 417'. These collecting lines 417, 417' open into the mounting nozzle 403 and are guided through the mounting nozzle 403, via suction openings 418 in the contact surface of the attachment frame 402 and the mounting nozzle 403 to the suction line formed within the lifting frame 214.Each collecting line 417, 417' is assigned a valve 419, 419' with which an air flow in the collecting line 417, 417' can be controlled and shut off.

[0090] The Fig. 6 shows a storage rack 501 for interchangeable attachments 401 with two storage locations 502, 502'. The storage rack 501 has a rack slide 503 on which two vertical supports 504, 504' aligned parallel to one another are arranged. Each support 504, 504' is assigned a diagonal strut 505, 505', which supports and reinforces the respective support 504, 504' relative to the rack slide 503. The supports 504, 504' and the struts 505, 505' are joined at a storage location receiving trough 506 and are spaced apart from one another at the rack slide 503.

[0091] The storage location receiving trough 506 has the two storage locations 502, 502' and forms a cantilevered part of the storage rack 501 opposite the supports 504, 504' and the struts 505, 505' on a side of the supports 504, 504' facing away from the struts 505, 505'. The two storage locations 502, 502' are completely assigned to the cantilevered part and arranged in a common horizontal plane.

[0092] The frame carriage 503 is mounted for movement on rails 507, 507', with the frame carriage 503 having a carriage base 508, 508' for each rail 507, 507'. The support 504 and the strut 505 are connected to the carriage base 508, and the support 504' and the strut 505' are connected to the carriage base 508'. Both the rails 507, 507' and the carriage bases 508, 508', the supports 504, 504', and the struts 505, 505' are arranged parallel to the respective other rail 507, 507', the respective other carriage base 508, 508', the respective other support 504, 504', and the respective other strut 505, 505'. Between the supports 504, 504' and the struts 505, 505', cross connectors 509 are arranged, which firmly connect the two supports 504, 504' or the two struts 505, 505'.

[0093] Each of the rails 507, 507' has a horizontally aligned web 510, 510', with the webs 510, 510' facing each other with their free ends. The carriage feet 508, 508' are widened transversely to a longitudinal extension of the rails 507, 507' relative to the supports 504, 504' and the struts 505, 505', so that the carriage feet 508, 508' are blocked in the direction of the webs 510, 510'. A motor-driven belt 511 is stretched between the rails 507, 507' and extends parallel to the rails 507, 507' over the entire path of the storage rack 501. The belt 511 is firmly connected to the storage rack 501 and enables the storage rack 501 to be moved along the path defined by the rails 507, 507'. To secure and fix the storage rack 501 in a specific position relative to the path, particularly in one of its end positions, positioning means 512 are assigned to the rails 507, 507'.

[0094] The rails 507, 507` are mounted on the installation surface of the device, wherein the storage rack 501 with the projecting part of the storage location receiving tray 506 can be moved into a working area of the manipulator 201, as shown in Fig. 7 is shown. In the working area of the manipulator 201, the storage locations 502, 502' are now arranged, starting from the installation area of the device above the storage 301, between an exchange level C for parts 6, 7 of the product units 3 and a higher level in which the trolley 206 can be moved. To exchange the interchangeable attachment 401, both storage locations 502, 502' can now be controlled with the manipulator 201, with one of the storage locations 502, 502' receiving an interchangeable attachment 401 from the manipulator 201 and an interchangeable attachment 401 being removed from the other storage location 502, 502' with the manipulator 201. The rails 507, 507' are arranged parallel to the conveying direction B of the product conveying device 1 and have a length that allows the storage rack 501 to be completely guided out of the working area of the manipulator 201.

[0095] Fig. 8 schematically shows a suction area 411 with suction sections a, b, c, d, e, f, g, h, i of a suction unit 215 of the gripper 211. The suction sections a, b, c, d, e, f, g, h, i each have a suction channel 414 for applying a negative pressure with the negative pressure generator 216 and each have different shapes, sizes or orientations. Suction sections a, b, c, d, e, f, g, h, i activated together form combination suction sections which cover larger areas of the suction unit 215. Examples of combination suction sections are the suction sections a, b, c, the suction sections a, b, c, h, the suction sections f, g, i, the suction sections a, b, c, f, g, i or the suction sections a, b, c, d, f, g, i. All of the combination intake sections mentioned form larger rectangular shapes.

[0096] Out of Fig. 9 The product detection unit 101 is shown without the housing 102. The product detection unit 101 has a frame 104, on which, in addition to the housing 102, further components of the product detection unit 101 are arranged. These components relate to two optical detection systems 105, 106, of which the optical detection system 105 is a 3D laser scanner and the optical detection system 106 is a 2D camera. These two optical detection systems 105, 106 are arranged according to the Fig. 1 apparent, intended construction of the device is arranged centrally above the product conveying path 2 and perpendicular to the conveying direction B of the product units 3 on a Fig. 1 The optical detection systems 105, 106 are spaced apart from the product conveying device 1 to be arranged, which distance is selected according to the detection ranges of the optical detection systems 105, 106 such that the respective detection range in the product conveying plane A has a width at least equal to the product conveying device 1 in the conveying direction B in order to completely detect a product unit 3. The optical detection systems 105, 106 and their detection ranges, together with the product conveying path 2 passing through, form a product detection section 107 of the product detection unit 101.

[0097] The optical detection systems 105, 106 are Fig. 7 a ventilation system 108 is assigned to the system. This system has a ventilation pipe 109, upstream of which, in the flow direction of the air drawn in for ventilation, there are an air intake nozzle 110, a filter box 111, and a raw fan 112, with the air intake nozzle 110 leading out of the housing 102. The ventilation pipe 109 has a ventilation outlet 113 directed toward the optical detection systems 105, 106 and their detection areas in order to keep the product detection section 107 free of dust and other contaminants. Lamps 115 for illuminating the product detection section 107 are also arranged on crossbeams 114 of the frame 104.

[0098] In the Fig. 10a bis Fig. 10f is shown how defective parts 6 of a product unit 3', 3", 3‴, 3ʺʺ, 3‴ʺ on a product base 5', 5", 5‴, 5ʺʺ are replaced according to the method according to the invention and how the product units 3', 3", 3‴, 3ʺʺ, 3‴ʺ and product bases 5', 5", 5‴, 5ʺʺ are handled, in particular moved, in the process.

[0099] In Fig. 10a the storage 301 is already occupied with a product base 5‴ and on the product conveyor 1, a product unit 3′ with faultless parts 7 is fed to the product exchange section 4 on a product base 5′. This product base 5′ with the product unit 3′ is, as can be seen from Fig. 10b can be seen, then resting on the lowering tables 305, 305', raised into the exchange plane C with the storage surfaces 303, 303' and conveyed by means of the inlet and outlet means 304' at right angles to the conveying direction B of the product conveying path 2 in the direction of arrow D into the storage 301'.

[0100] The product unit 3' is followed by a product document 5" of a product unit 3" with a defective part 6, which is Fig. 10c conveyed into the product exchange section 4 and lifted into the exchange level C by the lowering tables 305, 305'. Furthermore, the defective part 6 was removed from the product unit 3" by the manipulator 201 and placed in the correct position on the product support 5‴.

[0101] After the defective part 6 has been placed on the product base 5‴, the manipulator 201 is moved above the product unit 3' and a defect-free part 7 is picked up from the product base 5' by the manipulator 201, lifted and, as in Fig. 10d indicated by the arrow E, to the product unit 3" and placed at the position of the defective part 6 on the product base 5" so that the product unit 3" is formed entirely from defect-free parts 7.

[0102] As soon as all positions for defective parts 6 of the product documentation 5‴ are occupied, this will be Fig. 10e conveyed by the infeed and outfeed means 304 in the direction of arrow F onto the lowering tables 305, 305' and lowered onto the product conveying level A of the product conveying device 1. Subsequently, the product base 5‴ of a product unit 3‴ formed from defective parts 6 is conveyed in the direction of arrow G to the product discharge side 2b. The storage 301' now contains the empty product base 5'.

[0103] In Fig. 10f The free storage 301 is now fed, according to arrow G, with a product support 5' of a product unit 3' with faultless parts 7, so that the storages 301, 301' exchange their function. Defective parts 6 of a subsequent product unit 3' are now deposited on the product support 5' in the storage 301', and faultless parts 7 are removed from the product unit 3' from the storage 301.

Claims

1. A method for quality assurance of a product unit (3, 3', 3", 3‴, 3ʺʺ, 3‴ʺ), in which a product unit (3, 3', 3", 3‴, 3ʺʺ, 3‴ʺ) is moved along a product conveying path (2) from a product feed side (2a) to a product discharge side (2b) and defective parts (6) of the product unit (3, 3", 3‴ʺ) are exchanged between the product feed side (2a) and the product discharge side (2b), characterized by that a manufactured product unit (3, 3', 3", 3‴, 3"", 3‴ʺ) is recorded and checked for possible defects before any part of it is replaced, that based on the detected errors, the defective parts (6) of the product unit (3, 3", 3‴ʺ) are removed from the product unit (3, 3", 3‴ʺ) by at least one manipulator (201) and sorted into a first storage (301), thatthe removed parts (6) of the product unit (3, 3", 3‴ʺ) are replaced by the at least one manipulator (201) with similar parts (7) of a fault-free product unit (3, 3') temporarily stored in a second storage unit (301'), that the faultless product unit (3, 3') required to replace individual parts (6) of the product units (3, 3", 3‴ʺ) was fed from the product conveying path (2) to the second storage unit (301'), and that a product unit (3, 3‴) composed of accumulated, defective parts (6) is returned from the first storage (301) back into the product conveying path (2).

2. Method according to claim 1, characterized in thatall parts (7) of the product unit (3, 3') stored in the second storage (301') are removed with the manipulator (201) and fed to the product unit (3, 3') with the accumulated, defective parts (6) before the product unit (3, 3') composed of accumulated, defective parts (6) is returned from the first storage (301) back into the product conveying path (2).

3. Method according to one of claims 1 or 2, characterized in thatthe first store (301), after a product unit (3, 3‴) composed of accumulated, defective parts (6) has been returned to the product conveying path (2), is loaded with a defect-free product unit (3, 3"") from the product conveying path (2) and defective parts (6) are replaced with this product unit (3, 3"") stored in the first store (301), and that when the first store (301) has been loaded with a defect-free product unit (3, 3ʺʺ), the defective parts (6) of the product units (3, 3‴ʺ) from the product conveying path (2) are fed to the second store (301').

4. Method according to one of claims 1 to 3, characterized in that the parts (6, 7) of the product unit (3, 3', 3", 3‴, 3ʺʺ, 3‴ʺ) are detected with their position relative to the product unit (3, 3', 3", 3‴, 3ʺʺ, 3‴ʺ) and the product conveying path (2) before defective parts (6) thereof are replaced.

5. Method according to one of claims 1 to 4, characterized in thatthe manufactured product unit (3, 3', 3", 3‴, 3ʺʺ, 3‴ʺ) is optically detected before a defective part (6) thereof is replaced.

6. Method according to one of claims 1 to 5, characterized in that Parts (6, 7) of the product unit (3, 3', 3", 3‴, 3ʺʺ, 3‴ʺ) are detached from a product base (5, 5', 5", 5‴, 5ʺʺ) before defective parts (6) are replaced.

7. Method according to one of claims 1 to 6, characterized in that Product units (3, 3", 3‴ʺ) with defective parts (6) to be replaced are lifted out of the product conveying path (2) and fixed in a predetermined position between the first storage (301) and second storage (301') before defective parts (6) of the product unit (3, 3", 3‴ʺ) are replaced with the manipulator (201).

8. Method according to one of claims 1 to 7, characterized in thatthe faultless product unit (3, 3', 3"") to be fed to the first storage (301) or second storage (301') is lifted and moved laterally out of the product conveying path (2) towards the product conveying path (2) and stored in the first or second storage (301, 301').

9. Method according to one of claims 1 to 8, characterized in that product units (3, 3‴) composed of accumulated, defective parts (6), a replacement and exchange of individual parts (6) of the product units (3, 3', 3", 3‴, 3ʺʺ, 3‴ʺ) in the direction of the product conveying path (2) downstream of the product conveying path (2) are discharged from the product conveying path (2) and combined with further product units (3, 3‴) composed of accumulated, defective parts (6).

10. Device for quality assurance of a product unit (3, 3', 3", 3‴, 3ʺʺ, 3‴ʺ), comprising at least one product conveying device (1) forming a product conveying path (2) with a product feed side (2a) and a product discharge side (2b) and a product exchange section (4) arranged between the product feed side (2a) and the product discharge side (2b), characterized by that a product detection device (101) is arranged upstream of the product exchange section (4) in the direction of the product conveying path (2), that the product exchange section (4) has at least one first storage (301) and at least one second storage (301') for receiving at least one product unit (3, 3', 3‴, 3ʺʺ), that the two stores (301, 301') are assigned inlet and outlet means (304, 304'), with which the two stores (301, 301') can be brought into engagement with the product conveying device (1) in a product-unit-transferring manner, and thatthe product exchange section (4) with the first storage (301) and the second storage (301') is assigned at least one manipulator (201) with at least one gripper (211) for exchanging at least one part (6, 7) of the product unit (3, 3', 3", 3"", 3‴ʺ).

11. Device according to claim 10, characterized in that the manipulator (201) has at least one machine frame (202) with at least one rail-mounted trolley (206) which is movable in a horizontal plane of the machine frame (202) along a longitudinal axis thereof, and in that the gripper (211) is held on an underside of the trolley (206) facing the product units (3, 3', 3", 3‴, 3"", 3‴ʺ) and is displaceable at least along a vertical axis.

12. Device according to one of claims 10 or 11, characterized in thatthe infeed and outfeed means (304, 304') of the two stores (301, 301') are formed by motor-driven roller conveyors (306, 306a) on which a product unit (3, 3', 3‴, 3"") to be fed into the product conveying path (2) or to be discharged from the product conveying path (2) rests.

13. Device according to one of claims 10 to 12, characterized in that the inlet and outlet means (304, 304') of the two stores (301, 301') each have a lowering table (305, 305').

14. Device according to one of claims 10 to 13, characterized in that the first storage (301) and the second storage (301') are arranged starting from a setup level of the device in an exchange level (C) above the product conveying path (2).

15. Device according to one of claims 10 to 14, characterized in thatthe product exchange section (4) is assigned positioning means (316, 316`) for a product unit (3, 3", 3‴ʺ) with at least one defective part (6) to be exchanged.

16. Device according to one of claims 10 to 15, characterized in that a parts release device (8) is arranged upstream of the product exchange section (4) in the conveying direction (B) of the product conveying path (2).

17. Device according to one of claims 10 to 16, characterized in that the gripper (211) has at least one suction unit (215).

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