Transport System for Transporting Workpieces on a Transport Path between Two Production Process Stations

Abstract

A transport system (10) for transporting workpieces (12) on a transport path between two production process stations, includes a set of drones (18, 20), each of which includes at least one gripper (26), which is designed to releasably couple to a surface (28) of a workpiece, and a control device for the simultaneous coordinated control of the drones (18, 20) of the set in such a way that the grippers (26) of the drones (18, 20) couple to different coupling positions on the surface (28) of the workpiece (12) and the orientation of the workpiece (12) can be changed on a transport path between the production process stations by changing the relative positions of the drones (18, 20) while maintaining the relative distances of the coupling positions from one another.

Claims

1-14. (canceled)

15. A transport system for transporting workpieces on a transport path between two process stations of a production line, comprising: a set of drones, with each drone comprising at least one gripper which is designed to releasably couple to a surface of a workpiece, and a control device for the simultaneous coordinated control of the drones of the set, in such a way that the grippers of the drones couple to different coupling positions on the surface of the workpiece and the orientation of the workpiece can be changed on a transport path between the production process stations by changing the relative positions of the drones while maintaining the relative distances of the coupling positions from one another.

16. The transport system according to claim 15, wherein the grippers are swivel mounted on the drones.

17. The transport system according to claim 15, wherein the grippers are replaceably mounted on the drones.

18. The transport system according to claim 15, wherein the grippers each comprise at least one pneumatically operated suction device, which can be operated by at least one negative pressure source.

19. The transport system according to claim 18, wherein the drones each comprise at least one drive system that serves as a negative pressure source for operation of a suction device.

20. The transport system according to claim 19, wherein the drones each comprise a negative pressure line for transmission of the negative pressure generated by the drive system to the suction device.

21. The transport system according to claim 20, wherein an end of the negative pressure line opposite to the suction device has an opening that opens into an enclosure of the drive system.

22. The transport system according to claim 19, comprising at least one additional negative pressure source to assist the drive system in operation of a suction device.

23. The transport system according to claim 22, comprising a control for controlling: a portion of the negative pressure generated by the drive system and an additional negative pressure source for operation of a suction device.

24. The transport system according to claim 15, wherein the set comprises three drones.

25. The transport system according to claim 15, wherein the drones are multicopters.

26. A method for transport of workpieces on a transport path between two process stations by a transport system according to claim 15, comprising the following steps: providing a quantity of workpieces in a first process station, controlling a workpiece provided in the first process station by a set of drones in such a way that grippers of the drones of the set couple to different coupling positions on a surface of the controlled workpiece, and transporting the workpiece by the set of drones on a transport path into a second process station by changing the spatial orientation of the workpiece by coordinated control of the drones in individual flight paths, wherein the relative distances between the coupling positions are maintained.

27. The method according to claim 26, wherein the coupling positions are in a plane, and comprising the step of changing the spatial orientation thereof in the transport path between the first process station and the second process station.

28. The method according to claim 26, wherein the workpieces are plate shaped and at least the second process station is a press for pressing of the workpieces.

Description

[0027] Here below, a preferred embodiment of this invention is further detailed on the basis of the figures.

[0028] FIGS. 1 to 3 are schematic representations of an embodiment of the transport systems for transporting workpieces on a transport path between two Process Stations according to the invention, this as a demonstration of a transport method, and

[0029] FIG. 4 is a schematic representation of the components of a drone, this for elucidation of the principle of creation of negative pressure.

[0030] A transport system 10 for transporting workpieces 12 between two Process Stations is schematically represented in FIG. 1 to FIG. 3. In the case in point, these Process Stations are a withdrawal station 14 and a press that is not described in further detail. In the terminology used for this application, a first station like the withdrawal station 14 that is represented, in which no processing of the workpiece is carried out, is therefore also a Process Station within a production line. Similarly, a storage station used for storage of a finished workpiece can also represent a Process Station.

[0031] Workpiece 12 is the uppermost workpiece from a stack 16 of a quantity of workpieces, which are identically designed. The workpieces 12 are plate shaped, however not plane, which is to say, they are curved and shaped.

[0032] The workpieces 12 that are represented are intended to be introduced one following the other into a subsequent press that is the second Process Station. For this purpose, the transport system 10 provides to lift up the uppermost workpiece 12 of the stack 16 in the direction A (arrow), to transport it on a predetermined transport path to the press in the direction B (arrow) and to deposit it in the press, for example, onto a lower die provided therein in the opened press.

[0033] For this purpose, the transport system 10 according to the invention comprises a set of drones, of which two drones 18 and 20 are exemplarily shown in the figures. In fact, the set may also comprise more than two drones, for example, three drones. The present illustrations in FIG. 1 to FIG. 3 are thus simplified in this respect to elucidate the general transport principle.

[0034] The drones 18, 20 are substantially identically designed. They comprise a drone body 22 which includes at least one drive system 24. To achieve a stable flight path, multicopter drones 18, 20 that comprise a number of rotors as drive systems 24, which generate a downward airflow, have proven themselves to be effective. This causes the drone 18, 20 to rise. Quadrocopters with four rotors can, for example, be used as drive systems 24.

[0035] On the underside of the drone bodies 22, there are mounts 25 for grippers 26, which are intended to couple to the upper surface 28 of the workpiece 12. For this purpose, the grippers 26 are equipped with pneumatically operated suction devices, which will be described in more detail. In the simplest case, each gripper 26 may comprise a single suction device, which attaches itself at a specific surface point of the surface 28 of the workpiece 12 by negative pressure. The operation of such a suction device of a gripper 26 will be described in further detail below.

[0036] The mount 25 allows the respective gripper 26 to swivel with respect to the drone body 22. In FIG. 1, it is, for example, shown that the drone 18 on the left in the figure shows a gripper 26 in a different angular orientation than the drone 20 on the right. The different angular orientations of the grippers 26 serve to adapt to the inclination of the surface 28 of the workpiece 12 in the respective intended coupling position. Since the surface has a greater inclination due to a strong curvature of the workpiece 12 on the right side in FIG. 1, the gripper 26 is also accordingly inclined in order to be able to lie flat against the surface 28. Due to the ability to swivel of the grippers 26, it is possible for the drones 18, 20 to maintain a horizontal orientation of their drone body 22, including of their drive systems 24, even in tilted or swiveled positions of their grippers 26. According to the illustration in FIG. 1, this means that the drone bodies 22 of the drones 18, 20 can maintain their horizontal orientation within the set even though their grippers 26 are swiveled differently.

[0037] The grippers 26 may further be replaceably attached to the drones 18, 20. To this end, the mounts 25 can comprise corresponding releasable coupling mechanisms. The ability to swivel of the grippers 26 can be ensured, for example, by ball joints, gimbal mounts or the like.

[0038] The transport of a workpiece 12 by the transport system 10 according to the invention on a provided transport path into the subsequent Process Station, namely the press, will be described in the following. Here, the horizontal transport direction B corresponds to a spatial direction X from left to right in the drawings, and the upward lifting direction perpendicular thereto corresponds to a spatial direction Z.

[0039] According to FIG. 1, the drones 18, 20 of a set couple with their grippers 26 at different coupling positions on the surface 28 of the workpiece 12 (in the present example at a front and a rear coupling position with respect to the transport direction). Since the workpiece 12 does not lie flat in a plane, the drones 18, 20 of the set are at different flight altitudes when coupled. An altitude difference between the different coupling positions of the drones 18, 20 is denoted by Z.sub.1. The illustration of the coupling positions is only schematic and not geometrically precise.

[0040] The uppermost workpiece 12 of the stack 16 is separated by the drones 18, 20, which as shown in FIG. 1 are moving vertically in an upwards direction (direction Z). In the separated state, the workpiece 12 is thus held freely by the grippers 26 and can be rotated in space.

[0041] FIG. 2 shows a position on the transport path from the removal station 14 in FIG. 1 to the subsequent press. A counterclockwise rotation about a horizontal axis Y perpendicular to axes X and Z is performed by increasing the difference in altitude between drones 18, 20. This also increases the difference in coupling positions Z.sub.2, which is now greater than Z.sub.1. The rotation shown in FIG. 2 is only exemplary for further free rotations in space, for example, also around the axis parallel to the transport direction. Such a rotation could be achieved by changing the flight altitudes of drones flying next to each other.

[0042] During this rotation, the drone bodies 22 maintain their spatial orientation. This is possible due to the ability to swivel of the grippers 26 with respect to the drone bodies 22. In this, it is essential to have common control of all drones 18, 20 of a set by a common control device which coordinates the drones 18, 20. This allows the transport path of the workpiece 12 to be specified, namely by coordinating the individual flight paths of the drones 18, 20. The relative positions of the drones 18, 20 with respect to each other are changed by the control device in such a manner that the relative distances of the coupling positions from each other are maintained. This prevents stresses from occurring on the grippers 26 that could cause the gripper 26 to detach from the surface 28 of the workpiece 12.

[0043] In FIG. 3, the workpiece 12 is shown in a third position in which it is rotated clockwise about the Y-axis relative to its position in FIG. 2, again by changing the flight altitudes of the drones 18, 20 while maintaining the distances between their coupling positions. Here, the difference in altitude of the coupling positions is approximately Z.sub.3<<Z.sub.2. In this orientation, the workpiece can be transported further or deposited into the press.

[0044] The grippers 26 are simple in design and need not be configured for a specific workpiece 12. For example, it is possible to use the same set of drones 18, 20 with the same grippers for a differently shaped workpiece 12. All that needs to be changed in this case is the programming of the control device to define the transport path by specifying the individual flight paths of the drones 18, 20.

[0045] FIG. 4 shows the principle of generating the negative pressure for operating the pneumatic suction device of a drone 18, 20. The drive system 24 comprises a rotor 27 with a vertical axis of rotation that generates an airflow from above downwards within an enclosure 29. A horizontal center plane 30 of the rotor 27 is at the level of the smallest free cross-section within the enclosure 29, and therefore at the level at which the highest differential pressure occurs.

[0046] The opening 32 of a negative pressure line 34 is arranged within the enclosure 29 at the level of this plane 30, the opposite end of line 34 opens into a suction cup 36 of the gripper 26. The negative pressure generated by the rotor 27 is thus transmitted through the negative pressure line 34 to the suction cup 36, which is able to attach by suction on the surface 28 of the workpiece 12.

[0047] In the case in point, the negative pressure generated by the drive 24 is therefore used to operate the suction cup 36. Additionally, in the present embodiment, another source of negative pressure is provided to assist the drive system 24 as the primary source of negative pressure. A negative pressure line 38 leads to this additional negative pressure source, which opens into the negative pressure line 34 between the drive system 24 and the suction cup 36. Just upstream of the confluence is a valve 40 which serves to partially or fully open or close the negative pressure line 38. The valve 40 thus serves as a means of control for controlling the portion of the negative pressure generated by the drive system 24 or by the additional negative pressure source at the suction cup 36.