Abstract:
The present invention pertains to a handling device ( 36 ) for one or more clamping frames ( 14 ) for components ( 3 ), especially shells of vehicles, in processing stations ( 1 ). The handling device ( 36 ) has one or more rotatably driven connecting rods ( 10 ), which are mounted in a carriage ( 5 ) that can be moved by a motor along a transfer line ( 2 ) at one of their ends and have a holding device ( 13 ) for receiving the clamping frame ( 14 ) at their other ends. Two connecting rods ( 10 ), which are arranged in two coupled carriages ( 5 ) in the manner of a four-bar chain and are rotatable around parallel axes ( 11 ), are preferably present. The handling device preferably generates a feed movement of the clamping frames ( 14 ) which is essentially linear and is directed at right angles to the transfer line ( 2 ).

Description:
FIELD OF THE INVENTION 
     The present invention pertains to a device for handling at least one clamping frame with a device for handling one or more clamping frames for components, especially shells of vehicles, in a processing station with a transfer line. 
     BACKGROUND OF THE INVENTION 
     It has been known that the floor parts with the loosely guided side parts of a shell can be moved along a transfer line into a processing station and additional individual parts of the shell can be moved into that station by means of clamping frames and be brought into a geometrically correct assembly position, where a local welding of the individual parts takes place. 
     Such a device must, moreover, be suitable for making available clamping frames for different vehicle models and for bringing these into the working position. This is accomplished by guiding a plurality of clamping frames movably in parallel to the transfer line, where an additional movement of the clamping frames at right angles to the transfer line is necessary in the area of the processing station in order to reach the working or welding station. 
     A considerable amount of space and a high design and movement technical effort are needed for this in the prior-art devices. 
     SUMMARY AND OBJECTS OF THE INVENTION 
     The basic object of the present invention is therefore to develop a special form of handling of clamping frames, which functions in a space- and cost-saving manner and, moreover, guarantees more freedom of movement of the industrial robots arranged in the area of the processing station. 
     According to the invention, a handling device is provided for handling one or more clamping frames for components, such as shells of vehicles. The device is used in a processing station with a transfer line. The handling device has one or more said rotatably driven connecting rods. The connecting rods are mounted in at least one carriage, which can be moved by a motor along the transfer line, at one of their ends, and have a holding device for receiving the clamping frame at their other end. 
     The device according to the present invention offers a better and more compact possibility for handling the clamping frames. 
     In a preferred embodiment, the individual clamping frame is held and guided via a holding device by means of two connecting rods, which are connected to the holding device in the manner of a four-bar chain. These connecting rods are mounted on carriages and are rotatably driven and the said carriages are moved along the transfer line in a controlled manner. Due to the superimposition of the feed movement of the carriages and the pivoting movement of the connecting rods, it is possible to bring about a steering, which moves the holding device and the clamping frames fastened thereto essentially linearly and at right angles to the transfer lines. 
     Such an arrangement is also suitable for moving the individual clamping frame in parallel to the transfer line and to transfer it into a clamping frame storage unit, while the connecting rods perform an opposite pivoting movement in relation to the approach to the shell. 
     It proved to be advantageous within the framework of the present invention for the individual clamping frame to be guided movably along and at right angles to the transfer line in its working position on a stationary frame as well as to be centered and braced. It is thus achieved that the carriages and connecting rods needed for the movement of the clamping frames are relieved of the weight of the clamping frame and of the tools fastened thereto in the assembly or welding position and the clamping frame is held in the working position with reproducible accuracy. 
     A solution alternative is described herein. According to this alternative, the individual connecting rod is designed as an articulated arm in the manner of a toggle lever. Another pivoting drive for the free leg of the articulated arm is located in the toggle link. The individual connecting rod thus has two pivoting devices, which are controlled such that the holding device articulated to the free leg performs a linear movement at right angles to the transfer line. 
     In this embodiment variant, which has the character of an independent invention, the pivoting movements are coordinated with one another by two pivoting drives, so that the lifting movement of the carriages, which are movable along the transfer line, is not important. 
     In another independent embodiment for accomplishing the object of the present invention, only one connecting rod is needed for each clamping frame, and this connecting rod acts on the center of the holding device in an articulated manner and with a pivoting drive. The other end of the connecting rod is displaceable in a stationary guide by means of a carriage, wherein the resultant of the carriage guiding and of the pivotability of the holding device in relation to the connecting rod causes the holding device to move from a basic position that is parallel to the transfer line into a parked position extending obliquely thereto, where a transfer into a laterally arranged clamping frame storage unit can take place from the parked position. A carriage guide in parallel to the transfer line can be dispensed with in the case of such an arrangement. 
     The various features of novelty which characterize the invention are pointed out with particularity in the claims annexed to and forming a part of this disclosure. For a better understanding of the invention, its operating advantages and specific objects attained by its uses, reference is made to the accompanying drawings and descriptive matter in which preferred embodiments of the invention are illustrated. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     In the drawings: 
     FIG. 1 is a top view of a transfer line with a processing station and guides arranged in parallel thereto for clamping frames; 
     FIG. 2 is a side view of the arrangement according to FIG. 1 in the direction of the arrow A of FIG. 1; 
     FIG. 3 is a front view of the processing station with a guide arranged laterally therefrom for clamping frames; 
     FIG. 4 is a top view of an arrangement for moving clamping frames by means of articulated arms; 
     FIG. 5 is a side view of the arrangement according to FIG. 4 in the direction of arrow B; and 
     FIG. 6 is a schematic top view of an arrangement for moving clamping frames in another variant. 
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Referring to the drawings in particular, a processing station  1  with a transfer line  2  is symbolically shown in the exemplary embodiment according to FIGS. 1 through 3. An initial component  3 , e.g., the shell of a vehicle, is located in the processing station  1 , and one or more additional workpieces  37 , preferably side parts, can be brought into a reproducible, geometrically defined position in relation to the shell  3 . The processing station  1  has a handling device  36 , which can feed one or more clamping frames  14  laterally to the shaft  3 . In the preferred exemplary embodiment, the clamping frames  14  are loaded with the side parts  37 , which are, e.g., shown schematically in FIG.  2  and are indicated by broken lines. As an alternative, the clamping frames  14  may also be empty and offer only a clamping and processing function for the shell  3 , which is already equipped with the side parts or other workpieces in advance in this case. 
     The handling device  36  has at least one displaceable and rotatable connecting rod  10 ,  22 ,  30  with a holding device  13  for the clamping frame  14 . Various embodiments will be described for this below. 
     A guide  4 , on which one or more carriages  5  are guided movably in parallel to the transfer line  2 , is located in parallel to the transfer line  2  next to the processing station  1  on each side. FIG. 3 shows that these carriages  5  are mounted movably and cantilevered, e.g., on the outside of the box-like guide  4 . 
     According to FIG. 1, a connecting rod  10  is mounted rotatably along a vertical pivot axis  11  on each carriage  5  and is adjustable by means of a pivoting drive  21 . The carriages  5 , which are at spaced locations from one another, are preferably connected to one another by a coupling rod  6  and move synchronously. At least one of the carriages  5  has a feed drive  7 , which forcibly moves the carriage and thus the other carriage and the connecting rods  10  along the guide  4 . As is apparent from FIG. 2, the feed drive  7  acts on a toothed rack  9  located stationarily on the guide  4  via a pinion  8 . 
     At least one holding device  13  is arranged in an articulated manner in the area of the axes  12  at the free ends of the connecting rods  10 . The individual holding device  13  may have any desired, suitable design and has, e.g., a holding bar. The holding device  13  carries an upright clamping frame  14 , as is apparent especially from FIGS. 2 and 3. One or more clamping or centering units for the workpieces or side parts  37  are fastened on the clamping frame  14  in the conventional manner in order to bring these to the shell  3  into a geometrically defined position. 
     The holding device  13  can be moved with the clamping frames  14  fastened thereto preferably essentially linearly and at right angles to the transfer line  2  in order to avoid collisions. To achieve this, the pivoting movement of the pivoting drives  21  and the feed movement of the feed drive  7  are coordinated with one another such that this linear transverse movement of the clamping frame  14  is obtained as the resultant. 
     As is shown in FIGS. 2 and 3, the connecting rods  10 , the holding device  13  and the guide  4  with the carriages  5  are located under the contour of the shell  3 . The purpose of this is not to hinder the mobility of the industrial robots  18  arranged on the side of the guides  4 . The consequence of this is that the load of the holding device  13 , of the clamping frame  14  and of the workpieces lies fully on the connecting rods  10 , which take up loads cantilevered around vertical axes. To guarantee the reliable association of the individual parts of the shell  3 , the individual clamping frames  14  are connected to a stationary frame  15 . Longitudinal and cross guides  16  are arranged for this purpose between the frame  15  and the clamping frame  14  in order to bring about the end position of the clamping frame at the frame  15 . FIG. 2 also shows that one or more clamping connections  17  are provided between the clamping frame  14  and the holding device  13 , which guarantees the fastening of the clamping frame  14  on the holding device  13  during the transport along the guide  4 . 
     The exemplary embodiment in FIG. 1 also shows how the connecting rods  10  can be actuated in order to move the individual clamping frame  14  from the processing station into a waiting position  19  or into a clamping frame storage unit  20 . Provisions are made for this purpose to arrange the connecting rods  10  in a position in parallel to the transfer line  2 . The clamping frames  14  are thus movable along the guide  4  without projecting beyond the guide  4  laterally. If the carriage-connecting rod arrangement  5 ,  10  has arrived in the waiting position  19 , this unit can stay there if a second, equivalent unit is introduced from another waiting position into the processing station  1 . 
     However, it is also possible to bring the clamping frame  14  located in the waiting position  19  into a clamping frame storage unit  20 , for which purpose a pivoting movement of the connecting rods  10  in the opposite direction is necessary in conjunction with a controlled movement of the carriages  5 . Such a movement is indicated in the top right part of FIG.  1 . 
     An independent inventive variant of the embodiment according to FIGS. 1 through 3 is shown in the examples according to FIGS. 4 and 5. 
     According to this variant, the individual holding device  13  is held and guided by two articulated arms  22 , and an additional pivoting drive  24  for the pivoting movement of the free leg  28  is provided in the area of the toggle link  23 . The linear displacement of the holding device  13  at right angles to the transfer line  2  is thus brought about by the superimposition of the pivoting movements of the pivoting drives  24  and  27 , so that a linear transverse movement of the holding device  13  will result. The free leg  28  of the articulated arm  22  is connected to the holding device  13  via the axis  26 . The other axis  27  of the articulated arm  22  is mounted and driven rotatably via the pivoting drive  25  on a carriage  5 , which is adjustable in parallel to the transfer line  2  along a guide  4  in order to transfer the holding device  13  and the clamping frame  14  fastened thereto from the processing station into a waiting station or vice versa. 
     The exemplary embodiment according to FIG. 6, which represents an independent invention, avoids the arrangement of a four-bar chain for moving the holding device  13 . A connecting rod  30  with its axis and pivoting drive  31  is mounted and driven rotatably, instead, in the center  29  of the holding device  13 , so that the holding device  13  can perform a pivoting movement around this axis (center  29  of the holding device). The other end of the connecting rod  30  is guided via an axis  34  and a pivoting drive  35  on a carriage  32 , which is movable along a stationary guide  33 . As is shown in FIG. 6, two such guides  33 , which open from the center  29  of the holding device  13  in the outwardly direction, are provided for each processing station in the exemplary embodiment. It is thus made possible to bring the connecting rod  30  associated either with one guide  33  or with the other guide  33  with the holding device  13  associated with them into the position in front of the processing station  1 . 
     If needed, waiting positions  19  or clamping frame storage units  20 , in which the individual clamping frames  14  can be deposited and from which they can be removed, are provided laterally from the guides  33 . The movement necessary for this is derived from the resultant of two pivoting drives  31 ,  35 . 
     Various modifications of the exemplary embodiments shown are possible. On the one hand, the feed movement of the clamping frames  14  may also be non-linear. Furthermore, two or more connecting rods  10  may be arranged one on top of another rather than next to one another as shown in FIGS. 1 and 2. Moreover, it is possible to arrange the connecting rods laterally in a corresponding frame, in which case they have essentially horizontal pivot axes  11  extending in parallel to the transfer line. They will thus act laterally on the clamping frame  14 . Two connecting rods may be arranged next to one another or opposite each other in this variant as well. Moreover, the design variants mentioned may be combined with the others as an alternative to the design and kinematics of the handling device  36  corresponding to the exemplary embodiments 4 through 6. 
     While specific embodiments of the invention have been shown and described in detail to illustrate the application of the principles of the invention, it will be understood that the invention may be embodied otherwise without departing from such principles.