EP0671228B1 - Transporting equipment for work pieces in a press - Google Patents

Description

The invention relates to a transfer press with a Transport device to Transporting workpieces through processing stations according to the preamble of claim 1, e.g. from the DE-A-3320830 is known.

State of the art:

With transport devices for transporting workpieces through the processing station in particular one A transfer press is differentiated between a two-axis transfer and a 3-axis transfer, with which the movement of the Carrier or gripper rails is characterized. From the DE-C-38 43 975 is for example a transport device with a 2-axis transfer, in which the crossbars leading through the press have a two-dimensional movement. In in this case they run through the entire press room protruding mounting rails or guided on them Carriage for the cross beams a horizontal stroke in and against the direction of transport of the workpiece and one Vertical stroke, with the workpieces on with suction cups or such equipped crossbars between the Support rails are attached. A transverse movement of the Support rails for gripping the workpieces are therefore not required. The crossbeams must however during the Machining process outside the tool room in one Intermediate position to be positioned around the Do not disturb the machining process (see DE-C-38 24 058).

With a 3-axis transfer, the support or In addition to the longitudinal and lifting movement, the gripper rails also have one additional transverse movement and grasp by means The workpiece is gripped by a gripper Transport processing stage to the next. A basic representation of such a three-dimensional The drive is in EP-A-0 210 745, in particular FIG. 4 reproduced. Would one of the movements, e.g. B. the Lift movement is eliminated, so it is again a 2-axis transfer.

From DE-C2-38 42 182 is a gripper rail drive for a step press, in which the Gripper rails also have a three-dimensional movement To run. In addition to the usual longitudinal movement and Stroke movement of the two parallel gripper rails the additional transverse movement of the gripper rail as so-called clamping movement or closing / opening movement for Gripping or clamping the workpieces provided. For this is each gripper rail is articulated on one with a push rod transversely displaceable carriage, the carriage in turn to adapt to the respective workpiece size in a fixed starting position for transverse movement Longitudinal axis of the press. This transverse shift therefore serves as setup axis for setting the workpiece size. The respective closing / opening movement of the gripper rail then takes place as a lateral pivoting movement or transverse movement on a carriage fixed in the transverse direction corresponding ball joints. The slidable slides themselves are attached to a cross-beam, the usual Drive lever with the gearbox of a central drive Press is connected. This gearbox is stationary in the front area or entrance area of the step press arranged and includes the usual from rolled roles Cam discs to carry out the advance, tension and Lifting movement of the gripper rails. The drive of the gearbox can from the press head itself or through separate drives respectively. The transverse movement of the gripper rail itself as Production axis takes place in this known system in conventionally by a below the gripper rails arranged lock box, which is also from the central drive is driven.

In practice, the gripper transfer is preferably the Transporting externally accessible, rigid sheet metal parts used during a transfer with sucker bars in particular for transporting large, unstable sheet metal parts suitable is. The gripper transfer has compared to that Sucker bar transfer better tool clearance and can achieve a higher number of strokes at the same accelerations To run. For this reason, it is in itself uneconomical Sheet metal parts that are transported with a gripper transfer can be transported with a transfer with sucker bars. Depending on the area of responsibility, step presses have so far been used either as gripper transfer presses or suction beam transfer presses manufactured, a conversion of one System to the other because of the completely different Movements are not provided.

One tried a three-dimensional movement of the Gripper rails by separate drives to be carried out (DE-C2-33 29 900; DE-A-33 20 830). The Adjustment movement in the 3 axes takes place essentially via rack and pinion gear with single motors. This is causing a high technical effort for the multitude of Single motors and can have problems synchronizing them prepare.

Object and advantages of the invention:

The invention has for its object a transfer press with a transport device for transporting Form workpieces by machining stations such that the transfer press for different Workpiece transport tasks can be converted.

This task is based on a transfer press with a transport device according to the preamble of claim 1 by the characterizing Features of claim 1 solved.

In the subclaims are advantageous and expedient Developments of the drive system according to the invention specified.

The invention is therefore based on the main idea that the press has structural measures that allow that the press both in suction beam operation and in Gripper operation can be used.

The transfer press according to the invention with the transport device follows the Basic idea of a completely flexible handling of the transporting workpieces or parts through the Transfer press, whereby with regard to the longitudinal drive the support or Gripper rails of the drive either with central drive Push rods and on the different movements switchable cam gear or with programmable Individual drives should take place.

According to the invention, the individual movements be changed so that a transfer with both sucker bars as well as with grippers. Appropriate Means for fastening both cross members or

Vacuum bar for 2-axis operation as well as Gripper elements for 3-axis operation can be provided. It will continue to be an additional cross transport unit used in addition to the transverse closing / opening movement also the lifting movement for the carrying or Can perform gripper rail. The usually arranged below the support or gripper rails Lock box for carrying out the lifting and closing movement is therefore replaced by one above the support or Gripper rails arranged transport system, which the can perform appropriate movements if necessary.

EP-B-0 384 188 is a transport device for a transfer press or the like, at which the support rails leading through the press also arranged above one of the mounting rails Lifting device can be raised. This arrangement only affects a 2-axis drive with arranged between the support rails cross members, so that the lifting device only for carrying out the Vertical movement of the gripper rails is used. The longitudinal movement is still by a central drive on the front performed. The same applies to the lifting movement, too Central for everyone via a push rod drive Lifting devices are carried out.

The transfer press according to the invention therefore has the Advantage that an extremely flexible arrangement is created, both in suction bar and gripper operation can be used without any problems. The above are used for this the support or gripper rails arranged additional Cross transport units, each with an integrated one Lifting column on which the respective support or gripper rail is suspended, so that the conventional lifting and Closing movement exclusively from this, separately drivable cross transport unit is executable. Here can the lifting and transverse movements by appropriate Drives are performed in isolation from each other, whereby in particular the transverse movement as a production axis and / or is designed as a setup axis.

The support and gripper rails are attached to the respective Cross transport unit by means of an associated lifting column in a slide guide so that the Cross transport unit stationary, preferably between the Stands of a press arranged within an empty stage can be.

The formation of the transverse movement of the lifting column is advantageous in an associated support carriage as part of the Cross transport unit, with different drive systems both for the lifting column and for the transverse one Carriage are provided. In preferred training can this drive take place via a traction device arrangement preferably comprises a belt drive or the like. Instead of a traction device arrangement, a spline shaft can also be used with pinion and rack to carry out the lifting movement and as a spindle / nut drive to carry out the Transverse movement may be present, the drives of the various drive elements as highly precise programmable Drives are designed. Such a belt drive for Execution of an independent lifting and transverse movement is seen for example from the working principle in DE-C2-32 33 428 indicated.

The peculiarity of the present invention is accordingly especially in the easy convertibility of the Transport device for a 2-axis longitudinal transfer with Suction beam and a 3-axis transfer with gripper elements. For this, the support or gripper rails with special Provide receiving devices or receiving flanges, the alternatively for the admission of cross members or suction beams or the like or with gripper bars with corresponding Gripper elements can be equipped. It is preferably provided that the receiving device for the Crossbeams and / or the gripper elements on the support or Gripper rails are mounted to move longitudinally Partial steps in a relative movement to the support or To be able to run the gripper rail, especially for 2-axis transfer the crossbars in a parking position between to move the tool stages. Particularly advantageous in this context is the training of these Recording device in that also a pivoting movement is feasible about a horizontal transverse axis, so that the Cross members and / or the gripper elements to their preferred horizontal longitudinal axis are pivotable.

Various embodiments of the invention are in the Drawing and are shown in the following Description explained in more detail.

Fig. 1

einen Längsschnitt durch eine Großteil-Stufenpresse (GT-Presse) im 2-Achs-Betrieb mit Quertraversen in Entnahmestellung;

Fig. 2

einen Längsschnitt durch eine GT-Presse im 3-Achs-Betrieb mit Greifer in Entnahmestellung;

Fig. 3

eine Draufsicht auf die GT-Presse nach Fig. 1;

Fig. 4

eine Draufsicht auf die GT-Presse nach Fig. 2;

Fig. 5a

eine Stirnansicht in Durchlaufrichtung durch die GT-Presse im 2-Achs-Betrieb mit Quertraverse in Entnahmestellung, mit einer ersten Ausführungsform einer HubSchließ-Transporteinheit mit Zugmittelantrieb;

Fig. 5b

eine Darstellung nach Fig. 5a jedoch in Absteckstellung der Quertraverse zum Umrüsten;

Fig. 5c

eine Darstellung nach Fig. 5a jedoch mit hochgefahrener Transporteinheit einschließlich Tragschienen und seitlich abgeschwenkter Quertraverse auf dem Schiebetisch;

Fig. 6a - 6c

eine Darstellung entsprechend den Figuren 5a - 5c jedoch mit einer alternativen Ausführungsform einer Hub-Schließ-Transporteinheit mit Spindelantrieb;

Fig. 7a

eine Stirnansicht in Durchlaufrichtung der GT-Presse im 3-Achs-Betrieb mit Greifer in Entnahmestellung mit der ersten Ausführungsform der Transporteinheit mit Zugmittelantrieb;

Fig. 7b

die Darstellung nach Fig. 7a jedoch in Absteckstellung der Greifer zum Umrüsten;

Fig. 7c

die Darstellung nach Fig. 7a, 7b jedoch mit abgeschwenkten Greifern in Absteckstellung und hochgefahrener Rüstachse;

Fig. 8a - 8c

jeweils eine Stirnansicht in Durchlaufrichtung der GT-Presse im 3-Achs-Betrieb mit Greifer mit einer Hub-Schließ-Transporteinheit mit Spindelantrieb in verschiedenen Arbeitsstellungen analog zu Figuren 7a - 7c;

Fig. 9a

eine zum Ausführungsbeispiel nach Figuren 1 - 4 alternative Ausführungsform der GT-Presse im Längsschnitt ohne Leerstufen bzw. Orientierungsstufen im 2-Achs-Betrieb mit Quertraversen in Entnahmestellung;

Fig. 9b

eine Darstellung nach Fig. 9a jedoch in Werkzeugwechselstellung;

Fig. 10a

eine alternative Ausführungsform zu den Figuren 1 und 2 jedoch ohne Leerstufe in einem Längsschnitt durch eine GT-Presse im 2-Achs-Betrieb mit Quertraverse in Entnahmestellung des Werkstücks;

Fig. 10b

eine Darstellung nach Fig. 10a jedoch in Werkzeugwechselstellung;

Fig. 11a

eine zum Ausführungsbeispiel nach Figur 1 alternative Ausführungsform ohne Leerstufen bzw. Orientierungsstufen mit Einzelstößel im 3-Achs-Betrieb mit Greifern in Entnahmestellung;

Fig. 11b

die Darstellung nach Fig. 11a jedoch in Werkzeugwechselstellung;

Fig. 12a, 12b

einen Längsschnitt durch eine GT-Presse entsprechend den Figuren 10a, 10b jedoch mit 3-Achs-Betrieb;

Fig. 13a

einen Schnitt entlang der Schnittlinie A-B in Fig. 9a;

Fig. 13b

einen Schnitt entlang der Schnittlinie E-F in Fig. 13a;

Fig. 14a

einen Schnitt entlang der Schnittlinie C-D in Fig. 11a;

Fig. 14b

einen Schnitt entlang der Schnittlinie G-H in Fig. 14a.

The individual figures show:

Fig. 1

a longitudinal section through a large part step press (GT press) in 2-axis operation with cross members in the removal position;

Fig. 2

a longitudinal section through a GT press in 3-axis operation with gripper in removal position;

Fig. 3

a plan view of the GT press of FIG. 1;

Fig. 4

a plan view of the GT press of FIG. 2;

Fig. 5a

a front view in the direction of passage through the GT press in 2-axis operation with cross-beam in the removal position, with a first embodiment of a lifting-closing transport unit with traction drive;

Fig. 5b

a representation of Figure 5a, however, in the pegging position of the crossbar for retrofitting;

Fig. 5c

a representation of Figure 5a, however, with the transport unit raised, including mounting rails and laterally pivoted crossbar on the sliding table.

6a-6c

a representation corresponding to Figures 5a - 5c but with an alternative embodiment of a lift-close transport unit with spindle drive;

Fig. 7a

an end view in the direction of flow of the GT press in 3-axis operation with gripper in the removal position with the first embodiment of the transport unit with traction drive;

Fig. 7b

the representation of Figure 7a, however, in the setting position of the gripper for retrofitting;

Fig. 7c

the representation according to FIGS. 7a, 7b, however, with the grippers pivoted away in the setting-out position and the set-up axis raised;

Figures 8a-8c

in each case an end view in the direction of travel of the GT press in 3-axis operation with gripper with a lift-close transport unit with spindle drive in different working positions analogous to FIGS. 7a-7c;

Fig. 9a

an embodiment of the GT press alternative to the embodiment according to FIGS. 1-4 in longitudinal section without empty steps or orientation steps in 2-axis operation with cross members in the removal position;

Fig. 9b

a representation of Figure 9a but in the tool change position.

Fig. 10a

an alternative embodiment to Figures 1 and 2 but without a blank in a longitudinal section through a GT press in 2-axis operation with crossbar in the removal position of the workpiece;

Fig. 10b

a representation of Figure 10a but in the tool change position.

Fig. 11a

an alternative to the embodiment of Figure 1 embodiment without empty steps or orientation steps with individual plunger in 3-axis operation with grippers in the removal position;

Fig. 11b

11a, however, in the tool change position;

Figures 12a, 12b

a longitudinal section through a GT press according to Figures 10a, 10b but with 3-axis operation;

13a

a section along the section line AB in Fig. 9a;

Fig. 13b

a section along the section line EF in Fig. 13a;

14a

a section along the section line CD in Fig. 11a;

14b

a section along the section line GH in Fig. 14a.

Description:

In Figures 1 and 2, five processing stages are one Large part step presses (GT press) in side view or in Longitudinal section, in Figures 3, 4, the associated Shown top views. The step press points in each case Press tables 1 to 3, sliding tables 4 arranged above to 6 with lower tools 7 to 9 fastened thereon. in the The upper tools are located in the upper part of the step press 10 to 12 and the press rams 13 to 15. The upper bars or head pieces 16 to 18 are with the press tables 1 to 3 connected by the press stands 19 to 22, between which the press rams 13 to 15 are guided.

In the GT step presses shown in Figures 1 to 4 are the press rams 14, 15 as so-called double rams trained, d. h: there are two on each tappet 14, 15 Upper tools 11, 11 'and 12, 12', each of which two associated sub-tools 8, 8 'and 9, 9' are assigned.

In the stand area of the press stands 20, 21, 22 and the following there are so-called empty levels or Orientation levels 23 to 25, in which the processed Workpieces 26 between the processing stations 27 to 29 and the following are filed. The location of the Workpiece in this orientation station for the next one Processing step can be changed. The two Processing stations 28, 29 exist due to the Double plunger training in turn from two single stations be approached one after the other.

According to the representation in Figures 1, 2 in Side view and Figures 3, 4 lead in plan view through the entire large-part step press, two on the side Range of stands 19 to 22, arranged support or Gripper rails 30, 31 by a feed drive 32, 33 are each driven by a push rod 34, 35. Of the Feed drive 32, 33 includes a programmable drive with toothed segment 37. However, it can also, as not closer shown a number of on the different movements switchable cams can be provided by the Press drive are driven synchronously in a known manner.

The peculiarity of the invention now lies in that the support or gripper rails 30, 31 a 2-axis or Can perform 3-axis movement so that different press systems in one press are realized. So shows Fig. 1 in side view 3 is a 2-axis in the corresponding top view Press system with a 2-axis movement of the mounting rails 30, 31 with cross members in the longitudinal direction (arrow 38) and in Vertical direction (arrow 56).

In contrast, the embodiment according to FIG. 2 shows in Side view and a top view according to FIG. 4 Press system with a 3-axis movement system, at which the gripper rails 30, 31 with grippers opposite 2-axis system an additional transverse movement, transverse to Longitudinal press direction 38 can perform around the workpieces to handle.

In the 2-axis system shown in Fig. 1 or 3 with in Press longitudinal direction and aligned in the vertical direction The two mounting rails 30, 31 have production axes connecting cross members 39 to 46, which can be found in each Processing level or empty level of the press system and on which so-called suction spiders 47 for Workpiece holder are attached.

The two have a 3-axis drive Longitudinal transfer rails 30, 31 instead of the cross members 39 to 46 with attached suction spiders 47 gripper elements or gripper holder 48 to 54 on gripper bars, such as this in Fig. 2 in side view and in Fig. 4 in Top view is shown. This embodiment lacks consequently the crossbar, so that the gripper rails 30, 31 perform a 3-axis movement, d. H. in addition to Longitudinal and lifting movement of the gripper rails becomes one Transverse movement to the longitudinal direction of the press carried out (arrow 55), so that the gripper elements 48 to 54 the workpiece grab, transport and in the next tool stage can drop.

• Schließen mit einer Querbewegung zum Greifen des Werkstücks mittels der Greiferelemente;
• Anheben des Werkstücks;
• Transportieren des Werkstücks;
• Absenken des Werkstücks in einer nachfolgenden Werkzeugstufe;
• Öffnen, d. h. Querbewegung nach außen der Greiferelemente;
• Zurücklaufen zur Ausgangsposition.

The movement sequence of the gripper rail of the 3-axis transfer is as follows:

• Closing with a transverse movement for gripping the workpiece by means of the gripper elements;
• Lifting the workpiece;
• Transporting the workpiece;
• Lowering the workpiece in a subsequent tool stage;
• Opening, ie transverse movement outwards of the gripper elements;
• Run back to the starting position.

Through the closing or opening movement of the gripper elements in the transverse direction these can always be carried out Working stroke removed laterally from the press room become.

• Ein halber Hub zurücklaufen zum aufzunehmenden Werkstück;
• Absenken der Saugerspinne auf das Werkstück;
• Anheben des Werkstücks;
• Transportieren des Werkstücks in einem vollen Transportschritt dabei Absenken und Ablegen des Werkstücks;
• Anheben der leeren Saugerspinne und
• ein halber Hub zurücklaufen in die "Parkstellung".

The sequence of movements in the 2-axis transfer by means of crossbeams or suction beams is partly in half lifting steps, since the crossbeams must be "parked" in an intermediate position or holding position between the tools during the machining process. The sequence of movements is therefore as follows:

• Half a stroke back to the workpiece to be picked up;
• Lowering the suction spider onto the workpiece;
• Lifting the workpiece;
• Transporting the workpiece in one full transport step, lowering and depositing the workpiece;
• Lifting the empty suction spider and
• half a stroke back to the "parking position".

The movements of the 2-axis and 3-axis system as Production axes are known and are mentioned in the above Publications explained in more detail.

FIGS. 5a to 5c show a first drive system for the support rails 30, 31 operating in 2-axis operation shown, between which there is a crossbar 39 to 46 with an attached suction spider 47 for receiving of a workpiece 26. Guide the mounting rails 30, 31 consequently only one in the longitudinal direction 38 of the press aligned longitudinal movement and a vertical lifting movement 56 through. For this, the mounting rails 30, 31 are over Longitudinal guide carriage 57, 58 with a lifting column 59, 60 one additional transverse transport unit 61, 62 in a first Embodiment connected. This transport unit 61, 62 is used in this case to carry out the lifting movement of the Support rails 30, 31 as a production axis, d. H. during the Workpiece machining. With the so-called 2-axis drive a transverse movement transverse to the longitudinal direction of the press accordingly Arrow 55 as the axis of production d. H. during the processing not necessary because the distance between the two mounting rails 30, 31 remains unchanged during the transport process. A However, lateral movement can also be done accordingly in the 2-axis system the representation of Fig. 5b for retrofitting the system be necessary (set-up axis) to decouple and subsequent unplugging of the crossbar 39 to 46 associated pegs 65, 66 on the sliding tables 4 to 6 to enable. This transverse movement as the setup axis Decoupling of the cross members is in Fig. 5b with reference numerals 55.

According to the representation according to FIG. 5c, the Stake holders 65, 66 with associated locating pins pinned cross-beam with suction spider 90 ° apart the sliding table can be swiveled to make it lighter To achieve removal position of the interchangeable parts. 1 are in addition to the respective sub-tools 7 to 9 Stake holder on one side of the press in a stakeout position 67, each with a horizontal and 90 ° swiveled suction spider. The horizontal position of the Suction spider 47 shows Fig. 5b, which is pivoted by 90 ° Suction spider 47 is shown in Fig. 5c.

Between the cross members 39 to 46 and the mounting rails 30, 31 are special cradles and especially receiving flanges 68, 69 that are even closer to are to explain.

An additional one is shown in FIGS. 5a to 5c height-adjustable console 70 recognizable to which the Cross transport unit 61, 62 is mounted so as to be vertically displaceable. This height adjustment serves as the setup axis for the Tool change. For this he points Height adjustment mechanism on a spindle 71, 72 by a common height adjustment drive 73 with a corresponding deflection gear 74 in the sense of a Height adjustment of the transport units 61, 62 driven becomes. 5c there is the transverse transport unit 61, 62 in the uppermost position, d. H. the sliding table 4 with Lower tool 7 and attached upper tool 10 can can be easily moved out of the press room.

The shown in Figures 5a to 5c Cross transport units 61, 62 can be different Have drive systems, wherein in Figures 5a to 5c Belt drive, d. H. a traction drive is selected. A such drive system is basically from the beginning mentioned DE 32 33 428 C2 for a workpiece transport known.

According to this drive system, each transverse transport unit 61, 62 on a first, horizontally rotating belt 75, the via a drive motor 76 in the direction of the transverse axis 55 sliding carriage 77 for the closing / opening movement drives. Another drive motor arranged at the end 78 with drive roller 90 is used to drive one on the attached other side 91 of the transport unit Deflection belt 79, which over four deflection rollers 80 in Carriage 77 and another two pulleys 81 in the Lifting column 59, 60 is guided. If the belt 79 by of the drive 78 driven in one direction, so extended the belt in this strand is shortened or shortened so that the lifting column 59, 60 depending on the direction of movement of the Belt moved up or down, d. H. in the stroke movement 56 is transferred.

The further embodiment of the invention according to the FIGS. 6a to 6c show an alternative transverse transport unit 63, 64 which instead of the belt drive or rope drive the Transverse device 61, 62 in Figures 5a to 5c one Has spindle drive 82. For this is a Spindle drive motor 83 provided for the spindle 82, the with a spindle nut 84 on the carriage 77 for implementation the transverse closing / opening movement interacts.

About z. B. a spline shaft or ball slide shaft 85 with The pinion and rack are driven by the lifting column 59, 60 by means of the lifting drive motor 86.

The motors 76, 78 and 83, 86 of the transverse transport units 61 to 64 are designed as high-precision drive motors allow programmable movements for their movements. For example, to carry out the spindle drives programmable electric or hydraulic servo motors 83, 86 provided.

The representation according to FIGS. 6b and 6c corresponds in principle the described representation according to Figures 5b and 5c, however with the alternative transverse transport unit 63, 64. So is the crossbar 39 to 46 in Fig. 6b on the Stakeout holders 65, 66 staked out in a stakeout position 67 and the cross transport units 63, 64 via the height adjustable Consoles 70 moved up for retrofitting. In the 6c is the suction spider 47 by 90 ° arranged pivoted.

The representation of the embodiment of the invention according to Figures 7 and 8 shows Embodiments for a 3-axis drive, d. H. in In this case, the gripper rails 30, 31 lead next to the in Longitudinal direction of the press (arrow 38 in Fig. 4) and the lifting movement 56 additionally a transverse movement 55 through. In this case, there are between the Gripper rails 30, 31 do not fix their spacing Cross members, but the receiving flanges 68, 69 to the Gripper rails 30, 31 bear those of FIGS. 2 and 4 described gripper elements 48 to 54.

Due to the cross transport unit 61 to 64, the to Figures 1, 3 and 5 described 2-axis transfer with Cross beams with a 3-axis transfer without any problems Gripper elements can be converted as the transport unit 61 to 64 with their lifting column 59, 60 and their transverse carriage 77 itself for the lifting movement and the closing or opening movement ensures. This is what they are for Gripper rails 30, 31 in turn via longitudinal guide slides 57, 58 connected to the lifting columns 59, 60, so that all Movements in all three axes independently can be carried out. The gripper elements 48 to 54 can the usual movements on the workpiece 26 such carry out as described at the beginning.

When converting the large part step press from 2-axis to the 3-axis transfer are therefore only the Crossbeams through the gripper elements or vice versa replace, the receiving flanges 68, 69 for this Retrofits are prepared.

7b shows the arrangement according to FIG. 7a during the changeover process. For this are the in Fig. 7b Gripper elements 48 to 54 on the pegs 65, 66 staked out the sliding tables 4 to 6 and for the better Tool change as shown in Fig. 7c by 90 ° pivoted. This layout position 67 on the layout holders 65, 66 is also in FIG. 2 with reference number 67 shown.

Furthermore, according to the illustration in FIG. 7c Fig. 5c the raised position of the two Transport units 61, 62 on the height-adjustable console 70 or on the spindles 71, 72 as a conversion axis.

The same parts are therefore shown in FIGS. 7a to 7c same reference numerals as in Figures 5a to 5c designated.

The embodiment according to FIGS. 8a to 8c corresponds again a 3-axis operation of the large-part step press such as 7a to 7c described, but instead of Cross transport unit 61, 62 with a belt drive Cross transport unit 63, 64 with a spindle nut drive or a spline-pinion rack and pinion drive shown like this already closer to the embodiment of FIGS. 6a to 6c for a 2-axis operation is explained. On the description the transverse transport units 63, 64 in FIGS. 6a to 6c therefore referred to hereby. Same parts are with provided with the same reference numerals.

As a result, the two transverse transport units 63, 64 can Embodiment according to Fig. 8a with their spindle drives perform the transverse movement 55 so that the gripper elements 48 to 54 can handle the workpiece 26 on both sides. Equally, they are carried out with a spline-pinion-rack drive driven lifting columns 59, 60 die required stroke according to arrow 56.

Fig. 8b shows the 3-axis drive according to Fig. 8a in Setting out the gripper elements 48 to 54 on the Sliding tables 4 to 6. For this, the gripper elements 48 to 54 detached from the receiving flange 68, 69 and by means of a Swing arm 88 lifted on a swivel device 87. The 8c also shows the changeover position of the 3-axis drive with the pins on the swivel arms Gripper elements 48 to 54, the swiveling device 87 has pivoted the swivel arm 88. This happens through Folding the swivel arms 88 by 90 ° so that the in Fig. 8b in a horizontal plane lying gripper elements in Fig. 8c in lie on a vertical plane. Otherwise the same parts are included provided with the same reference numerals. The two as Traverse drives 63, 64 are again in the upper in Fig. 8c Conversion position on the spindles 71, 72 height-adjustable consoles 70. The same parts are again designated with the same reference numerals as previously described.

The embodiments of the invention described below according to Figures 9 to 14 show different Embodiments of a large part step press with convertible 2-axis operation with crossbeams or 3-axis operation with Gripper elements, with separate orientation levels or Empty levels according to the embodiment according to FIGS. 2 and 4 can be dispensed with. This is made possible by the fact that special holding devices for alternative fastening the crossbeams or gripper elements are provided which own longitudinal and / or swivel movements, as below described, can perform.

The large section press shown in longitudinal section in Fig. 9a consists of five directly next to each other arranged processing stations 101 to 105 with each a sliding table 106 with a lower tool 108, a Upper tool 109 and a press ram 110 and upper spars or head pieces 111. Upper tool and lower tool are used for machining a workpiece 26. Protruding parts are in Fig. 9a essentially only in the first Processing level 101 specified. Of course included all further processing stages the same or similar parts. The processing stages 101 to 105 are laterally through Press stand 112 to 117 limited, with the Embodiment according to FIG. 9a in every next but one Stand area, d. H. between stands 113, 115, 117 a transverse transport unit 61 to 64 is located.

They extend parallel through the entire press area extending gripper rails 30, 31 which in their Longitudinal direction (arrow 38) over push rods 34, 35 and by means of Levers 32, 33 are driven by drive motors 37, wherein the drive motors 37 together on a tooth segment act. Alternatively, the drive can also be used Cam discs are made by the press drive.

The vertical lifting movement (arrow 56) and one transverse to Press longitudinal direction 38 transverse movement (see arrow 55 in FIGS. 3 and 4), the transverse transport units 61 to 64 as previously described.

The embodiment of FIG. 9a relates to a large part step press with 2-axis drive, d. H. between Support rails 30, 31 are in each Processing station 101 to 105 cross members 118 with it attached suction spiders 119. For retrofitting at Tool change is a swivel device 87 with a Swivel arm 88 as for Figures 8a to 8c already described, provided that according to the representation of the press 9b in the retooling position according to FIG Suction spider 119 from the receiving flange 68, 69 on the Carrier rail 30, 31 lifts and into a 90 ° pivoted Position leads. This pivot position 89 is in Fig. 9b shown in dashed lines.

The embodiment of the invention according to Figures 10a, 10b shows the same facts as that Embodiment according to Figures 9a, 9b, but with a individual press rams 110 in the first processing station 101 and subsequent double plunger 110 'for the following Processing stations 102, 103 or 104 and 105. Otherwise 10a relates to a longitudinal section through the large-part step press with 2-axis Sucker bar operation in the removal position, while the Fig. 10b the associated tool change position analogous to Description according to Fig. 9b relates. Same parts are again with the same reference numerals as previously described Mistake. Accordingly, the exemplary embodiment according to FIGS Figures 10a, 10b due to the formation of double tappets two press stands 114, 116. The processing stations 101 to 105 are equally present.

The embodiment of the invention in Figures 11a, 11b corresponds in turn to a press structure as it does with the figures 9a, 9b. The same parts are again with provided with the same reference numerals. Instead of 2-axis operation with suction bar transfer according to FIGS. 9a, 9b is, however, in the embodiment of Figures 11a, 11b a 3-axis press drive with gripper elements 120 in realized each processing station 101 to 105. Here 11a again shows a longitudinal section through the Large part step press with, for example, five in a row arranged processing stations 101 to 105 in 3-axis operation in the removal position of the workpiece 26, while Fig. 11b the associated changeover position for the tool change shows. In this case, this is on the swivel arm 88 Disconnected gripper element 120 and then uncoupled from Receiving flange 68, 69 on the gripper rail 30, 31. Die Swivel device 87 causes a swivel movement of 90 °, so that this is initially in the processing station 101 in Fig. 11b horizontally aligned gripper element 120 in a vertical Conversion position 120 'in the swivel position 89 on the side Sliding table 107 comes to rest. The swiveling of the Swivel arm 88 takes place after extending the sliding table press and makes tool changing easier. Similarly, the transport units 61 to 64 have the Gripper rails 30, 31 pulled up, as before is described. The subordinate or Upper tools 108, 109 can then on the sliding table 107 be moved out of the side of the press. The 11a, 11b is a front view in Figures 8a to 9c shown in principle.

The further embodiment of the invention according to the FIGS. 12a, 12b again show analogously to FIGS. 10a, 10b shows a press assembly with a double ram 110 'as shown in FIGS Figures 10a, 10b described. Instead of the 2-axis Sucker bar operation according to Figures 10a, 10b takes place in the Embodiment 12a, 12b, however, a 3-axis Gripper rail operation instead, in which the gripper rails 30, 31 the transverse movement required for tool detection lead into the press room. 12a shows again a longitudinal section through the large part step press with single plunger 110 and double plunger 110 'and 3-axis Gripper rail drive with gripper elements 120 in Removal position of the workpiece. 12b shows one associated representation according to FIG. 12a in Tool change position as described in Fig. 10b analog. The same parts are again with the same reference numerals Mistake.

In the embodiments of the invention according to the figures 9a, 9b to 12a, 12b basically become cross transport units 61 to 64 used, as for Figures 1 to 8 are described in detail.

In contrast to the exemplary embodiments according to FIGS. 1 to 8 have the press arrangements according to Figures 9 to 12th no separate orientation station as an empty level or Intermediate stage, as indicated by reference numerals 21 to 25 in Figures 1 to 4 is shown. This Orientation stations are used to change the position of the Workpieces between the individual processing stages needed. The disadvantage of this is the increased space requirement for such orientation levels, so that the press as a whole can have a greater overall length.

According to the embodiments of Figures 9 to 12 are the to be carried out by the orientation stations Changes in the position of the parts directly in the parts transport integrated, which in turn has the main advantage of shorter press length results.

The development of the present invention therefore sees it according to the exemplary embodiments according to FIGS. 9 to 12 before that the change of position of the parts between the individual Processing stages 101 to 105 by a special additional drive in the area of the pegs 65, 66 like previously described. 13a shows one Section along the section line A-B of Fig. 9a with a additional adjustment device 121 for 2-axis operation with crossbar 118 and suction spider 119. FIG. 13b shows an associated longitudinal section along the section line E-F in Fig. 13a.

In contrast, FIG. 14a shows a longitudinal section the section line C-D in Fig. 11a with a 3-axis Gripper rail drive with gripper elements 120, with a Sectional view along the section line G-H in Fig. 14b. The same naturally also applies to training with Double tappet according to FIGS. 10 and 12.

The adjusting device 121 is designed as a swivel and shifting device and is used to change the position of the workpieces during transport or storage from one tool level to the next tool level. The adjustment device is arranged on the inside 122 of the support or gripper rails 30, 31 facing the tool space. For this purpose, the support or gripper rail 30, 31, which is square or rectangular in cross section, has on its inner guide surface 122 a longitudinal slide guide 123, in which a slide 124 which can be displaced parallel to the support or gripper rail is guided. 13b, the longitudinally displaceable slide 124 has a connecting flange 125 for a horizontally arranged adjustment guide 126, which can be longitudinally displaced via a spindle 127 by means of a programmable spindle drive 128. The carriage 124 can consequently be displaced longitudinally in the carriage guide 123 in the longitudinal direction 38 of the press by a certain amount corresponding to the length l _{1 of} the longitudinal carriage guide relative to the support and gripper rail arrangement. This longitudinal displaceability is transferred to the crossbar 118 or the gripper elements 120 and is also used for step compensation. Such step compensation, ie a relative longitudinal displacement with respect to the feed step of the support or gripper rails, may be necessary due to the change in position of the workpiece which is caused by the pivoting movement.

Via a central bearing bolt 129 through the longitudinally movable carriage 124 is a type of swivel cross 130 provided, at its two upper ends two connection bolts 131, 131 'for fastening a crossbar 118 with Suction spider 119 are provided, with a transverse yoke 132 as Connection plate serves. Be in 2-axis suction beam operation consequently the two upper connecting bolts 131, 131 'with the Crossbar equipped.

The swivel cross 130 further includes on both of them lower wings two further connection bolts 133, 133 ', the corresponding to the representation according to Fig. 14a, 14b for inclusion the gripper elements 120 serve on gripper bars. Optional consequently, the swivel cross 130 in its upper region for 2-axis operation the cross members 118 and in his lower area for 3-axis operation the gripper elements Record 120.

The swivel cross 130 and thus also the connections for the Crossbar 118 or gripper elements 120 is still around the axis of rotation of the bearing pin 129 is pivotally mounted. For this purpose, another arm 134 of the Swivel cross 130 to a swivel drive 135. The Swivel drive 135 comprises a horizontally arranged spindle 136 with a spindle nut 137 with pivot pin as well Sliding block 138 interacts to pivot arm 134 deflect. A programmable swivel drive 139 is over a housing 140 with the longitudinally movable carriage 124 connected.

The programmable swivel drive 139 acts accordingly therefore over the sliding block 138 on the arm 134 of the Swivel cross 130 in the sense of a swivel movement around one Angle 2 α as in Fig. 13b as a deflection is drawn from the vertical axis.

The adjustment device 121 described with Swiveling device and longitudinal adjustment device can be at Embodiment according to Figures 1 to 12 in the previous figures described mounting flanges for optional attachment of the crossbeams or Replace gripper elements. The swivel and However, displacement devices 121 can also be used in all Embodiments according to Figures 1 to 12 Use change of position of the workpiece. If in these, in particular front views each Receiving flanges 68, 69 are designated below also swivel and slide devices according to the Embodiments according to Figures 13 and 14 meant be.

Figures 13a, 14a in particular also show the lifting columns 59, 60 and the attachment of these lifting columns each a longitudinal guide carriage 57, 58 as in the previous ones Figures described. These longitudinal guide carriages 57, 58 consist of two associated longitudinal guide rails 141, 142, with corresponding roller bearing 143 for one Longitudinal displacement. The central drive 32, 33 can accordingly move the support or gripper rails 30, 31 longitudinally without that an influence on the position of the lifting columns 59, 60 occurs.

1

Pressentisch

2

Pressentisch

3

Pressentisch

4

Schiebetisch

5

Schiebetisch

6

Schiebetisch

7

Unterwerkzeug

8

Unterwerkzeug

9

Unterwerkzeug

10

Oberwerkzeug

12

Oberwerkzeug

13

Pressenstößel

14

Pressenstößel

15

Pressenstößel

16

Kopfstück

17

Kopfstück

18

Kopfstück

19

Pressenständer

20

Pressenständer

21

Pressenständer

22

Pressenständer

23

Leerstufe/Orientierungsstufe

24

Leerstufe/Orientierungsstufe

25

Leerstufe/Orientierungsstufe

26

Werkstücke

27

Bearbeitungsstationen

28

Bearbeitungsstationen

29

Bearbeitungsstationen

30

Trag- oder Greiferschiene

31

Trag- oder Greiferschiene

32

Hebel

33

Hebel

34

Schubstange

35

Schubstange

37

Antriebsmotor mit Zahnsegment

38

Pressenlängsrichtung

39

Quertraversen

40

Quertraversen

41

Quertraversen

42

Quertraversen

43

Quertraversen

44

Quertraversen

45

Quertraversen

46

Quertraversen

47

Saugerspinnen

48

Greiferelemente/halter

49

Greiferelemente/halter

50

Greiferelemente/halter

51

Greiferelemente/halter

52

Greiferelemente/halter

53

Greiferelemente/halter

54

Greiferelemente/halter

55

Querbewegung

56

Hubbewegung

57

Längsführungsschlitten

58

Längsführungsschlitten

59

Hubsäule

60

Hubsäule

61

Transporteinheit

62

Transporteinheit

63

Transporteinheit

64

Transporteinheit

65

Absteckhalter

66

Absteckhalter

67

Absteckposition

68

Aufnahmeflansche

69

Aufnahmeflansche

70

höhenverstellbare Konsole

71

Spindel

72

Spindel

73

Höhenverstellantrieb

74

Umlenkgetriebe

75

Riemen

76

Antriebsmotor

77

Schlitten

78

Antriebsmotor

79

Umlenkriemen

80

Umlenkrolle

81

Umlenkrolle

82

Spindelschließantrieb

83

Spindelantriebsmotor

84

Spindelmotor

85

Kugelschiebewelle

86

Hubantriebsmotor

87

Schwenkvorrichtung

88

Schwenkarm

89

Abschwenkposition

90

Antriebsrolle

91

92

93

94

95

96

97

98

99

100

101

Bearbeitungsstationen

102

Bearbeitungsstationen

103

Bearbeitungsstationen

104

Bearbeitungsstationen

105

Bearbeitungsstationen

106

Schiebetisch

108

Unterwerkzeug

109

Oberwerkzeug

110

Pressenstößel

111

Kopfstück

112

Pressenständer

113

Pressenständer

114

Pressenständer

115

Pressenständer

116

Pressenständer

117

Pressenständer

118

Quertraverse

119

Saugerspinne

120

Greiferelemente

121

Verstelleinrichtung
(Schwenk- und Verschiebeeinrichtung)

122

Führungsfläche

123

Längsschlittenführung

124

Schlitten

125

Anschlußflansch

126

Verstellführung

127

Spindel

128

Spindelantrieb

129

Lagerbolzen

130

Schwenkkreuz

131

Anschlußbolzen

132

Querjoch

133

Anschlußbolzen

134

Schwenkarm

135

Schwenkantrieb

136

Spindel

137

Spindelmutter

138

Nutenstein

139

Schwenkantrieb

140

Gehäuse

141

Längsführungsleisten

142

Längsführungsleisten

143

Wälzlagerung

In the above explanations, the support and gripper rails 30, 31 are designated as support rails in connection with a 2-axis drive with a suction beam transfer, and as gripper rails in 3-axis operation with transversely displaceable gripper elements.

1

Press table

2nd

Press table

3rd

Press table

4th

Sliding table

5

Sliding table

6

Sliding table

7

Lower tool

8th

Lower tool

9

Lower tool

10th

Upper tool

12th

Upper tool

13

Press ram

14

Press ram

15

Press ram

16

Headpiece

17th

Headpiece

18th

Headpiece

19th

Press stand

20th

Press stand

21

Press stand

22

Press stand

23

Empty level / orientation level

24th

Empty level / orientation level

25th

Empty level / orientation level

26

Workpieces

27

Processing stations

28

Processing stations

29

Processing stations

30th

Carrier or gripper rail

31

Carrier or gripper rail

32

lever

33

lever

34

Push rod

35

Push rod

37

Drive motor with toothed segment

38

Longitudinal press direction

39

Crossbeams

40

Crossbeams

41

Crossbeams

42

Crossbeams

43

Crossbeams

44

Crossbeams

45

Crossbeams

46

Crossbeams

47

Sucker spiders

48

Gripper elements / holder

49

Gripper elements / holder

50

Gripper elements / holder

51

Gripper elements / holder

52

Gripper elements / holder

53

Gripper elements / holder

54

Gripper elements / holder

55

Lateral movement

56

Stroke

57

Longitudinal guide slide

58

Longitudinal guide slide

59

Lifting column

60

Lifting column

61

Transport unit

62

Transport unit

63

Transport unit

64

Transport unit

65

Stake holder

66

Stake holder

67

Stakeout position

68

Mounting flanges

69

Mounting flanges

70

height adjustable console

71

spindle

72

spindle

73

Height adjustment drive

74

Deflection gear

75

belt

76

Drive motor

77

carriage

78

Drive motor

79

Idler belt

80

Pulley

81

Pulley

82

Spindle closing drive

83

Spindle drive motor

84

Spindle motor

85

Ball slide shaft

86

Linear actuator

87

Swivel device

88

Swivel arm

89

Swivel position

90

Drive roller

91

92

93

94

95

96

97

98

99

100

101

Processing stations

102

Processing stations

103

Processing stations

104

Processing stations

105

Processing stations

106

Sliding table

108

Lower tool

109

Upper tool

110

Press ram

111

Headpiece

112

Press stand

113

Press stand

114

Press stand

115

Press stand

116

Press stand

117

Press stand

118

Crossbar

119

Sucker spider

120

Gripper elements

121

Adjustment device
(Swivel and slide device)

122

Leadership area

123

Longitudinal slide guide

124

carriage

125

Connecting flange

126

Adjustment guide

127

spindle

128

Spindle drive

129

Bearing bolt

130

Swivel cross

131

Connecting bolts

132

Transverse yoke

133

Connecting bolts

134

Swivel arm

135

Swivel drive

136

spindle

137

Spindle nut

138

Sliding block

139

Swivel drive

140

casing

141

Longitudinal guide rails

142

Longitudinal guide rails

143

Rolling bearing

Claims (19)

1. Transfer press with a transport device for transporting workpieces though machining stations, with two parallel arranged supporting or gripper rails (30, 31) projecting through a pressing chamber and with an advancing mechanism for performing a horizontal longitudinal movement of the workpieces in press longitudinal direction, whereby if necessary a vertical movement of the workpieces can be performed by means of a lifting mechanism, and if necessary a transverse movement of the rails (30, 31) relative to the press longitudinal direction can be performed by means of a closing/opening mechanism, characterised in that the supporting or gripper rails (30, 31) are respectively allocated a mounting device (68, 69; 130), which for the purpose of retooling is used for alternatively securing either a cross bar (39 to 46; 118) with suction spider (47, 119) or gripper elements (48 to 54; 120), whereby switchable curve drives or programmable individual drives are provided for the movement sequences both for 2-axial transverse operation and for 3-axial gripper rail operation.
2. Transfer press according to claim 1, characterised in that a transverse transport unit (61 to 64) operating independently from the longitudinal drive (32 to 37) of the workpiece (26) is provided, which transverse transport unit comprises a height-adjustable lifting mechanism (59, 60) for lifting the supporting or gripper rails (30, 31), whereby the lifting mechanism (59, 60) is mounted in the transverse transport unit (61 to 64) displaceably at right angles to the press longitudinal direction.
3. Transfer press according to claim 2, characterised in that the supporting or gripper rails (30, 31) are secured longitudinally displaceably on the lifting mechanism (59, 60) by a slide guide (57, 58) in and opposite the press longitudinal direction (38).
4. Transfer press according to claim 2, characterised in that the lifting mechanism is designed as a lifting column (59, 60) mounted in a supporting slide of the transverse transport unit (61 to 64) that is displaceable perpendicularly relative to the press longitudinal direction (38).
5. Transfer press according to claim 1 or 4, characterised in that the mounting device or the supporting slide (77) for the lifting column (59, 60) is mounted perpendicularly displaceably in relation to the press longitudinal direction (38) in a horizontal guide device of the transverse transport unit (61 to 64).
6. Transfer press according to claim 5, characterised in that the transverse transport unit (61 to 64) with a perpendicularly displaceable lifting column (59, 60) is mounted in turn on a height-adjustable console (70).
7. Transfer press according to claim 4, characterised in that the transverse transport unit (61 to 64) has a supporting slide (77) for the lifting column (59, 60) with a horizontal drive, which is designed as a belt drive (75, 76) or as a spindle drive (82, 83), wherein programmable servomotors (76, 83) for the transverse drive of the lifting column (59, 60) and thereby the supporting or gripper rails (30, 31) are provided.
8. Transfer press according to claim 4, characterised in that the transverse transport unit (61 to 64) with a supporting slide (77) for the lifting column (59, 60) comprises a vertical drive for the lifting column (59, 60) which is designed as a cable or belt drive (79) or as a spline-shaft drive (85, 86) or the like, whereby programmable servomotors (78, 86) for the height adjustment of the lifting column (59, 60) and thereby the supporting or gripper rails (30, 31) are provided.
9. Transfer press according to claim 7 or 8, characterised in that the horizontally or laterally displaceable supporting slides (77) of the transport unit (61, 62) with the therein guided height-adjustable lifting column (59, 60) comprises a first pulling arrangement as a belt drive (75, 76), which has pulleys arranged at the end of transport unit for a drivable pulling means (75), by means of which the supporting slide (77) is guided transversely displaceably relative to the press longitudinal direction.
10. Transfer press according to one of claims 7 to 9, characterised in that the horizontally or laterally displaceable supporting slides (77) of the transverse transport unit (61, 62) with the therein guided, height-adjustable lifting column (59, 60) comprises pulleys (80, 81) for a second pulling arrangement (79), wherein the associated pulling means (79) is mounted in end bearings arranged at the end of the transport unit (61, 62), and can be driven so as to adjust the height of the lifting column (59, 60) such that an upper and lower loop that is adjustable in length is formed on the lifting column.
11. Transfer press according to one of claims 1 to 10, characterised in that the longitudinal movement of the supporting or gripper rails (30, 31) and the lifting and/or closing or opening movement of the supporting and gripper rails (30, 31) are designed as production axes transporting the workpiece.
12. Transfer press according to claim 4, characterised in that the lifting movement of the lifting column (59, 60) is designed as a production axle for moving the workpieces and the transverse movement of the supporting slide (77) bearing the lifting column (59, 60) is designed as a tooling axle for exchanging tools and/or as a production axle for transporting workpieces.
13. Transfer press according to one of the preceding claims, characterised in that the transverse transport units (61 to 64) are arranged between the press stands (19 to 22) or (112 to 117) or in the idle stations or orienteering stations (23 to 25).
14. Transfer press according to one of the preceding claims, characterised in that the supporting or gripper rails (30, 31) in the region of each machining station has a mounting device (68, 69) and in particular a mounting flange (68, 69), particularly with a pivoting and displacement device (121) for the optional mounting of a cross bar (39 to 46, 118) or suction bar fitted with a suction spider (47, 119) or a gripper strip with gripper elements (48 to 54, 120).
15. Transfer press according to one of the preceding claims, characterised in that each mounting device ((68, 69) comprises a pivot and displacement device (121) whereby a displaceable slide (124) drivable in press longitudinal direction is provided on the supporting or gripper rail (30, 31) for the longitudinal displacement of the mounting device (68, 69), and whereby means (135) are provided for performing a drivable pivot movement of the cross bar and/or the gripper element about a horizontal lateral axis (129).
16. Transfer press according to claim 15, characterised in that the longitudinal movement of the mounting device (68, 69) is performed by a programmable spindle drive (126, 127) with a servomotor (128) or the like.
17. Transfer press according to claim 15 or 16, characterised in that the pivot movement of the mounting device (68, 69) is performed by means of a programmable spindle drive (136, 137, 139), whereby a pivot drive (135) serves to activate a lever-like pivot arm (134).
18. Transfer press according to one of the preceding claims 15 to 17, characterised in that the mounting device (68, 69) comprises a pivot cross (130) as a mounting flange for two first bearing bolts (131) for securing a cross bar (118) and/or two additional connecting bolts (133) for securing gripper elements (120).
19. Transfer press according to one of claims 15 to 18, characterised in that the pivot and displacement device (121) comprises a motor-adjustable longitudinal guiding device (123, 124) comprising a longitudinal slide guide (123) with a guide slide (124), in that the guide slide (124) is connected by a central bearing bolt with a pivot cross (130) which has a connecting bolt (131, 133) for securing a cross bar (118) and/or a gripper element (120), whereby the pivot cross (130) is pivotably mounted about a horizontal axis (129) by a pivot drive (135).

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