EP1563926B1 - Apparatus and method for feeding workpieces - Google Patents

Abstract

A machine tool has a frame (14) and a mechanical handling unit (T1, T2) that moves work-pieces in the X-plane. A transport beam (15) is moved through the X and Y planes by drive systems (AM1, AM2), from which it is detachable (K) at one end. The beam has a swivel assembly which is free to operate on detachment from the drive.

Description

The invention relates to a device for the transport of workpieces according to the preamble of claim 1. It further relates to a method for removing or installing a tool and / or to change a transport bar using the device.

Such a device is from the DE 33 29 900 C2 known. For tool change, it is necessary in the known device to expand the transport bar as a whole and drive out laterally with a separate device from the press.

The DE 195 26 490 A1 discloses a device in which gripper rails can be moved out transversely to the transport direction on a sliding table from a machine frame for tool change.

Another device for the transport of workpieces is from the EP 0 633 077 A1 known. In this case, two opposing transport bars are each connected at their end to a first drive. Each of the transport bars is also movably mounted on two levers pivotable parallel to each other. A displacement movement effected by the drive in an X or transport direction inevitably leads to a movement of the transport bar in an X and a Y direction. Such movement of the transport bar, together with a corresponding movement of a transport bar provided in opposing arrangement, serves to transfer workpieces along the X direction.

From the DE 28 52 929 C2 is a feed device for the stepwise workpiece transport in presses known, in which extend along the transport path two gripper rails or transport bars in opposing arrangement. For gripping the workpieces, the gripper rails are moved toward each other via a gear transmission until the workpieces are held clamped. Subsequently, the gripper rails are moved in the transport direction and the workpieces set off by moving apart of the gripper rails at another location again. To always ensure a synchronous movement, the movements of the gear transmission are controlled by cams.

From the DE 28 47 273 A1 a device for feeding a platen press is known. In this case, two mutually opposite Beschickholme or transport bars are each movable on carriage in the transport direction. Each of the transport bars is movable in a direction perpendicular to the transport direction by means of a scissor-type drive. At each of the transport bars a plurality of gripping means are provided. The gripping devices have pairs of terminal strips that can be moved vertically relative to each other via a parallelogram linkage actuator. - The known device requires a variety of drive means. Thus, drive means are required for moving the carriages in the transport direction, for moving the transport bars perpendicular to the transport direction and for moving the gripping devices.

The known transport devices are usually used for the stepwise transfer of workpieces from a pressing tool in a following in the transport direction further pressing tool. In the case of a change of the pressing tools, it is necessary to remove one of the transport beams. If the pressing tool is exchanged for a pressing tool for the production of workpieces with a different geometry, an adaptation of the provided on the transport bar gripper geometry may be required. For this purpose, it may be necessary to exchange both transport beams for transport beams with a suitable gripper geometry. An expansion of one or both transport beams is expensive. For this purpose, the transport bar must be disassembled from the drive and removed. Furthermore, it is necessary to support components of the drive. Because of the considerable length of the transport bar it is also necessary to remove the transport beam in the X direction. The spatial conditions in this direction are often confined because there provided facilities for Werkstückzu- and removal. This further complicates the installation or removal of the transport bar.

The object of the invention is to eliminate the disadvantages of the prior art. In particular, a device for transporting workpieces is to be specified, which enables the simplest possible replacement of a tool. According to a further object of the invention, the simplest possible method for removing or installing a tool and / or transport bar should be specified.

This object is solved by the features of claims 1 and 31. Advantageous embodiments result from the features of claims 2 to 30 and 32 to 34.

According to the invention, a device for transporting workpieces in an X-direction with at least one attachable to a frame of a processing device transport device is provided, which has at least one by means of a first drive in the X and Y direction movable transport bar, wherein the transport bar to its one end is releasably connected by means of a first clutch to the first drive, and wherein a pivoting device is provided, with which the transport bar is pivoted in the state solved by the first drive state. - The provision of a first clutch facilitates the separation of the transport bar from the first drive. By means of the inventively further provided pivoting device, the transport bar in the released state can be swiveled quickly and easily so that a recorded in the processing device tool is readily accessible and can be replaced. After replacing the tool, the transport bar must only be pivoted back into its starting position and connected to the drive again by means of the coupling.

In a suitable embodiment of the transport bar and the pivoting device, it is particularly possible to pivot the transport bar in a direction transverse to the X direction. This eliminates the difficulty of the prior art and time-consuming expansion of the transport bar along the transport direction.

According to an advantageous embodiment, the pivoting device has a substantially in a Z-direction pivot axis. This allows easy to carry out horizontal pivoting of the transport bar.

After a particularly proven embodiment in practice, the first transport bar is connected at its other end by means of a second coupling releasably connected to a second drive. The provision of two clutches allows a relatively short design of the transport bar. In addition, so that the transport bar can be quickly and easily separated from the two drives. In this case, the pivoting device may be detachably attachable to the transport bar. It is usually only applied in practice when the transport bar is detached from the drives. Instead of the second drive, the transport bar can also be connected to a guided in a guide support beams by means of the second clutch.

The pivoting device may include means for pivotably holding the transporting beam in a state released by the drives. The means for pivotally holding is in particular designed so that so that the moment of the transport bar is recorded. It may have a pin engaging in a receptacle provided on the transport bar. The receptacle can be, for example, a device for retracting the pin, which is attached laterally to the transport bar. Instead of the pin of the transport bar, for example, in a U-shaped receptacle are received, which is pivotally mounted about an axis.

According to one embodiment, it may also be that the transport bar is connected to the drive instead of the coupling by means of a, preferably detectable designed, hinge. Furthermore, it is also conceivable that the transport bar is attached by means of a, preferably detectable ausgestaltenten, hinge and a coupling. In this case, the transport bar can be pivoted after releasing the first clutch. With a connection of the transport bar with a hinge, it is not necessary to completely detach the transport bar from the device.

According to a further advantageous embodiment, the first and / or second drive on a Parallelogrammstelltrieb. Especially when two Parallelogrammstelltriebe are provided for moving the transport bar, excellent rigidity and thus a particularly precise motion control is achieved. Apart from that, it is no longer necessary to take any measures for supporting components of the drive in a disassembly of the transport bar when using the proposed Parallelogrammstelltriebs.

The Parallelogrammstelltrieb expediently has in opposite arrangement, a first and a second coupling element, which are connected via at least two parallel mounted handlebars movable together. The pivot bearings of the handlebars are fixedly attached to the coupling elements. During a movement of the coupling elements relative to each other, the links pivot in each case by the same angular amount. An enclosed by the links and the coupling elements surface forms a parallelogram.

The term "coupling element" is to be understood in the context of the present invention in general terms. It can be one act rigid beam that can be connected to the transport bar or a linear motion device. At a the transport bar facing the end of the coupling element, the first, possibly second coupling is provided for connection to the transport bar. The coupling is expediently designed so that a rigid connection between the first coupling element and the transport bar can be produced.

It has proved to be advantageous that the first coupling element is attached to a linear movement device or is part of the same. By the first coupling element attached to a linear movement device or a component thereof, it is advantageously achieved that by moving the linear movement device in the X direction alone, a movement of the transport beam in the X and Y directions can be achieved.

The first coupling element may form a first sliding element of the linear movement device. The linear movement device is expediently attached to a frame. This simplifies the construction of the device. In particular, drive devices can be arranged stationarily on the frame.

A "linear movement device" is understood to mean a device by means of which an object is connected to another object in such a way that a movement of the two objects relative to one another inevitably takes place along a straight line. For this purpose, for example, a sliding element can be slidably provided on a straight rail. The sliding elements can also be performed in linear sliding or rolling bearings.

The second coupling element can be connectable to the transport bar by means of the first and / or second coupling. In this embodiment, the first coupling element is either part a mounted on the frame first linear motion device or it is a part of the same.

According to a further advantageous embodiment, the linear movement device has a second sliding element, which is movable perpendicularly to the direction of movement of the first sliding element and on which the first sliding element is mounted. The first and / or second sliding element may be a carriage guided on a linear guide. Conveniently, the first and the second sliding element are designed in the manner of a cross slide. This allows movement of the transport bar in the X, Y and Z directions.

According to a further embodiment, at least one first drive device for moving the first and / or second sliding element, preferably in the Z direction, is provided. Furthermore, at least one second drive device can be provided for moving the first and / or second sliding element, preferably in the X direction. It can also be provided for the movement of each of the second sliding elements, a separate second drive means. This can be carried out in a simple manner by a suitable control of the drive device / s a predetermined movement of the transport bar both in the X and in the Y direction. The movement can usefully be controlled by means of a process computer provided for controlling the drive device (s). This allows a particularly simple adaptation of the device according to the invention to the various geometries of processing devices, eg. B. pressing. It is suitable for retrofitting existing processing devices. To adapt to different geometries, it is according to the invention only necessary to choose the length of the transport bar suitable. The linear movement devices including the drive device (s) can remain unchanged.

According to a further embodiment, the length of the transport bar is dimensioned so that it is in an XY plane between Pillars of the processing device is pivotable. This allows pivoting one end of the transport bar in a direction transverse to the X direction. It can thus be achieved a particularly simple change of a tool.

Opposite the transport bar can be provided in the X and Y direction movably held further transport bar. The further transport bar may be formed according to the transport bar. Also, at least one provided for movement of the further transport bar drive can be designed according to the first or second drive. Conveniently, the second transport bar is provided with two drives and formed in mirror image to the first transport bar. With the proposed arrangement, the workpieces can be gripped and transported by clamping between the two transport bars.

1. a) Vorsehen einer Schwenkvorrichtung am Transportbalken,
2. b) Trennen des Transportbalkens vom ersten Antrieb,
3. c) Verschwenken des Transportbalkens und
4. d) Aus- oder Einbau des Werkzeugs und/oder Transportbalkens.

According to another aspect of the invention, a method for removing or installing a tool and / or transport bar in the device according to the invention is provided with the following steps:

1. a) providing a pivoting device on the transport bar,
2. b) separating the transport bar from the first drive,
3. c) pivoting of the transport bar and
4. d) removal or installation of the tool and / or transport bar.

The pivoting device is in particular designed so that it can be releasably attached to the transport bar. The attachment of the pivoting device is advantageously carried out in a remote from the tool starting position of the transport bar.

In particular, the pivoting of the separate from the first drive transport bar facilitates and significantly accelerates a removal or installation of the tool and / or the transport bar.

Advantageous embodiments of the method result in particular from the aforementioned features, which are mutatis mutandis applicable to the implementation of the method. In particular, when providing two trained as Parallelogrammstelltriebe drives the transport bar can be solved quickly and easily by means of the clutches of the transport device. The parallelogram actuators are self-supporting, d. H. they do not have to be supported separately when the transport beam is removed.

Fig. 1

eine Seitenansicht eines Antriebsmoduls,

Fig. 2

eine Schnittansicht gemäß der Schnittlinie A - A' in Fig. 1,

Fig. 3

eine Seitenansicht einer Presse mit einer ersten Vorrichtung,

Fig. 4

eine Schnittansicht gemäß Fig. 3 gemäß der Schnittlinie A - A',

Fig. 5a - d

den Bewegungsablauf bei einer ersten Vorrichtung,

Fig. 6a - d

den Bewegungsablauf bei einer zweiten Vorrichtung,

Fig. 7

eine Prinzipskizze einer dritten Vorrichtung,

Fig. 8a

eine Prinzipskizze der Anordnung der ersten Vorrichtung,

Fig. 8b

die Anordnung gemäß Fig. 8a mit einer alternativen Stellung der Lenker,

Fig. 9a - d

Prinzipskizzen des Bewegungsablaufs, wie er in den Fig. 5a - d gezeigt ist und

Fig. 10

eine Draufsicht auf eine vierte Vorrichtung.

Embodiments of the invention will be explained in more detail with reference to the drawings. Show it:

Fig. 1

a side view of a drive module,

Fig. 2

a sectional view along the section line A - A 'in Fig. 1 .

Fig. 3

a side view of a press with a first device,

Fig. 4

a sectional view according to Fig. 3 according to the section line A - A ',

Fig. 5a - d

the sequence of movements in a first device,

Fig. 6a - d

the sequence of movements in a second device,

Fig. 7

a schematic diagram of a third device,

Fig. 8a

a schematic diagram of the arrangement of the first device,

Fig. 8b

the arrangement according to Fig. 8a with an alternative position of the handlebars,

Fig. 9a - d

Schematic diagrams of the sequence of movements, as in the Fig. 5a - d is shown and

Fig. 10

a plan view of a fourth device.

The Fig. 1 and 2 show a suitable for producing a transport device according to the invention drive module AM. A first carriage 1 is z. B. connected via a toothed belt 2 with toothed discs 3. One of the two toothed disks 3 is drivingly connected to a first electric motor 4. The first carriage 1 is guided in an X-rail extending in the X-direction (not shown here), which extends over the distance formed between the toothed disks 3. On the first carriage 1 extending Z-rails 5 are mounted in the Z direction, in which a second carriage 6 is guided. The first 1 and the second carriage 6 form a cross slide. On the second carriage 6 pivotally arm 7 are attached. The second carriage 6 fulfills the function of a coupling element coupling the two links 7 in the X direction. The links 7 are accommodated at one end in the first carriage 8 fixedly mounted on the second carriage 6. At its other end, the first link 7 are held in a fixedly mounted on a second coupling element 9 second pivot bearings 10 pivotally. In Fig. 2 In particular, the carriages 1, 6, the first links 7 and the second coupling element 9 are shown in two different positions. The second coupling element 9, the link 7 and the second carriage 6 form a Parallelogrammstelltrieb PL. It is of course also conceivable that the first coupling element forms a separate component, which is mounted on the second carriage 6.

How out Fig. 1 it can be seen further, the second carriage 6 is slidably mounted in the horizontal direction on a horizontally extending carrier The carrier 11 is vertically slidably guided in Z-direction in Z-guides 12. A second electric motor 13 serves for vertical movement of the carrier 11.

By means of two of in Fig. 1 and 2 shown drive modules AM, it is possible to move a attached to the second coupling elements 9 transport beams in the X, Y and Z direction to move workpieces.

The Fig. 3 and 4 show a first device. It is a transport device which has a first drive module AM1 and a second drive module AM2. The drive modules AM1, AM2 correspond to those in the Fig. 1 and 2 shown drive module AM. The first drive module AM1 has a first parallelogram drive PL1 and the second drive module AM2 has a second parallelogram drive PL2. The drive modules AM1, AM2 are mounted on the frame 14 of a press P. The first coupling elements 9 of the drive modules AM1, AM2 are connected to a transport bar 15.

As in particular from Fig. 4 it can be seen, 15 more gripping devices 16 are attached to the transport bar. Such gripping means 16 may be formed as active gripping elements. They serve to grasp workpieces 17. Unless - as in Fig. 5 is shown - two transport bars 15 are provided in mutually opposite arrangement, the gripping means 16 may also be formed as a passive gripping elements for clamping holding workpieces 17.

The reference symbol K denotes couplings for connecting the transport bar 15 to the coupling element 9. The couplings K can be designed in the form of a screw connection.

The Fig. 5a to 5d show the sequence of movement of a first device. In this case, the drive modules AM1, AM2 are mounted on the outside of the frame 14 of the press P. The transport bar 15 is also provided here with gripping means 16. A transport of the workpieces in the transport direction is also possible here by a suitable coordinated movement of the first carriage 1 in the X direction.

In the in the Fig. 6a to 6d shown second device, two transport devices T1 and T2 are provided. Their drive modules AM1, AM2 or AM21, AM22 are in turn mounted on the outside of the frame 14. The transport bar 15 and another transport bar 18 are arranged opposite each other in a plane. The transport bars 15 and 18 are here in turn provided with gripping means 16. In this case, the gripping devices 16 are designed as so-called passive gripping elements, ie they are designed in their shape corresponding to the shape of the workpieces 17 to be transported. The workpieces 17 are gripped by two gripping elements, which are moved toward one another by means of the transport bars 15, 18. The Fig. 8a to 8d show the sequence of movements when using two inventive transport devices T1, T2. In order to transport the workpieces 17 in the X direction, it is also necessary here to execute the movements of the first carriages 1 of the drive modules AM21 and AM22 of the further transport device T2 in coordination with the movements of the first carriages 1 of the drive modules AM1, AM2 of the transport device T1. The control of the movements of the first carriage 1 can be carried out via a program-controlled activation of the respective drive device, in particular the electric motors.

Fig. 7 shows a schematic diagram of a third device. In this case, second carriage 19 are slidably held on the transport bar 15. The carriage 19 fulfills the function of the second coupling element 9. The links 7 are here in another Coupling element 20 pivotally mounted, which is mounted on the frame 14. The coupling element 20 can be movably mounted in the Z direction. The further coupling element 20, the handlebar 7 and the second carriage 19 in turn here form a Parallelogrammstelltrieb PL. At the in Fig. 7 3, the movement of the transport bar 15 is not effected by an active movement of the second carriages 19, but by an external drive device 21 with which the transport bar 15 is movable in both the X and Y directions. The outer drive device 21 has a slidably guided in the second carriage coupling bar 23, which in turn is releasably connected via the coupling K with the transport bar 15. However, it may also be that, instead of the drive device 21, the second carriages 19 each have a drive device for movement on the transport bar 15. An undesirable deflection of the transport bar 15 is also substantially reduced by its inclusion by means of the Parallelogrammstelltriebe invention PL.

Fig. 8a again shows a schematic diagram of the arrangement of the handlebars 7 of the first device. In Fig. 8b an alternative arrangement of the handlebar 7 is reproduced. In any case, the links 7 are arranged so that they are pivoted in a movement of the transport bar 15 in opposite directions.

Fig. 9a to 9d show again the sequence of movements in the first device (see also Fig. 5a to 5d ).

Fig. 10 shows a plan view of a fourth device. In each case, first AM1 and second drive modules AM2 are mounted on the frame 14 of a press P in opposite directions. The first AM1 and second drive modules AM2 each have the second coupling element 9, which can be connected to the transport bar 15 by means of the coupling K.

At the in Fig. 10 embodiment shown, the coupling K to each other on corresponding coupling elements. The coupling elements could form a clamping, latching or plug connection. Thus, one of the coupling elements may be formed as a protrusion provided with an undercut extending from the second coupling element 9, which projection can be inserted into a corresponding recess provided on the transporting beam 15. The mutually corresponding coupling elements may in particular also have conical or bevelled surfaces, so that thus a rigid connection between the second coupling element 9 and the transport bar 15 can be produced.

How out Fig. 10 can be seen, the transport bar 15 is formed in its length smaller than a distance A, which is formed in an X direction between two frames 14 forming columns. Out Fig. 10 but it can also be seen that the transport bar 15 can be pivoted between the columns even if its length is equal to or to some extent greater than the distance A.

The transport bars 15 are in the in Fig. 10 shown fourth device separated from the second coupling elements 9. In a provided in the vicinity of one end of the transport bar 15 recess pin 22 are retracted. The pins 22 are part of a pivoting device not shown here in detail. The pins 22 can be raised by means of the pivoting device, for example, hydraulically, pneumatically and / or electrically and retracted into the provided in the transport bar 15 cylindrical recesses.

The function of the device is as follows:

To change a generally designated by the reference W tool is first by means of a pivoting device of the pin 22 in the corresponding cylindrical Recess retracted on the transport bar 15. The recess suitable for receiving the pin 22 may also be provided in a device, for example, attached laterally to the transport bar (not shown here). The provision of such a transport bar separately mounted device ensures a particularly high rigidity of the transport bar 15. With the retraction of the pin 22 in the cylindrical recess of the transport bar 15 is fixed in its position. Subsequently, the second coupling elements 9 of the drive modules AM1 and AM2 are released by means of the couplings K from the transport bar 15. The second coupling elements 9 can be moved away from the transport bar 15 by means of the drive modules AM1 and AM2. Subsequently, the transport bar 15 can be pivoted about the pin 22 in a direction perpendicular to the X direction. The pivoting device is designed such that it absorbs the moment exerted by the transport bar. Thus, the tool W is released and can be changed.

As in Fig. 10 is shown, both opposite transport beams 15 can be pivoted away from the tool W. This allows an exchange of the tool W z. B. by means of a translation table.

Of course it is also possible, instead of in Fig. 10 shown in the Z direction extending pin 22 to provide a pin 22 which passes through the transport bar 15 in the Y direction. In this case, the transport bar 15 can then be pivoted in an XZ plane. - Instead of the pin 22, of course, other suitable receptacles may be provided which allow pivotal movement of the transport bar 15 about an axis which extends within the press P, in particular in the vicinity of the coupling elements 9. Thus, the provision of moving tables for removal and installation of the transport bar 15 is unnecessary.

LIST OF REFERENCE NUMBERS

1

first sled

2

toothed belt

3

toothed washer

4

first electric motor

5

Z-rail

6

second sled

7

handlebars

8th

first pivot bearing

9

coupling element

10

second pivot bearing

11

carrier

12

Z-guide

13

second electric motor

14

frame

15

transport bar

16

gripper

17

workpiece

18

further transport beams

19

second sled

20

another coupling element

21

driving device

22

spigot

23

tie beam

T1

transport means

T2

further transport device

AM1, AM2

Drive modules of the first transport device

AM21, AM22

Drive modules of the second transport device

P

Press

PL, PL1, PL2

Parallelogrammstelltrieb

W

Tool

K

clutch

Claims (34)

1. Device for the transport of work pieces (17) in an X direction with at least one transport unit (T1, T2) which can be attached to a frame (14) of a processing device, which transport unit has at least one transport bar (15) which can moved in X and Y direction via a first drive (AM1, AM2), wherein the transport bar (15) is detachably connected on its one end with the first drive (AM1, AM2) via a first coupling (K),
   characterized in that
   a swivel device is provided with which the transport bar (15) can be swiveled when in a state detached from the first drive (AM1, AM2).
2. Device as defined in claim 1, wherein the swivel device has swivel axis essentially running in a Z direction.
3. Device as defined in one of the preceding claims, wherein the transport bar (15) is detachably connected on its other end with a second drive (AM2) via a second coupling (K).
4. Device as defined in one of the preceding claims, wherein the swivel device can be detachably attached to the transport bar (15).
5. Device as defined in one of the preceding claims, wherein the swivel device has a means of swivelably holding the transport bar (15) in a state detached from the drives (AM1, AM2).
6. Device as defined in claim 5, wherein the means of swivelably holding has a pin (22) which meshes with a receptacle provided on the transport bar (15).
7. Device as defined in one of the preceding claims, wherein the swivel device has a hinge which connects the transport bar (15) with one of the drives (AM1, AM2).
8. Device as defined in one of the preceding claims, wherein the first (AM1) and/or second drive (AM2) has a parallelogram actuating drive (PL1, PL2).
9. Device as defined in claim 8, wherein the parallelogram actuating drive (PL1, PL2) has a first (6) and a second coupling element (9) arranged opposite each other, which coupling elements are connected with each other via at least two steering elements (7) attached parallel to each other.
10. Device as defined in one of the preceding claims, wherein the first coupling element (6, 20) is attached to a linear movement device or component of same.
11. Device as defined in one of the preceding claims, wherein the first coupling element (6, 20) forms a first gliding element (6) of the linear movement device.
12. Device as defined in one of the preceding claims 3 to 11, wherein the second coupling element (9) can be connected with the transport bar (15) via the first and/or second coupling (K).
13. Device as defined in one of the claims 10 to 12, wherein the linear movement device has a second gliding element (1) which can be moved vertical to the direction of movement of the first gliding element (6), to which second gliding element the first gliding element (6) is attached.
14. Device as defined in one of the claims 11 to 13, wherein the first (6) and/or second gliding element (1) is a carriage conducted on a linear guide.
15. Device as defined in one of the claims 13 or 14, wherein the first (6) and second gliding element (1) are designed like a cross slide.
16. Device as defined in one of the claims 11 to 15, wherein at least one first drive unit (13) is provided for the movement of the first (6) and/or second gliding element (1), preferably in Z direction.
17. Device as defined in one of the claims 11 to 16, wherein at least one second drive unit (4) is provided for the movement of the first (6) and/or second gliding element (1), preferably in X direction.
18. Device as defined in one of the claims 16 or 17, wherein the first (6) and/or second gliding element (1) is connected with the first (13) and/or second drive unit (4) via a toothed belt (2).
19. Device as defined in one of the claims 11 to 18, wherein the first (6) and/or second gliding element (1) is attached to a linear motor.
20. Device as defined in one of the claims 9 to 19, wherein the second coupling element (9, 19) is attached in a linearly movable manner to a coupling bar (23) and the transport bar (15) is attached to the coupling bar (23) via the first and or second coupling (K).
21. Device as defined in one of the preceding claims, wherein gripping units (16) are provided on the transport bar (15) for gripping the work pieces (17) to be transported.
22. Device as defined in one of the claims 9 to 21, wherein the steering elements (7) of a first parallelogram actuating drive (PL1) can be swiveled with a movement of the transport bar (15) in Y direction opposite to the steering elements (7) of a second parallelogram actuating drive (PL2).
23. Device as defined in one of the claims 11 to 22, wherein at least one glide guide is provided to retain the first (6) and/or second gliding elements (1).
24. Device as defined in claim 23, wherein the glide guide/guides is/are attached to the frame (14) of a processing device (P).
25. Device as defined in claim 24, wherein the glide guide/guides is/are attached inside the frame (14) or outside on the frame (14).
26. Device as defined in one of the preceding claims, wherein a further transport unit (T2) is located opposite the first transport unit (T1), preferably in mirror image arrangement.
27. Device as defined in one of the preceding claims, wherein a length of the transport bar (15) is dimensioned so that it can be swiveled in the X-Y plane between columns of the processing unit (P).
28. Device as defined in one of the preceding claims, wherein a further transport bar (15) which can be moved in X and Y direction is provided opposite the transport bar (15).
29. Device as defined in the claim 28, wherein the further transport bar (15) is designed in accordance with the transport bar (15).
30. Device as defined in claim 28 or 29, wherein at least one further drive (AM1, AM2) provided for the movement of the further transport bar (15) is designed in accordance with the first or second drive (AM1, AM2).
31. Method for the removal or installation of a tool (W) and/or a transport bar (15) with use of a device as defined in one of the preceding claims consisting of the following steps:

    a) Provision of a swivel device on the transport bar (15),

    b) Separation of the transport bar (15) from the first drive (AM1, AM2),

    c) Swiveling the transport bar (15) and

    d) Removal and installation of the tool (W) and/or the transport bar (15).
32. Method as defined in claim 31, wherein the transport bar (15) is swiveled around an axis essentially running in Z or Y direction.
33. Method as defined in claim 31 or 32, wherein the transport bar (15) is also separated from the second drive (AM2) with step b.
34. Method as defined in one of the claims 31 to 34, wherein the transport bar (15) is swiveled in the X-Y plane in a space formed between columns of the processing device (P).

Images