WO2007006404A1

WO2007006404A1 - Method and device for loading and unloading elements into/from a carrier element

Info

Publication number: WO2007006404A1
Application number: PCT/EP2006/006078
Authority: WO
Inventors: Mathias Buhl
Original assignee: Brain, Bernhard
Priority date: 2005-07-07
Filing date: 2006-06-23
Publication date: 2007-01-18
Also published as: EP1900266A1; DE102005031923A1

Abstract

The invention relates to a method and device for unloading and loading carrier element (1, 1'), in which a number of sets of elements can be placed in a systematic arrangement. The device comprises a transport head (5) with at least one transport strip (6, 7, 8, 9) for simultaneously receiving at least one set of elements. A carrier element (1, 1') is brought into a defined position, and at least one set of new elements is prepared. The transport head (5) can be displaced between at least one conveying element (15, 16, 17, 18) and a carrier element (1, 1') located in a defined position and receives the at least one set of new elements by means of a transport strip. At least one set of elements to be unloaded is received by the transport head (5). A set of new elements is placed on the placement locations that have been freed by the receiving of the at least one set of elements to be unloaded of the carrier element (1, 1').

Description

Method and device for loading and unloading elements into a carrier element

The invention relates to a method for loading and unloading disc-shaped elements in a support element provided for this purpose.

In many production processes, it is necessary to load a plurality of identical elements into or onto a carrier element provided for transporting these elements for further processing and to unload them again from the carrier element. Since these elements can also be sensitive components, this activity is usually performed by a person. The sensitivity of the elements is due, for example, to their geometry, their material properties or their thickness. In particular disc-shaped elements are critical in their handling. Under disk-shaped elements are understood that need not be explicitly round, but are therefore referred to as disk-shaped, since the thickness is usually much smaller than their dimensions in length and width. Especially in the PCB, semiconductor and photovoltaic production is added that touching the surface of the elements is undesirable, since this can be unusable for further processing. The manual handling of the elements by a person is also uneconomical, since it depends heavily on the work of the person, which is subject to experience strong fluctuations during a working day, which in turn, both the number of processed elements and the reject rate of the elements negative can affect.

It is therefore the object of the invention to automate a method and a device for loading and unloading a carrier element with a plurality of elements, wherein the handling thereof is gentle and with high economic efficiency.

The method according to the invention and the device according to the invention have the advantage that the loading and unloading takes place automatically. The device has for this purpose a transport head with which a set of elements simultaneously can be moved. This set of elements is deposited in a carrier element located in a defined position, or a set of elements is taken out of the carrier element. The throughput rates are high because of the simultaneous loading and unloading of several elements. In addition, due to the delivery elements provided in addition, manual intervention is not required either during preparation or after unloading.

According to the invention, transporting of the transport head is not required for each set of elements, but at least one set of new elements is initially received by the transport head. At least one further transport bar remains free. This takes from the support element to a set of elements, the vacant storage locations of the support element are then re-equipped by the new elements of the transport head. There is not only an automated replacement of the elements of the support element but it can also be done automatically and thus saving time the delivery and the removal by conveying elements.

The subclaims relate to advantageous developments of the method according to the invention.

A preferred embodiment of the invention

Device is shown in the drawing and is used together with the inventive method in the following

Description explained in more detail. Show it:

Fig. 1 shows an embodiment of a device according to the invention in a side view and

Fig. 2 is a plan view of the device according to the invention.

Fig. 1 shows an embodiment of a device according to the invention, on the basis of which the method according to the invention is explained in a first view. In the method according to the invention, first a support element 1 is brought into the loading and unloading of the device according to the invention. The carrier element 1 is essentially considered to be an element which is suitable for receiving a specific number of the disk-like elements. This can be achieved, for example, by imaging the geometries of the disk-shaped elements in a systematic arrangement on the carrier element, so that further processing or transport of the disk-like elements no longer has to take place individually, these being considered to be secured in the carrier element. A particularly practical systematic arrangement forms a plurality of mutually parallel rows, each with a plurality of storage locations. The number of storage locations within the individual rows is preferably identical. In this case, the support element 1 of the device according to the invention can be supplied coming from both sides, as well as coming from above or below. The carrier element 1 not only cooperates with the device according to the invention, but is also available for further process steps in the processing of the elements. There are for this purpose a plurality of such Trägereiemente 1, 1 'in circulation, each one carrier element 1 may be in the loading and unloading of the device according to the invention. Thus, a continuously running process can be achieved in which the unloading and loading of the carrier element 1 does not lead to a delay or even the stoppage of the system.

The carrier element 1 taken over by the device from the further processing process is first of all by means of a

Transport device 60 brought into a defined position in which an automated loading and unloading of

Carrier element 1 with elements by means of the invention

Device is possible. In the illustrated embodiment, the carrier element 1 is first fed horizontally on a first level 61. As well as on the first

Level 61 reaches an end position is replaced by a

Lifting device 14, the support member 1 to a second level

62 raised. This position is a position defined with respect to its spatial position, in which the loading and unloading is then carried out automatically.

The lifting device 14 is, for example, part of the transport device 60 which, for example, has further conveyor belts or other conveying devices, not shown in FIG. 1. In the defined position, the carrier element 1 is referenced by a holding device, not shown, in all spatial directions and for the loading or Unloading locked. The carrier element 1 is already equipped, for example, with disc-shaped elements to be unloaded, which come back from the further manufacturing process.

In the illustrated example of a preferred embodiment, the elements to be loaded are disk-shaped and are provided in cassettes 10-13 provided therefor. In these cassettes are the z. B. rectangular disc-shaped elements with an edge length of for example 6cm to 6cm in a stacked form, each one element is associated with a subject. The individual compartments of the cassettes 10 to 13, in which the disk-shaped elements are located, have a tolerance, so that a disk-shaped element located in a compartment can be easily moved without being damaged. In the illustrated embodiment, the disc-shaped elements in the vertical direction are arranged one above the other in individual compartments of the cassettes 10 to 13 and have in particular in the vertical direction in the subjects game on. In this way, the elements shown schematically in the cassette 13 can be lifted for removal from the cassettes 10 to 13 within each compartment. The cassettes 10 to 13 are fed in a manner not shown and are individually variable in their height relative to the defined position of Trägerelernents 1. For this purpose, the cassettes 10 to 13 are each positioned via a lifting and lowering device, wherein the positioning of the individual cassettes 10 to 13 can be done individually. The individual vertical positioning of the cassettes 10 to 13 is indicated in Fig. 1 by the arrows on the cassettes 10 to 13.

The first to fourth cassette 10 to 13 opposite each one another cassette 10 'to 13' is arranged, as will be explained in more detail later with reference to FIG. The fifth to eighth cassette 10 'to 13' are used for receiving and transporting back from the process and discharged from the support element 1 elements. The number of cassettes can also be larger or smaller and thus adapted to the capacity of the Produktionsanläge. In this case, the cassettes are preferably provided in pairs, so that in each case one cassette provided for feeding an empty cassette is arranged opposite. Provision of the disc-shaped elements in another way or directly from an upstream process is also possible.

Subsequently, it is assumed that 10 to 13 elements are arranged in the cassettes, which are to be loaded by the inventive device on the support member 1. For loading the carrier element 1, the disc-shaped elements supplied by means of the cassettes 10 to 13 are moved from the region of the cassettes 10 to 13 to their respective position by means of a transfer bar 4, which is movable in the direction of a longitudinal axis of the carrier element 1 arranged in its defined position transported on the support element 1. For this purpose, the transfer bar 4 is fastened to a positioning device, for example a running rail 63. The exact procedure, in particular the simultaneous transporting of a plurality of disk-shaped elements, is explained below with reference to FIG. 2.

In order to be able to transport the disc-shaped elements, four transport bars 6, 7, 8 and 9 are arranged on the transfer bar 4. The four transport bars 6, 7, 8 and 9 can in turn each accommodate a plurality of elements. The transport strips 6, 7, 8 and 9 are rotatable together about their common longitudinal axis. This makes it possible in each case one of the transport strips 6, 7, 8 or 9 align that it is oriented towards the support element 1 or in the area of the cassettes 10 to 13 trained receiving or depositing areas. In Fig. 1, this is the case for the 8 designated transport bar. The transport strips 6, 7, 8 and 9 together form a transport head 5, which is rotatably mounted on the transfer bar 4 and can be moved together with this in the x direction. The x-direction coincides with the longitudinal axis of the carrier element 1. For ease of description, FIGS. 1 and 2 indicate a Cartesian coordinate system. It is understood that the directions of movement given refer only to the sake of simplicity reference to the coordinate axes and for the implementation of the method according to the invention, the resulting relative movement of the individual components to each other is crucial. In FIG. 2, the device according to the invention for loading and unloading of carrier elements 1 is shown in a plan view, which corresponds to a view in the negative z-direction in the specified coordinate system.

The first to fourth cassette 10-13 opposite each one corresponding first empty fifth to eighth cassette 10 '-13' is arranged, which serve to receive the carrier element 1 discharged disk-shaped elements. As already explained, the first to fourth cassettes 10 to 13 serve to feed the unprocessed elements, while in the fifth to eighth cassettes 10 'to 13' the already processed elements are removed. With the aid of the method described below, the elements originally located in or on the carrier element 1 are replaced by new ones.

The fifth to eighth cassette 10 'to 13' are like the first to fourth cassette 10 to 13 also on independently operating lifting and lowering devices. Between the cassettes 10 and 10 ', 11 and 11', 12 and 12 'and 13 and 13' are each independently operable to be operated first to fourth conveyor element 15-18, the length expansions in the direction of the y-axis each up to the areas of the cassette cross sections extend. In the present preferred embodiment, in each case two individual belts 15a, 15b, 16a, 16b, 17a, 17b, 18a and 18b each form a conveying element 15, 16, 17 and 18. The use of conveying elements of a different design is also possible. The cassettes 10 to 13 and 10 'to 13' have at least in the region of their shelves on their open, facing to the conveyor elements 15 to 18 side recesses, so that a collision with the conveyor elements 15 to 18 is excluded, even if the cassettes 10th be lowered to 13 or 10 'to 13' of the respective lifting and lowering device.

It is also conceivable that the conveying elements 15 to 18 do not reach into the area of the cassette cross sections. In this case, it is also possible to use those cassettes which, for example, have a closed bottom. For storage of the elements could then on the conveyor elements driver be formed, which is a conveying of the elements in or out of the

To allow compartments of the cassettes.

The independently operating conveyor elements 15-18 are driven in such a way that they can perform a belt movement in both the positive and negative y-direction. In this way, elements deposited on the conveyor elements 15 to 18 can be conveyed both in the direction of the cassettes 10 to 13 and in the opposite direction to the cassettes 10 'to 13'. Thus, the first and fifth cassettes 10 and 10 ', the second and sixth cassettes 11 and 11', the third and seventh cassettes 12 and 12 'and the fourth and eighth cassettes 13 and 13' may be used both for feeding disc-shaped elements also be used to transport the elements. In the preferred embodiment of the invention shown in the drawing, the cassettes 10, 11, 12 and 13 are only for loading the support element 1 and thus for feeding the elements, the cassettes 10 ', 11', 12 'and 13', however, only for Unloading of the support element 1 so used for the removal of the processed elements.

First, the individual lifting and lowering devices are fitted with cassettes 10 to 13 and 10 'to 13', wherein the cassettes 10, 11, 12 and 13 are already equipped in each compartment with an element for loading the support member 1 provided disk-shaped elements. The compartments of the cassettes 10 ', 11', 12 'and 13', however, are empty. The cassettes 10 ', 11', 12 'and 13', for example, recognized by a signal of a weight sensor as available and as empty and moved in the moment by the system independently by the respective lifting and lowering device down so in the negative z-direction. The process in the negative z-direction is performed until the center with respect to the height of the uppermost tray of the respective fifth to eighth cassette 10 'to 13' is at the level of the upper edge of the respective conveyor element 15 to 18. A conveyed by a conveying element 15 to 18 in the direction of the cassettes 10 'to 13' element is so promoted in the respective uppermost compartment of the corresponding cassette 10 'to 13' until it is completely in the compartment. In this case, it is ensured by the recess which are present in the individual shelves of the cassette, that the conveying elements 15 to 18 the disc-shaped elements completely into the

Can convey cartridges into it.

The lifting and lowering devices that were equipped with the already filled with disc-shaped elements cartridges 10 to 13, however, are only lowered so far until the middle of the lowest compartment of the respective cassette 10 to 13 of the respective height of the upper edge of the corresponding conveyor element 15 to 18 corresponds and thus located in this subject disk-shaped element is deposited on the underlying conveyor element 15 to 18. The placement of the elements on the conveyor element 15 to 18 is possible by the existing game of disc-shaped elements within the cassette compartments.

In the illustrated starting situation, the transfer bar 4 is in a start position. The support element 1 consists of, for example, twelve rows 31 to 42 in each of which six storage locations are designed to receive one disk-shaped element each. For the twelfth row 42, the six files are designated 42. a to 42. f for clarification. A corresponding designation of the other filing locations is omitted for reasons of clarity. The transfer bar 4, as has already been explained in the description of FIG. 1, a transport head 5 on which the four transport bars 6, 7, 8 and 9 are formed. The longitudinal axis 64 of the transport head 5 and the transport bars 6 to 9 extends in the direction of the y-axis, so that a number of lifting elements, which together form a transport bar 6, 7, 8 and 9, parallel to the alignment of the n rows of Trägerelemtents 1 extend. The six lifting elements of a transport bar 6 to 9 are each marked with the additions a to f to the reference numerals of the transport strips 6 to 9.

The transfer bar 4 can also be designed with more or fewer transport bars. Preferably, an even number of transport bars on the transport head 5 is provided. If the transfer bar 4 has a transport head 5 with more than one transport bar 6 to 9, the transport head 5, as in the example explained, is rotatable about its longitudinal axis 64. To change the elements on the carrier element 1, a number of disk-shaped elements from the cassettes 10 to 13 are first deposited successively on the corresponding conveyor elements 15 to 18. For this purpose, the cassettes are gradually lowered while conveying elements 15 to 18 promote. Thereby, after the removal of each disc-shaped member from each tray of the cassettes 10 to 13 by lowering the cassettes 10 to 13, the disk-shaped members located in the overlying tray are deposited on the conveyor members 15 to 18. This process is repeated until the conveying elements 15 to 18 each six disc-shaped elements are stored. The conveying elements 15 to 18 are stopped and the disc-shaped elements are preferably aligned.

Each of six such elements, which correspond to a number of storage locations of the support element 1, are hereinafter also referred to as a set of elements.

For aligning the disk-shaped elements, i. For adjusting an exact distance within each set of elements, which corresponds to the distance at the depositing points of the support element 1 within the rows 31 to 42, an alignment device can be used. The orientation will be discussed later.

The aligned on the conveyor elements 15 and 16 a total of twelve disc-shaped elements are successively received by the first transport bar 6 and the second transport bar 7. The third and the fourth transport bar 8 and 9 are still free and not loaded. In this case, one of the free transport strips 8 or 9 is preferably rotated after rotation of the transport head 5 about the y-axis after receiving the twelve elements and thus oriented in the direction of the negative z-axis. In this case, the transfer bar 4 is already positioned in the x direction over the row of the carrier element 1 to be unloaded and reloaded first. The system is thus in its starting position.

After the start of the method according to the invention, the rotatable transport head 5 is lowered in the negative z-direction and the disk-shaped elements of, for example, the twelfth Row 42, for example, by means of the third

Transport bar 8 by means of the transport bar forming lifting elements 8.a to 8.f added. Each of the lifting elements 8.a to 8f is preferably formed by a so-called Bernoulii vacuum cleaner. The transport strips 6, 7 and 9 correspond in their construction of the third transport bar 8. With the help of each Bernoulli teat each one element can be virtually absorbed and held without contact.

The rotatable transport head 5 is raised again in the positive z-direction. Since an embodiment of the method with multiple transport heads is possible, the necessary stroke of the transport head in the z direction can be variable.

During lifting, the rotatable transport head 5 is rotated by 90 °, 180 ° or 270 ° clockwise or counterclockwise about the y-axis, so that the last still free transport bar is directed downwards again. In the description of the loading and unloading according to the invention is assumed by a rotation of the transport head 5 counterclockwise by 90 °, unless otherwise stated, so that finally the fourth transport bar 9 is directed towards the support member 1.

At the same time, the rotatable transporting head 5 is brought in the x-direction to a position above the adjacent eleventh row 41 by moving the transfer bar 4 in the x-direction. The rotatable transport head 5 is lowered again in the z-direction and the set of disc-shaped elements from the eleventh row 41 is received by means of the fourth transport bar 9.

Subsequently, the rotatable transport head 5 is raised again in the z direction. At the same time the rotatable transport head 5 is rotated again, so that the first transport bar 6, which is already equipped with a set of new disk-shaped elements, are oriented to the support member 1 out. The transport head 5 is lowered in the z-direction and the disc-shaped elements are stored in the storage locations of the eleventh row 41 of the carrier element 1. After the elements have been deposited, the transport head 5 is raised again in the z-direction. The description assumes that the

Transport head 5 is moved relative to the level of the support member 1 by, for example, the transport head 5 is moved accordingly by a telescopic device of the transfer bar 4. However, it is also conceivable that, conversely, the transfer bar 4 including the transport head 5 has a fixed position in the z direction. For storing and picking up a set of elements in or out of the storage locations of the carrier element 1, the carrier element 1 can then be changed in its z-position. All that matters is that the relative distance between the transport head 5 and the Bernoulli suckers respectively oriented in the direction of the carrier element 1 is in each case changeable to a transport bar 6 to 9.

At the same time the rotatable transport head 5 is again rotated by 90 °, 180 ° or 270 ° about the y-axis, so that the second of the two equipped at the beginning of the process transport rails 7 opposite the support element 1 is located. Simultaneously with the rotation, the transfer bar 4 is moved in the x-direction over the twelfth row 42. The rotatable transport head 5 is lowered in the z-direction and the disc-shaped elements are placed in the twelfth row 42 of the support member 1 and then the rotatable transport head 5 is raised z direction again.

The transport head 5 is now equipped at its third and fourth transport bar 8 and 9, each with a set of unloaded elements.

In the preferred embodiment, a linear movement of the transport head 5 and the transfer bar 4 is carried out simultaneously with a rotational movement of the transport head 5. This can reduce the time required to take a new position. However, it is also conceivable that such a simultaneous movement should be prevented, for example, to prevent a collision of recorded elements with the carrier element 1, as long as no sufficient distance between the transport head 5 and the carrier element 1 is reached. Another reason for performing the individual movement steps is to reduce the acceleration forces acting on a picked-up element. The transfer bar 4 is moved in the x-direction over the tenth row 40. The rotatable transport head 5 is lowered there in the z-direction and the set of disk-shaped elements is received from the tenth row 40 of the support element 1. Subsequently, the rotatable transport head 5 is raised again in the z direction.

At the same time during rotation of the rotatable transport head 5 this time is rotated by 90 ° clockwise about the y-axis, so that, in this example last not yet loaded first transport bar 6 is oriented in the negative z-direction. The transfer bar 4 is preferably again moved simultaneously in the x direction over the adjacent matrix row 39, where the rotatable transport head 5 is lowered again in the z direction and the disc-shaped elements of the

Storage locations of the matrix row 39 of the support element 1 are added. With the recorded elements together the rotatable transport head 5 is raised again in the z direction.

Now all transport strips 6, 7, 8 and 9 are loaded from this example, each with six disc-shaped elements, which in turn should be selectively conveyed away in the cassettes 10 ', 11', 12 'or 13'. The transport head 5 is equipped in the illustrated example on all 24 Bernoulii-suckers with one element each. The number of arranged in a transport bar 6 to 9 Bernoulli-sucker is determined by the maximum number of elements in a support member 1. However, it is also possible to use other Trägereiemente 1 in the same system. These can be provided in a number 31 to 42, the filing of, for example, only five elements.

In this case, the sixth lifting element 6f, 7f, 8f and 9f of each transport bar 6 to 9 is decoupled from the remaining lifting elements 6a-e, 7a-e 8a-e and 9a-e and moved to one side of the transport bar 4. Changes by the other number of storage locations within the rows 31 to 42 of the support member 1, the center distance of the storage locations, the remaining lifting elements are adjusted to the new center distance and fixed there to the transport head 5 and the transfer bar 4. Thus, for each configuration is an optimal recording of the elements close to their Ensures center of gravity and the lifting elements to the

Supporting element 1 adapted.

Different distances between the centers of the elements in the x direction from each other with different support elements 1 is taken into account by a correction of the travel path of the transfer bar 4.

For storage and for conveying off the elements of the transfer bar 4 is moved in this example in the negative x-direction to over the first conveying element 15. The conveying element 15 consists in this example of two transport belts. However, the first conveying element 15 can also be designed with more or fewer transport belts. It is also possible that they are not transport belts, but conveyor belts or other suitable transport systems. This applies correspondingly to the second to fourth conveying element 16, 17 and 18.

Arrived above the first conveying element 15, the rotatable transporting head 5 is lowered in the z-direction and the disk-shaped elements on the first transporting strip 6, which is still oriented in the negative z-direction, are deposited on the conveying element 15. The rotatable transport head 5 is then raised again in the z direction. At the same time both the rotatable transport head 5 is rotated by 90 ° about the y-axis as well as the disc-shaped elements deposited on the conveyor element 15 are conveyed away into the fifth cassette 10 'located on the lifting or lowering device.

The disc-shaped elements are conveyed by means of the conveying element 15 in the fifth cassette 10 '. The fifth cassette 10 'is displaced upwards by the spacing of the tray after it has been conveyed in each case to a disc-shaped element. Thus, a disk-shaped element is lifted from the first conveyor element 15 and the center of the next lower compartment is positioned at the level of the upper edge of the first conveyor element 15. The method is preferably clocked, whereby the individual elements of a sentence are successively stored by a continuously running first conveyor element 15 in the fifth cassette 10 '. Once the process of conveying on the first

Conveyor element 15 deposited elements is completed or already overlapping starting with the discharge, again new disk-shaped elements are conveyed from the located on the lifting or lowering device cassette 10 on the conveyor element 15, positioned and aligned with an alignment device. The lifting and lowering device of the first cassette 10, in which the new disk-shaped elements are located, gradually lowers. As a result of the running first conveying element 15, in each case one element is lifted off its bearing surface of the first cassette 10 formed as a shelf and transported in the direction of the opposite cassette 10 '. When this element has completely left its compartment, the first cassette 10 is lowered by the lowering and lifting device by one pitch, until the element of the next higher compartment of the cassette 10 comes to rest on the first conveyor element 15. The movement of the first cassette 10 is again preferably clocked until a set of six new elements comes to lie next to each other on the first conveyor element 15. By depositing and aligning new elements on the first conveyor element 15, a new set of elements is prepared.

The disk-shaped elements thus deposited one after the other on the first conveying element 15 are aligned by means of a suitable template as an aligning device, which can be designed in many different ways. This template is moved upwards for this purpose. But it is also possible that the disc-shaped elements are aligned by means of another suitable device, for example by sliding elements or in negative z-direction pyramidal tapered nests, which are raised and thus align the elements of each set.

The transport head 5 is rotated about the y-axis, so that the next loaded with disk-shaped elements second transport bar 7 is directed in the direction of the first conveyor element 15. At the same time, the transfer bar 4 is moved in the x direction to beyond the second conveying element 16. The rotatable transport head 5 is lowered there in the z-direction and the disc-shaped elements on the underlying second transport bar 7 are on the second conveyor element 16th stored before the rotatable transport head is raised in the z direction again.

The disk-shaped elements deposited on the conveyor element 16 are conveyed into the sixth cassette 11 '. The conveyance of the elements into the sixth cassette 11 ', the placement and the alignment of new elements on the second conveyor element 16 is analogous to the procedure already described in the first conveyor element 15th

The transfer bar 4 is moved in the x direction via the third conveying element 17 without the transport head 5 being rotated. The rotatable transporting head 5 is lowered over the third conveying element 17 in the z-direction and the set of disc-shaped elements of the third conveying element 17 prepared there is received by the third conveying strip 8, which is now below. The rotatable transport head 5 is raised in the z direction.

The transport head 5 is rotated clockwise about the y-axis and disc-shaped elements are fed from the third cassette 12 and aligned on the third conveyor element 17. This again takes place in the manner already described.

At the same time, the transfer bar 4 is moved with a linear movement in the x direction to beyond the fourth conveyor element 18. The rotatable transport head 5 is lowered there in the z-direction and the disc-shaped elements of the fourth conveyor element 18 are received by the now lying below the first transport bar 6. The transport head 5 is further rotated in a clockwise direction until the fourth transport bar 9 is oriented in the direction of the fourth conveying element 18. The transport head 5 is lowered and stored the set of elements of the fourth transport bar 9. The conveyance of the deposited elements and the placement and alignment of the new elements is analogous to the procedure already described by movement of the fourth conveyor element and clocked method of the cassettes 13 and 13 'in opposite z-directions. The transporting head 5 is raised and turned clockwise until the third transport bar 8 is oriented downwards. After moving the transport bar 4, the transport head 5 is lowered and the last set unloaded elements filed. Again, the discharged elements are carried away and prepared new elements on the conveyor element. Without rotation of the transport head 5, this is lifted and moved over the first conveyor element 15. There, the transport head 5 is lowered and takes through the third transport bar 8 on there now ready prepared set of elements. After another quarter turn clockwise with simultaneous movement of the transport bar 4 in the x direction, the fourth transport bar 9 now also receives a set of elements of the second conveyor element 16.

For aligning a corresponding AusriehtVorrichtung is provided in each case below the conveying elements 15 to 18. Such an alignment device is exemplified as a template in the second conveyor element 16. The individual alignment devices can be used individually, so that in each case where there is already a set of new elements on one of the conveyor elements 15 to 18, this can be aligned. At the same time, however, the other conveying elements can continue to convey new elements from the cassettes 10 to 13.

The picking and storing of elements by the transport strips 6 to 9 takes place by driving the corresponding lifting elements. The individual lifting elements are preferably separately controllable, so that in the example with only five active lifting elements and one inactive

Lifting element per transport bar the inactive lifting element is not controlled. In the case of the Bernoulli vacuum cleaner, this reduces the required amount of air.

The transfer bar 4 with the four loaded transport bars 6, 7, 8 and 9 is now moved in the x direction to over the tenth row 40. The transport head 5 is lowered in the z direction and a set of disc-shaped elements is deposited by the fourth transport bar 9 in the storage locations of the tenth row 40 of the support element 1. The rotatable transport head is raised and rotated again in the z-direction, so that the loaded first transport bar 6 is oriented with disc-shaped elements in the direction of the carrier element 1. At the same time, the transfer bar 4 is moved in the x-direction and thus moved over the ninth row 39, where the rotatable transport head 5 in Z direction is lowered and the disc-shaped elements are stored in the designated storage locations of the ninth row 39 of the support member 1. The rotatable transport head 5 is raised again in the z-direction.

Without further rotation of the transport head 5, the transfer bar 4 is moved in the x direction over the eighth row 38. The transport head 5, which is not equipped with the first transport strip 6 at this time, is lowered in the z direction and the disk-shaped elements from the eighth matrix row 38 are received by means of the first transport strip 6. The rotatable transport head 5 is then raised again in the z direction and this time rotated clockwise by 90 °. In this case, the fourth transport bar 9, which has already become free, is again directed downwards and preferably in turn moved by a displacement of the transfer bar 4 to above the seventh row 37.

The there located at the filing elements are received by the free fourth transport bar 9 and the transport head 5, which is now equipped with already processed and mixed new elements is raised again. After a quarter turn clockwise, with the third transport bar 8 is rotated in the direction of the support member 1, the transport head 5 is lowered again without moving the transfer bar 4 and the new elements, which are held on the third transport bar 8, are there in the seventh row 37 filed. The rotatable transport head 5 is then raised again in the z direction and further rotated a quarter turn clockwise, so that the second transport bar 7, on which still new elements are present, is oriented in the direction of the carrier element 1. The transfer bar 4 is now moved so that by lowering the transport head 5 these last new elements can be stored in the filing of the eighth row 38.

The transport head 5 is lifted and moved over the sixth row 36. There, the second transport bar 7 takes on a set of elements. Subsequently, the transport head 5 is raised again and rotated, so that the third transport bar 8 is oriented in the direction of the carrier element 1. According to the method, a set of elements is picked up by the third transport bar 8 from the fifth row 35. The transport head 5 is now again equipped with 24 elements on the four transport strips 6 to 9, which are again provided for placement on the four conveyor elements.

The process steps with respect to the storage and the picking and the subsequent unloading and loading of the support element 1 are now repeated until successively all the elements in the rows 31 to 42 are replaced. Subsequently, the carrier element 1 is unlocked and fed to the subsequent process via a transport path, not shown.

Is it as in the described embodiment to carrier elements 1, 1 'to support elements with k rows, where k equal to an integer multiple of the number

Transport bars 6 to 9 is, so after the complete

Replacing the elements of the support member 1 half of

Transport strips 6 to 9 still equipped with new elements. This returns the system to the starting position. The Erstbestückung of the first and second transport bar 6 and 7 described above is therefore only required once. It is obvious that the initial loading of a transport head 5 with e.g. six regularly arranged transport strips preferably on three of

Transport strips takes place.

If, however, the total number of rows of Trägerelernents not integer multiple of the number of transport strips on the transport head 5, the system can be brought back to their original situation in a single process step, when the change of elements of the support member 1 is complete.

If, for example, the carrier element 1 of the exemplary embodiment described has only ten rows, then at the time of complete change of the elements on two of the four transport bars 6 to 9, two transport bars are occupied by elements which have just been unloaded, when the carrier element 1 is exchanged. These two sets of elements are then placed on two of the conveyor elements 15 to 18 and added new elements. This returns the system to its original state. The procedure described uses each of the nearest free or populated transport bar and oriented by the shortest possible rotational movement. It is therefore necessary in the described embodiment that the transport head 5 can rotate in both directions about its longitudinal axis. However, it can also be provided a rotatable only in one direction transport head. The simplest adjustment then takes place by replacing a counter-rotation by, for example, 90 ° by a further rotation of 270 °. For transport heads with a different number of transport rails resulting in regular arrangement of the transport strips corresponding angle.

With a small capacity of the production plant, it may also be sufficient to use only a single fixed transport bar. The transport head must then place the recorded elements on a conveyor element in each case after the recording of elements to be unloaded. In order to avoid waiting times by conveying and preparing a new set of elements, preferably two conveyor elements are used. One set of elements can thus be prepared in the meantime, while the other conveying element is empty. The conveyance of the elements and the preparation is carried out alternately by immediately after the deposition of the discharged elements of the next set is prepared on the same conveyor element.

Instead of post-conveying the elements from cassettes, the elements can also be provided by another feeding device. This can be, for example, a separating device for separating and transporting stacked elements.

It is also advantageous to use cartridges 10 to 13 and 10 "to 13" of the same size. After the first to fourth cassettes 10 to 13 are empty by the unloading and loading operation and the requisite feeding of new or discharged elements, and accordingly the fifth to eighth cassettes 10 'to 13' are full, only the fifth to eighth cassettes become 10 'to 13' exchanged for cassettes with new elements. The conveying direction of the conveying elements 15 to 18 is reversed, so that now supplied from the cassettes 10 'to 13' new elements and discharged into the first to fourth cartridges 10 to 13. Thus, it is sufficient to replace only the first to fourth cassette 10 to 13 or the fifth to eighth cassette 10 "to 13 '.

The sequence described for explanation, in particular the sequence when starting the individual rows and conveying elements, is not mandatory. The exact order is set flexibly by event control.

Claims

claims

1. A device for unloading and loading of carrier elements (1, 1 ') in which a plurality of sets of elements in a systematic arrangement can be stored, comprising a transport head (5) with at least one transport bar (6, 7, 8, 9) for simultaneous recording of at least one set of elements, wherein the transport head (5) between at least one conveying element (15, 16, 17, 18) and a carrier element in a defined position (1, 1 ') is displaceable, and wherein by means of at least one Conveying element (15, 16, 17, 18) both a set of discharged elements abförderbar and a new set of elements can be fed.

2. Apparatus according to claim 1, characterized in that on the transport head (5) a plurality of transport strips (6, 7, 8, 9) are formed, each having a corresponding number of lifting elements (6a-f, 78a-f, 8a-f, 9a-f).

3. Apparatus according to claim 2, characterized in that the lifting elements (6a-f, 78a-f, 8a-f, 9a-f) of the transport strips (6, 7, 8, 9) are individually controllable.

4. Apparatus according to claim 2 or 3, characterized in that the individual lifting elements (6a-f, 78a-f, 8a-f, 9a-f) of an arrangement of storage locations of a load-unloading and loading support member (1, I ¹ ) are customizable.

5. Device according to one of claims 2 to 4, characterized in that the lifting elements (6a-f, 78a-f, 8a-f, 9a-f) are Bernoulli sucker.

6. Device according to one of claims 1 to 5, characterized in that the transport head (5) on a transfer bar (4) is arranged.

7. Apparatus according to claim 6, characterized. that a distance between the transport head (5) or a

Transport bar (6, 7, 8, 9) and a carrier element located in a defined position (1) relative to each other is changeable.

8. Device according to one of claims 1 to 7, characterized in that the transport head (5) about a common axis of the transport bars arranged thereon (6, 7, 8, 9) is rotatable.

9. Device according to one of claims 1 to 8, characterized in that with the number of transport strips (6, 7, 8, 9) corresponding number of conveying elements (15,16, 17, 18) is provided.

10. The device according to claim 9, characterized in that the orientation of the conveying elements (15, 16, 17, 18) is approximately parallel to the orientation of the common longitudinal axis of the transport strips (6, 7, 8, 9).

11. The device according to claim 9 or 10, characterized in that by each conveyor element (15, 16, 17, 18) at the same time a set of elements in a cassette (10 ', 11', 12 ', 13') for receiving elements abförderbar and another set of elements is deliverable.

12. Device according to one of claims 9 to 11, characterized in that each conveying element (15, 16, 17, 18) is associated with an alignment device (45).

13. Device according to one of claims 1 to 12, characterized in that the conveying direction of the conveyor elements (15, 16, 17, 18) is reversible.

14. A method for unloading and loading carrier elements (1, 1 ') with elements, wherein in each case a plurality of elements forming a set are simultaneously unloaded or loaded, with the following method steps: Positioning a carrier element (1, 1 ') in a defined position,

Receiving at least one set of elements to be demounted by a movable transport head (5) from storage locations (42a-f) of the carrier element (1)

Moving the transport head (5) to a conveying element (15,

16, 17, 18)

- depositing the at least one set of unloaded elements on the conveyor element (15, 16, 17, 18) - receiving at least one set of new elements by the movable transport head (5)

- Moving the transport head (5) to the storage locations (42a-f) and store the new elements.

15. The method according to claim 14, characterized in that by each transport strips (6, 7, 8, 9) of a plurality of transport strips (6, 7, 8, 9) comprising the transport head (5) each have a set of elements to be unloaded from the carrier element ( 1) is recorded and the elements of only a portion of the transport strips (6, 7, 8, 9) on conveying elements (15, 16) are stored before receiving new elements.

16. The method according to claim 15, characterized in that with the number of transport strips (6, 7, 8, 9) corresponding number of conveying elements (15, 16, 17, 18) is provided, which both discharge stored discharged elements and each supplying a new set of elements.

17. The method according to claim 15 or 16, characterized in that during the movement of the fully loaded transport head (5) to the conveyor elements (15, 16, 17, 18) out on a portion of the conveying elements (17, 18) each have a prepared set Elements is present and after the storage of a corresponding number of unloaded sets of elements on the other conveyor elements (17, 18) the prepared sets of elements by the vacant transport rails (6, 7, 8, 9) are added

18. The method according to any one of claims 14 to 17, characterized in that after the storage of discharged elements on a conveyor element (15, 16, 17, 18) prepared a new set of elements on this conveyor element (15, 16, 17, 18) becomes.

19. The method according to any one of claims 14 to 18, characterized in that at the beginning of unloading and loading a Trägerelernents (1) of the transport head (5) on a part of its several transport strips (6, 7, 8, 9) equipped with new elements is.

20. The method according to claim 19, characterized in that by the remaining transport strips (6, 7, 8 9) to be unloaded elements are added and then in the vacated filing points (42 a-f) of the support element (1) the new elements of stocked Transport strips (6, 7, 8, 9) are stored.

21. Method according to claim 20, characterized in that further elements to be unloaded are taken up by the transport strips (6, 7, 8, 9) freed up after the new elements have been deposited.

22. The method according to any one of claims 14 to 21, characterized in that for conveying a set of elements by the conveying element (15, 16, 17, 18), the individual elements of the set successively into individual compartments of a cassette (10 ¹ , II ^1st , 12 ", 13 ').

23. The method according to claim 22, characterized in that the cassettes (10 ', II ¹ , 12', 13 ") for individual recording of the elements clocked relative to the conveying element (15, 16, 17, 18) are moved.

24. The method according to any one of claims 14 to 23, characterized in that for preparing a set of elements by a conveying element (15, 16, 17, 18) from a cassette (10, 11, 12, 13) or by a separating device successively a predetermined number of elements is promoted.

25. The method according to claim 24, characterized in that for removing the elements to be prepared from a cassette (10, 11, 12, 13), the cassette (10, 11, 12, 13) is clocked and thus moved individually in the cassette ( 10, 11, 12, 13) are brought successively into contact with the conveyor element (15, 16, 17, 18).

26. The method according to any one of claims 14 to 25, characterized in that a plurality of carrier elements (1, 1 ') are brought successively by a transport device (60) in the defined position.

27. The method according to any one of claims 14 to 26, characterized in that the elements of a prepared set by an alignment device (45) to each other in a with a geometry of the storage locations of the support member (1, 1 ') are brought corresponding arrangement.

28. The method according to any one of claims 14 to 27, characterized in that by a respective conveying element (15, 16, 17, 18) first a cassette (10, 11, 12, 13) is emptied and an opposite cassette (10 ', II ¹ , 12 "13 ') is filled and then after reversal of the conveying direction of the Förderelernents (15, 16, 17, 18) discharged elements in the now empty cassette (10, 11, 12, 13) are conveyed away.