WO1999054191A2 - Transporting device, especially a transport beam transporting device - Google Patents
Transporting device, especially a transport beam transporting device Download PDFInfo
- Publication number
- WO1999054191A2 WO1999054191A2 PCT/DE1999/001232 DE9901232W WO9954191A2 WO 1999054191 A2 WO1999054191 A2 WO 1999054191A2 DE 9901232 W DE9901232 W DE 9901232W WO 9954191 A2 WO9954191 A2 WO 9954191A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- transport
- drive
- trestles
- transport device
- spar
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
Definitions
- the invention relates to a transport device, in particular to a conveyor beam transport device for the cyclical transport of workpieces between successive processing stations in series production, according to the preamble of claim 1.
- B. can be used as a so-called double-leg lift shuttle in the automotive industry as a conveyor system for body shells and similar assemblies in the manufacturing process in order to convey the components to the subsequent manufacturing stages.
- Such transport devices are known in different embodiments. Two types of movements are characteristic of their mode of operation and transport, namely a horizontal and a vertical movement.
- the horizontal movement of the conveyor beams or bars transports the components from one station to the next.
- As a result of the vertical movement of the spars these components are lifted out of the devices or tools to the transport height or set down on the device from this.
- DE 9016157 gg, DE 3903518 C2, DE 29607020 Ul and DE 3303783 C2 describe transport devices with scissor lifting tables, in which the vertical movement is carried out in a relatively complex manner via scissor lifting tables arranged in pairs, while the horizontal movement of the two which are longitudinally displaceable on the top of the lifting scissors parallel lifting beam via racks arranged on the front underside of the two lifting beams in connection with gear wheels rotated by a relatively large, common drive.
- a transport device with a conveyor beam in which along the conveyor line on one side a number of mechanically coupled lifting devices that are objected to in the longitudinal direction are provided.
- These lifting devices essentially each consist of a high support frame housing, on the front of which a vertically guided, plate-shaped slide is provided, which carries out the V-movement in a very complex manner via a cylinder roller filling the interior of the support frame.
- a vertically movable counterweight is arranged on one of the rear corner zones of the trestle, which is connected to the respective V-carriage by a rope guided in the upper part of the housing via a deflection roller and is intended to at least partially compensate for the weight of the vertically moved masses.
- the V-carriage also has a horizontally protruding support plate, on which a full-length longitudinal member or only short longitudinal member sections is or are attached, on which the parallel lifting beam is located, via relatively far apart and at the bottom Walking beam supporting flanges engaging roller blocks is supported in a longitudinally movable manner.
- On the walking beams in the sections between the bearing brackets of the side members, laterally protruding part receptacles are provided, as a result of which the walking beam is exposed to very great torsional forces and also deflections.
- the horizontal movement takes place via a toothed rack attached to the underside of the walking beam is driven by a gear from a motor also arranged on the horizontal support plate.
- the entire device and in particular the vertical drive devices are designed to be extremely complex and robust, as a result of which relatively high investment and operating costs are present.
- This device can also not be easily configured as a double-leg lifting shuttle, since it has parts receptacles that protrude far to the side.
- the object of the invention is to provide a transport device o.g. Specify a genus that is simple and inexpensive, and that, by utilizing the given technical possibilities and maintaining the quality standard, the transport and thus the manufacturing process can be designed more cost-effectively.
- the trestles are made of commercially available, closed square steel tubes, the counterweights within the tubular steel trestles being arranged and designed to be vertically movable so that they essentially completely fill their H cross section.
- the counterweight deflection roller is driven directly via the V-drive, which optimally achieves weight / mass balancing of all vertically moving parts, forming a directly driven mass balancing system. If, in addition, the total counterweights are advantageously designed in such a way that they account for approx. 90% of the mass to be moved vertically, then only a very small lifting force has to be applied overall, as a result of which the drive devices and also the corresponding mechanical parts can be designed much weaker.
- the "mass balancing system" according to the invention for the vertical stroke thus enables considerable energy savings. Investment costs are also greatly reduced because additional very expensive hydraulic drives are superfluous.
- the transport device according to the invention in its design as a double-piston lifting shuttle, has two spar supports which are arranged in parallel and at an intermediate distance from one another and extend over the entire processing or transport path.
- the spar supports On the upper surface or side, the spar supports are provided over their entire length with a guide rail fastened to them, on which the spars run over guide carriages attached to the underside thereof.
- the spars can be in one piece, in one piece, or can be divided in pairs into longitudinal sections of different lengths and drive different horizontal stroke lengths, with different H speeds.
- each component receptacle which is fastened to the upper side of the square spar profile, is advantageously located between two guide carriages, which are fastened to the lower side of the spar.
- the continuous guide rails for these carriages are each attached to a continuous beam.
- the guide rails move together with the spar beams only vertically, so that the horizontally movable mass only the dead weight of the components to be transported, the component receptacles, the spars and racks, preferably laterally attached to these, for the horizontal movement.
- the entire horizontally movable mass is taken over by the guide carriages and further transferred to the spar supports below via the longitudinal guide rails.
- the stress on deflection and possibly on torsion now only affects the beam with the guide rails, which, however, only make the vertical movement.
- the spars are only subjected to bending due to their own weight. As a result, much lighter aluminum profiles can be used for the horizontally movable bars. This reduces the horizontally movable mass, so that energy and investment costs can be saved.
- the system is very flexible and also offers other options for horizontal movement, such as driven roller conveyors or other spar profiles.
- the spar beams are made according to the invention from rectangular tubular steel and their dimensions are calculated according to the corresponding load and the permitted deflection and are, for example 100 x 100.
- Each spar has its own rack, which is driven by a gear from its own drive station with a servo motor.
- the servomotors of each spar are connected to each other via an electrical shaft and thus controlled synchronously.
- each zone consisting of two or more processing stations with a certain distance between the stations, and the next zone one can have a different distance between the stations, then each zone has its own two spars, each with its own servo drives for the required horizontal stroke.
- the bars of each zone begin where the first workpiece holders are in front. In this way, the required distances between the workpieces result. All spars start and end the route simultaneously, but each pair of spars at the required speed, according to the spar length. Where there is the required free space between the stations, only a central servo drive with a continuous shaft is used to move the two bars or the pair of bars horizontally.
- the beam supports according to the invention are made of rectangular steel tube.
- Each spar bracket with the guide rail for horizontal movement and the spars with the associated guide carriages, racks, component holders and components are attached to the respective vertically movable slide plate, for which a separate trestle is provided, via a connecting part.
- the transport device is designed according to the principle of a modular system, which is based on three types of modules.
- Each module consists of two opposing trestles that are the same in mirror image, with each trestle having its own mass balancing system for the vertical stroke.
- the three types of modules differ in particular by the drive devices present on them.
- LM running modules
- MAH horizontal movement of the bars
- MAV Vertical movement of the bars
- the basic structure of all modules and the associated trestles are identical.
- the only difference between the modules is the drives and their attachment to the trestles.
- the width "B" of the module or the clear width between the opposing module parts can easily be selected depending on the component width (OY), since there are no fixed cross connections between the blocks.
- the longitudinal distance between the modules depends on the station distance and the payload per station. However, it must be set so that free access to the stations is guaranteed.
- Each module forms a complete unit that consists of two pairs of mirror-symmetrically designed and arranged fixed trestles.
- These trestles are made of vertically aligned square steel tubes, the size of the steel tube depending on the payload per station and the height of the vertical stroke of the bars.
- the mass balancing system according to the invention makes it possible to balance the mass to be moved vertically by means of the counterweights arranged vertically movably within the tubular steel trestles, as a result of which the power required for the vertical stroke is significantly reduced.
- Characteristic of the mass balancing system which is assigned to each trestle, are two guide rails attached to the tubular steel trestle that are parallel to each other and at the same time aligned vertically, on which the vertical slide plate moves, on which the spar girders are attached via the horizontally excellent connecting part. The corresponding proportion of the entire mass of a spar that can be moved horizontally and vertically is thus transferred to the vertically movable slide plate.
- This slide plate is attached to a toothed belt in the middle at the top, the other end of which is in turn fastened to a counterweight within the support bracket via a driven toothed belt wheel and a deflection toothed belt wheel.
- These toothed belt wheels are mounted accordingly and attached to the cover of the trestle.
- the counterweight balances the vertically movable mass so that it is in equilibrium.
- the special feature of the V-drive system according to the invention can also be seen in the fact that on the shaft of the driven toothed belt wheel a second toothed belt wheel of the same diameter is fixedly arranged on the side and outside of the trestle.
- This toothed belt wheel is connected via an endless toothed belt to a second toothed belt wheel, which is firmly attached to the longitudinal V drive shaft.
- the continuous shaft is supported on each trestle via pillow block bearings and is driven on each side of the lifting shuttle (left / right) by a geared servo motor with a hollow shaft.
- These motors are mounted on MAV trestles arranged approximately in the middle of the length of the double-leg lifting shuttle, so that the required torque to be transmitted is divided by half to one side and the continuous drive shafts are therefore considerably lighter due to a correspondingly smaller diameter.
- the two gear servomotors are connected to one another via a transverse electrical shaft.
- the toothed belt-driven mass balancing system also has the particular advantage that the spars are very low in the lowest position, which is not possible with other types of drive without excavation pits.
- the advantages of the transport device according to the invention compared to the conventional lifting shuttle thus lie in particular in significant cost savings both in the investment phase and in terms of the running operating costs, in particular because of the low energy requirement. Despite the high cost savings, the maintenance of the previous high quality standards in production is still ensured.
- Fig. 1 a schematic, abbreviated side view of a complete transport device for body-in-white, with bodies set down in the workstations and spars located in the lower reset position,
- FIG. 2 a plan view of the transport device according to FIG. 1, with vertical drives located on the trestles and associated longitudinal drive shafts
- 3 a section III-III from FIG. 1, showing a module with a drive station for the vertical movement of the bars (MAV)
- FIG. 5 a detail V from FIG. 2, a partial top view of a drive-less, running module (ML),
- FIG. 6 a schematic, very abbreviated top view of a transport device, similar to that in FIG. 2, but with a V-drive arranged on the inside of the trestles with a corresponding universal joint shaft,
- FIG. 7 a sectional view as in FIG. 3, but of a module for horizontal drive (MAH) in a version with an intermediate, common H drive, in the upper conveying position of the bars,
- MAH module for horizontal drive
- Fig. 9 a partial sectional view through a MAH module, with a single servo motor horizontal drive, and
- the transport device according to the invention designated in its entirety with 1, is designed in a first embodiment for conveying workpieces 2, for example body shells, between successive work stations.
- workpieces 2 for example body shells
- trestles 3 which are equipped with appropriate devices for the vertical and horizontal stroke, through which the transport of the workpieces moved between the blocks from station to station.
- the successive pairs of trestles with associated devices are constructed essentially identically, so that a modular construction or according to the principle of a modular system is possible.
- one or more running modules 5 are hereinafter referred to as LM modules
- a module with a drive station for horizontal movement 6 is referred to as MAH module
- a module with a Drive station for the vertical movement 7, hereinafter referred to only with the MAV module is provided.
- the only difference between the modules is the drives provided on them and their attachment to the trestles.
- the transport device has two conveyor beams / spars 10, which extend over the entire length of the processing section and on which the workpieces 2 are transported seated from station to station.
- the spars 10 in turn stand on spar supports 11 which also extend over the entire length of the processing section, as can be seen from FIG. 1.
- the two spar supports 11 are lifted vertically up to a predetermined transport height together with the conveyor beams and workpieces located thereon up to the transport height via the devices provided on the trestles 3, after which the two spars 10 with workpieces 2 located thereon be moved horizontally to the next workstation.
- the two spar supports 11 are then lowered vertically together with the spars 10, whereby the workpieces are placed in the corresponding receptacles of the machining stations.
- the two spars 10 are then moved horizontally back into the starting position in the lower, offset position.
- the MAH modules 5 are provided with two horizontal drive stations 8, each with a module support frame having its own H drive station 8.
- a MAV module 7 is shown in FIG. 3 and it can be seen how the two support brackets are arranged mirror-symmetrically in relation to the center 4 of the conveyor line, the workpiece 2 passing therebetween.
- Each support bracket 3 consists of a commercially available square steel tube which is fastened on its underside via base plates 13 to the hall floor and has a cover plate 14 on its upper side.
- a counterweight 15 composed of a plurality of plates arranged one above the other is arranged so as to be vertically movable, which substantially fills the clear width of the square trestle tube.
- the counterweight 15 is held or moved vertically by a toothed belt 16, which in turn by a Opening 17 is passed through the cover plate 14 and leads via two deflection rollers 21, 22 to a vertical slide 2 guided on the front of the support bracket or to which it is attached with its other end.
- the deflection wheel 21 has a horizontal shaft 23 is rotatably supported in bearing blocks 24 fastened on the cover plate 14. Outside the one bearing block, on the same shaft 23, a further toothed belt wheel 25 is fastened, which is drivingly connected via an endless toothed belt 26 to a toothed belt wheel 27 seated on the continuous V-shaft 12.
- the V drive station 9 which is arranged in the embodiments according to FIGS. 2 to 5 on the lower rear of the trestles 3, essentially consists of a drive motor 28 which is connected via a gear 29 to the continuous shaft 12, which drives it accordingly .
- the vertical slide 20 consists of a slide plate 30, on the back of which there are four vertical guide carriages 31, which are guided vertically and held in pairs on vertical guide rails 32, which are fastened directly or via spacer strips 33 to the front of the trestles 3.
- a connecting part 34 is attached, projecting horizontally, to the front end of which the spar carrier 11 is attached, which extends through the entire production line or transport device.
- a horizontal guide rail 35 extending over its entire length is fastened on the spar carrier 11, on which the several H-guide carriages 36, which are fastened to the underside of the spars 10, are held horizontally displaceably.
- a plurality of component receptacles 40 are fastened, onto which the components / workpieces 2 are placed or fixed for transport.
- the H guide carriages 36 attached to the spars 10 are each arranged very closely adjacent to the component receptacles 40, so that the weight of the workpieces 2 standing on the component receptacles 40 is directly adjacent via the two H Guide carriage 36 is supported on the spar beam 11 with intermediate H-guide rails 35.
- the spars 10 are thus practically not subjected to bending.
- Fig. 5 shows a plan view of a trestle 3 of a running module (LM) 5, namely the first module, on Start of the transport device or transfer line.
- LM running module
- the continuous V-shaft 12 ends or begins here with the toothed belt wheel 27 and is mounted on a bearing block 37 on the lower rear of the support block 3.
- the continuous V-shaft 12 is mounted on all trestles 3 of the transport device, as can also be seen from FIGS. 1, 2, 3 and 4.
- the continuous V-shaft 12 is designed as a cardan shaft, with articulated parts 38 arranged between it, as can be seen from FIG. 4, in order to accommodate alignment deviations without tension.
- FIG. 6 shows a further variant of a transport device 41 according to the invention, in which the running shafts 12 are each arranged on the front underside of the trestles.
- the V drive stations 9 of the MAV module 7 are provided with a horizontally protruding drive motor 28.
- each of the trestles of the MAH modules 6 is assigned a separate H output station 8, so that the space between the module trestles is free of mechanical connecting parts.
- the V drives 9 arranged on the lower front side of the trestles 3 of the MAV modules 7 have a vertically standing drive motor 28 which is fastened on the base plate 13 of the trestles 3 via an intermediate gear 29 .
- the continuous shaft 12, with articulated parts 38 is not held, as in the previous exemplary embodiments, via a bearing block fastened directly to the walls of the trestles 3, but rather via two bearing blocks 37 fastened on the base plate 13.
- the module shown is a MAH module 6, in which the H drive station 8 is arranged on a support 42 rigidly fastened between the two spar supports.
- a gear 43 is fastened on the carrier 42, on which a motor 44 is attached in a driving manner.
- the output shaft of the transmission 43 represents the H-shaft 45, which is arranged transversely to the spars 10, supported on both sides on the carrier 42, held by bearing blocks 46 and ending on both sides in a spur gear 47, which is driven The engagement is with a rack 48 fastened to the spar 10.
- the V-slides 20 with spar supports 11 and spars 10 and workpiece 2 fastened thereon are shown at the highest transport height, and it can be seen that the counterweights 15 are inside the support frames 3 are accordingly in their lowest position.
- FIG. 9 shows a sectional partial view of a MAH module 6, in which the H drive 8 consists of an H drive motor 50, which is attached to the connecting part 34 and is a synchro motor, the two motors 50 of a MAH module 6 are synchronously connected to one another via an electrical shaft.
- the motor 50 drives a spur gear 47 which meshes with the toothed rack 48 which is laterally attached to the spar 10.
- FIG. 10 shows a partial sectional view as in FIG. 9, but no horizontally displaceable spar is provided in this embodiment, but a roller conveyor 52 is arranged on the spar supports 11.
- This consists of rollers 53, which are each rotatably supported on both sides of a bearing bracket 54. These are in turn on the spar beams 11 attached over their entire length.
- the rollers 53 are driven via sprockets 55, 56 and chain 57 by the servo motor 50, with of course further sprockets 58 for driving the further rollers, with corresponding chains, as is provided in a known manner with roller conveyors.
- Conveyor beam / spar 40 Component receptacles
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Reciprocating Conveyors (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Pinball Game Machines (AREA)
- Automatic Assembly (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Manipulator (AREA)
- Intermediate Stations On Conveyors (AREA)
- Structure Of Belt Conveyors (AREA)
- Chain Conveyers (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU46002/99A AU4600299A (en) | 1998-04-23 | 1999-04-23 | Transporting device, especially a transport beam transporting device |
AT99929024T ATE235393T1 (en) | 1998-04-23 | 1999-04-23 | TRANSPORT DEVICE, ESPECIAL. CONVEYOR BEAM TRANSPORT DEVICE |
DE19980669T DE19980669D2 (en) | 1998-04-23 | 1999-04-23 | Transport device, in particular conveyor beam transport device |
EP99929024A EP1073581B1 (en) | 1998-04-23 | 1999-04-23 | Transporting device, especially a transport beam transporting device |
DE59904735T DE59904735D1 (en) | 1998-04-23 | 1999-04-23 | TRANSPORT DEVICE, INSB. FUNDING BAR TRANSPORTER |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29807434.6 | 1998-04-23 | ||
DE29807434U DE29807434U1 (en) | 1998-04-23 | 1998-04-23 | Mass balancing system for vertical lifting of the double-leg lift shuttle with several stations |
Publications (2)
Publication Number | Publication Date |
---|---|
WO1999054191A2 true WO1999054191A2 (en) | 1999-10-28 |
WO1999054191A3 WO1999054191A3 (en) | 1999-12-16 |
Family
ID=8056242
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1999/001232 WO1999054191A2 (en) | 1998-04-23 | 1999-04-23 | Transporting device, especially a transport beam transporting device |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1073581B1 (en) |
AT (1) | ATE235393T1 (en) |
AU (1) | AU4600299A (en) |
DE (3) | DE29807434U1 (en) |
WO (1) | WO1999054191A2 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1468957A2 (en) * | 2003-04-17 | 2004-10-20 | Bürener Maschinenfabrik GmbH | Lifting post |
DE202008010202U1 (en) | 2008-07-30 | 2010-02-11 | Kuka Systems Gmbh | transport means |
CN114394549A (en) * | 2022-01-21 | 2022-04-26 | 苏州森德泰克智能科技有限公司 | Automatic section framing machine |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016224765B4 (en) * | 2016-12-13 | 2021-04-22 | Bayerische Motoren Werke Aktiengesellschaft | Lifting device for lifting an underbody assembly of an automobile |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3303783C2 (en) | 1983-02-04 | 1987-01-08 | Expert Maschinenbau Gmbh, 6143 Lorsch, De | |
DE9016157U1 (en) | 1990-11-28 | 1991-02-14 | Expert Maschinenbau Gmbh, 64653 Lorsch | Drive device for coupled scissor lift tables |
DE4010383A1 (en) | 1990-03-31 | 1991-10-02 | Expert Maschbau | Conveyor device for rhythmic transport of workpieces - has lift devices with support plates for conveyor beams |
DE29607020U1 (en) | 1996-04-18 | 1996-08-14 | Expert Maschinenbau Gmbh, 64653 Lorsch | Scissor lift table |
DE3903518C2 (en) | 1989-02-07 | 1997-10-02 | Expert Maschbau | Conveyor bar transport device |
-
1998
- 1998-04-23 DE DE29807434U patent/DE29807434U1/en not_active Expired - Lifetime
-
1999
- 1999-04-23 WO PCT/DE1999/001232 patent/WO1999054191A2/en active IP Right Grant
- 1999-04-23 DE DE59904735T patent/DE59904735D1/en not_active Expired - Fee Related
- 1999-04-23 DE DE19980669T patent/DE19980669D2/en not_active Expired - Fee Related
- 1999-04-23 EP EP99929024A patent/EP1073581B1/en not_active Expired - Lifetime
- 1999-04-23 AU AU46002/99A patent/AU4600299A/en not_active Abandoned
- 1999-04-23 AT AT99929024T patent/ATE235393T1/en not_active IP Right Cessation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3303783C2 (en) | 1983-02-04 | 1987-01-08 | Expert Maschinenbau Gmbh, 6143 Lorsch, De | |
DE3903518C2 (en) | 1989-02-07 | 1997-10-02 | Expert Maschbau | Conveyor bar transport device |
DE4010383A1 (en) | 1990-03-31 | 1991-10-02 | Expert Maschbau | Conveyor device for rhythmic transport of workpieces - has lift devices with support plates for conveyor beams |
DE9016157U1 (en) | 1990-11-28 | 1991-02-14 | Expert Maschinenbau Gmbh, 64653 Lorsch | Drive device for coupled scissor lift tables |
DE29607020U1 (en) | 1996-04-18 | 1996-08-14 | Expert Maschinenbau Gmbh, 64653 Lorsch | Scissor lift table |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1468957A2 (en) * | 2003-04-17 | 2004-10-20 | Bürener Maschinenfabrik GmbH | Lifting post |
EP1468957A3 (en) * | 2003-04-17 | 2005-12-07 | Bürener Maschinenfabrik GmbH | Lifting post |
DE202008010202U1 (en) | 2008-07-30 | 2010-02-11 | Kuka Systems Gmbh | transport means |
CN114394549A (en) * | 2022-01-21 | 2022-04-26 | 苏州森德泰克智能科技有限公司 | Automatic section framing machine |
Also Published As
Publication number | Publication date |
---|---|
WO1999054191A3 (en) | 1999-12-16 |
AU4600299A (en) | 1999-11-08 |
DE29807434U1 (en) | 1998-09-03 |
DE19980669D2 (en) | 2001-03-29 |
EP1073581A2 (en) | 2001-02-07 |
ATE235393T1 (en) | 2003-04-15 |
EP1073581B1 (en) | 2003-03-26 |
DE59904735D1 (en) | 2003-04-30 |
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