# US 10,369,621 B2 · Forming system and method for transporting work pieces in a forming system

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- Number: US 10,369,621 B2
- Document ID: US10369621B2
- Status: Granted
- Kind: B2
- Application number: 14/437,563
- Filed: 2013-10-22
- Published: 2015-10-22
- Granted: 2019-08-06
- Earliest claimed: 2012-10-22
- Assignees: Schuler Automation GmbH & Co. KG
- Applicants: Schuler Automation GmbH & Co. KG
- Inventors: Rolf Cisar
- Web page: https://patentgrep.com/patent/US10369621B2

## CPC

- B21J 13/08: Accessories for handling work or tools
- B21D 43/055: {Devices comprising a pair of longitudinally and laterally movable parallel transfer bars}
- B21J 5/008: {Incremental forging}
- B23K 37/047: moving work to adjust its position between soldering, welding or cutting steps (B23K37/053 takes precedence)
- B23P 11/00: Connecting or disconnecting metal parts or objects by metal-working techniques not otherwise provided for (connecting sheet metal or metal tubes, rods or profiles B21D39/00; riveting B21J; soldering, unsoldering, welding B23K; hand tools for connecting wire or strip B25B25/00; connecting metal parts by adhesives F16B11/00)
- B25J 11/00: Manipulators not otherwise provided for
- B21J: FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES (rolling of metal B21B; making particular products by forging or pressing B21K; cladding or plating B23K; finishing surfaces by hammering B23P9/04; compacting surfaces by blasting with particulate material B24C1/10; general features of presses, presses for consolidating scrap B30B; furnaces in general F27)
- B21D: WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL (working or processing of wire B21F)
- B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

In a forming system in particular for metallic workpieces (31, 32) with several forming stations (21-23) a transport device (1) is provided with one or more rails (13) on which carriages (141, 142) can be moved. In a conventional mode of operation of the rails, it is provided that two carriages (141, 142) on the same rail (13) are moved by a varying distance relative to each other during the transport of a respective workpiece (31, 32) from one forming station (21-23) to another forming station (21-23), namely in particular are driven towards each other or away from each other with their distance relative to each other being increased or decreased. New production sequences can thereby be provided.

## Claims

### Claim 1

A forming system for metallic workpieces, as a press system,
with several forming stations and with a transport device for transporting the workpieces,
wherein the transport device has at least one rail, which carries at least two carriages that can be driven, relative to the rail,
wherein the carriages are formed as part of a gripping apparatus or in each case carry at least one gripper, and
wherein the at least one rail or the carriages can be moved at least in one transport direction in order to transport workpieces gripped by the gripping apparatus or the grippers from one forming station to another forming station, and
wherein the system comprises a control apparatus which controls actuators that move the carriages, wherein the control apparatus is designed or programmed such that the carriages can be moved independently of each other, with the result that
a) a first carriage of two carriages on the same rail moves a first workpiece from one forming station to another forming station in a first direction, and
b) during a) or after completion of a), a second carriage of the two carriages on the same rail moves a second workpiece from one forming station to the other forming station in the direction contrary to the first direction, and
wherein the first workpiece is fed from a first side of one or more first forming stations and the second workpiece is fed from a second side of one or more second forming stations, wherein a third forming station is arranged between the first and second forming stations, which third forming station is formed to join in each case a pair of one first and one second workpiece, and wherein in each case the first carriage on each rail grips the workpieces from the at least one first forming station and transports them in the direction of the third forming station, and in each case the second carriage on each rail grips the workpieces from the at least one second forming station and transports them in the direction of the third forming station.

### Claim 2 (depends on 1)

The forming system according to claim 1, wherein the control apparatus is designed such that
during a), the second carriage is not moved or such that
during b), the first carriage is moved back in the direction contrary to the first direction.

### Claim 3 (depends on 1)

The forming system according to claim 1,
wherein the transport device has at least two rails which in each case carry at least two carriages that can be driven, relative to the rails,
wherein the carriages of the two rails correspond to each other in pairs,
wherein the rails can be moved towards each other in a closing direction to grip one or more workpieces,
wherein the rails or the carriages in each case can be moved horizontally in a transport direction perpendicular to the closing direction in order to transport the workpieces from one forming station to another forming station, and
wherein the rails can be moved away from each other in order to deposit the workpieces.

### Claim 4 (depends on 3)

The forming system according to claim 3, wherein the rails can be raised in a vertical raising direction in order to raise the gripped workpieces and can be lowered in a direction contrary to the vertical raising direction in order to deposit the workpieces.

### Claim 5 (depends on 3)

The forming system according to claim 3, wherein carriages corresponding to each other of the two rails are driven in parallel to each other.

### Claim 6 (depends on 1)

The forming system according to claim 1, wherein, because of their design or connection to the rail, an in each case different maximum travel length, can be traversed by the at least two carriages on the same rail.

### Claim 7 (depends on 1)

The forming system according to claim 1, wherein each of the carriages serves to grip several workpieces from different forming stations.

### Claim 8

A forming system for workpieces comprising:
a first forming station at a first end of the forming system;
a second forming station at a second end of the forming system opposite the first end;
a third forming station disposed between the first and second forming stations, the third forming station being adapted to join a first workpiece transported from the first forming station to a second workpiece transported from the second forming station; and
a transport device for transporting the workpieces between the first, second and third forming stations, the transport device comprising:
at least one rail extending between the first and second forming stations;
a first carriage movably supported on the rail, the first carriage including a first actuator for driving the first carriage relative to the rail and a first gripper for gripping the first workpiece;
a second carriage movably supported on the rail, the second carriage including a second actuator for driving the second carriage relative to the rail and a second gripper for gripping the second workpiece; and
a controller for individually controlling the first and second actuators, the controller being adapted to move the first carriage independently of the second carriage such that the first carriage can move on the same rail toward and away from the second carriage between the first and third forming stations and the second carriage can move on the same rail toward and away from the first carriage between the second and third forming stations, with the result that the first and second carriages can be moved on the same rail by a varying distance relative to each other during the respective transport of the workpieces from one forming station to another forming station.