Method for orienting two workpieces to form a joining connection and manipulator

A manipulator comprising:

• a first gripper;
• a second gripper;
• and
• a mechanical stop mechanism comprising a roller block,
• wherein the roller block of the mechanical stop mechanism is arranged between the first and second grippers,
• wherein the mechanical stop mechanism defines a first stop edge in a direction toward the first gripper,
• wherein the roller block of the mechanical stop mechanism comprises at least three rollers arranged in the direction toward the first gripper, and running faces of the at least three rollers define the first stop edge,
• wherein the mechanical stop mechanism defines a second stop edge in a direction toward the second gripper,
• wherein the roller block of the mechanical stop mechanism comprises at least three additional rollers arranged in the direction toward the second gripper, and running faces of the at least three additional rollers define the second stop edge,
• wherein the first and second stop edges are orientated parallel with respect to each other,
• wherein the first and second grippers can each be displaced parallel with respect to the first and second stop edges longitudinally in an x-axis direction,
• wherein the first and second grippers can each be displaced transversely relative to the first and second stop edges in a transversely extending y-axis direction, and
• wherein the first and second grippers can be rotated about a vertical axis, which is perpendicular to the x-axis direction and the y-axis direction.

A method for orientating two workpieces in order to form a joining connection, the method comprising the steps of:

• introducing or retaining at least two workpieces in a provision station,
• gripping the first workpiece with a first gripper, and
• gripping the second workpiece with a second gripper, removing the workpieces from the provision station and transporting the workpieces to a processing station,
• wherein in a longitudinal orientation step, the first workpiece is orientated relative to the second workpiece along at least one of the workpiece edges by a linear movement of at least one of the first and second grippers relative to the other gripper,
• wherein the longitudinal orientation step is carried out during the transport of the workpieces from the provision station to the processing station,
• wherein the first gripper and the second gripper are arranged on a common manipulator, and are moved in space by the common manipulator together from the provision station to the processing station,
• wherein prior to the longitudinal orientation step, in a transverse orientation step, a first movement of the first gripper is carried out in a direction of the second gripper, and/or a first movement of the second gripper is carried out in a direction of the first gripper,
• wherein the first and second movements of the first and second grippers can be carried out simultaneously or successively,
• wherein the transverse orientation step is carried out during the transport of the workpieces from the provision station to the processing station,
• wherein during the transverse orientation step, the first workpiece is approached with the first movement against a first stop, and uses the first stop as a first reference position, and
• wherein the second workpiece is approached with the first movement against a second stop, and uses the second stop as a first reference position.

A method for orientating two workpieces in order to form a joining connection, the method comprising the steps of:

• introducing or retaining at least two workpieces in a provision station,
• gripping the first workpiece with a first gripper, and
• gripping the second workpiece with a second gripper, removing the workpieces from the provision station and transporting the workpieces to a processing station,
• wherein in a longitudinal orientation step, the first workpiece is orientated relative to the second workpiece along at least one of the workpiece edges by a linear movement of at least one of the first and second grippers relative to the other gripper,
• wherein the longitudinal orientation step is carried out during the transport of the workpieces from the provision station to the processing station,
• wherein the first gripper and the second gripper are arranged on a common manipulator, and are moved in space by the common manipulator together from the provision station to the processing station,
• wherein after the transverse orientation step, in the longitudinal orientation step,
• a second movement of the first gripper, in a direction that differs from the first movement and which is non-parallel with respect to the first movement of the first gripper, is carried out, and/or
• a second movement of the second gripper, in a direction that differs from the first movement and which is non-parallel with respect to the first movement of the second gripper, is carried out, and
• wherein, in the event of movement of both the first and second grippers, the second movements are carried out simultaneously.

A method for orientating two workpieces in order to form a joining connection, the method comprising the steps of:

• introducing or retaining at least two workpieces in a provision station,
• gripping the first workpiece with a first gripper, and
• gripping the second workpiece with a second gripper, removing the workpieces from the provision station and transporting the workpieces to a processing station,
• wherein in a longitudinal orientation step, the first workpiece is orientated relative to the second workpiece along at least one of the workpiece edges by a linear movement of at least one of the first and second grippers relative to the other gripper,
• wherein the longitudinal orientation step is carried out during the transport of the workpieces from the provision station to the processing station,
• wherein the first gripper and the second gripper are arranged on a common manipulator, and are moved in space by the common manipulator together from the provision station to the processing station,
• wherein after the transverse orientation step, in the longitudinal orientation step,
• a second movement of the first gripper, in a direction that differs from the first movement and which is non-parallel with respect to the first movement of the first gripper, is carried out, and/or
• a second movement of the second gripper, in a direction that differs from the first movement and which is non-parallel with respect to the first movement of the second gripper, is carried out,
• wherein, in the event of movement of both the first and second grippers, the second movements are carried out simultaneously, and
• wherein during the longitudinal orientation step,
• during the second movement of the first workpiece, the first workpiece is moved against a third stop, and uses the third stop as a reference position, and
• during the second movement of the second workpiece, the second workpiece is moved against a fourth stop, and uses the fourth stop as a reference position.

A method for orientating two workpieces in order to form a joining connection, the method comprising the steps of:

• introducing or retaining at least two workpieces in a provision station,
• gripping the first workpiece with a first gripper, and
• gripping the second workpiece with a second gripper, removing the workpieces from the provision station and transporting the workpieces to a processing station,
• wherein in a longitudinal orientation step, the first workpiece is orientated relative to the second workpiece along at least one of the workpiece edges by a linear movement of at least one of the first and second grippers relative to the other gripper,
• wherein the longitudinal orientation step is carried out during the transport of the workpieces from the provision station to the processing station,
• wherein the first gripper and the second gripper are arranged on a common manipulator, and are moved in space by the common manipulator together from the provision station to the processing station, and
• wherein when the workpieces are deposited in the processing station, the common manipulator corrects a previously measured or calculated offset in an x-axis direction of the common manipulator.