WO2004069464A1 - Clamping frame comprising an air cushion arrangement - Google Patents

Abstract

The invention relates to a clamping frame (6, 7) for bracing vehicle bodies or body parts (5), comprising an air cushion arrangement (11) that is used as a support during the conveying process. Said air cushion arrangement (11) is aligned in a horizontal direction and is located on the bottom side of the frame so as to provide support on the flat bottom (3) of a processing station (1) which is equipped correspondingly for said purpose and is provided with at least one frame magazine (10) for one or several clamping frames (6, 7).

Description

 DESCRIPTION

Tension frame with air cushion arrangement

The invention relates to a stenter with the features in the preamble of the main claim.

Such a tenter is known from DE 36 06 058 C2. The stenter is designed as a vertically aligned side wall frame and with several

Clamping devices, layouts and the like equipped. It is used to clamp side wall parts of a vehicle body in a processing station, in particular a framing station, in which the body parts, which are initially loosely brought together, are stapled and brought into a geometrically determined shape. This framing station or so-called geo station is part of a manufacturing system. It is along a transfer line in a series of successive processing stations with subsequent ones

Welding stations etc. lined up. The stenter frames are fed suspended by means of a roller bearing via a rail system with a drag conveyor. In the processing station, frame magazines with frames are also arranged on both sides of the transfer line, in which the clamping frames are guided and stored in a hanging manner. The frame is changed using a swiveling end piece of the rail system.

Another clamping frame for a prototype station is known from DE 299 13 612 U1. The stenter is held in a floor-mounted frame that can be moved on rails.

It is an object of the present invention to show an improved stenter and a periphery adapted for this. The invention solves this problem with the features in

Main claim.

The air cushion arrangement of the stenter has the advantage that the construction effort for guiding, storing and transporting the stenter is less than in the prior art. Construction and maintenance-intensive rail guides with roller bearings can be omitted. In addition, the stretcher frame can be moved much more flexibly and on any paths or tracks than with the previously known rigid rail guide due to the air cushion arrangement. The air cushion assembly and its stroke can also be used for precise frame positioning.

The air cushion arrangement can be designed differently. Particular advantages result from a floor guide with an air cushion arrangement on the underside of the stenter frame. The weight of the tenter frame is absorbed by one or more air cushions. Friction is practically irrelevant, although mass and friction reduction means that significantly less kinetic energy is required. The guidance accuracy is only available where it is needed. No special mechanical guidance on the floor is required between the storage and application point of the stenter frame. The movement of the clamping frame can be carried out by an arbitrarily designed delivery device, which can be made relatively weak due to the omission of the load carrying capacity.

The stenter can be moved by a delivery robot or by hand. Thanks to the floor-mounted guidance, all translational and rotational degrees of freedom of the frame movement in the plane are possible. This is also a supply of resources

Clamping frame possible externally via the delivery device or in another way. Special advantages result from a higher flexibility, lower costs and better maintenance conditions of the stressed frame compared to the state of the art. In the case of a hallway, the construction of the processing station and in particular of the station frame can also be simplified and made cheaper. For example, the base plate of a processing station can be omitted, which then only consists of four measured corner pillars and a floor clamping technology

Lifting device can exist. This also has the advantage that the body conveyor can be built lower and that the vehicle body can also be transported at a lower level above the ground.

The station technology can be simplified and reduced in cost by using the stressed clamping frames. In particular, the frame infeed can be brought about by robots which are present anyway and which engage after the frame has been positioned by means of a change-over coupling

Pick up machining tool and perform other functions. As a result, the robots are better utilized. A separate conveyor technology for the tenter frame transport is unnecessary or, depending on the embodiment, can be simplified and made cheaper by a multi-section swivel arm or the like. The docking point on the clamping frame or the docking device on the delivery device, in particular a delivery robot, can be equipped with a damping device. The damping device has a limited elasticity and can therefore absorb vibrations which occur, for example, in the case of sudden start / stop movements as a result of inertia, in the event of collisions with obstacles or the like. The tensioning frame can oscillate through the damping device relative to the feed device by limited paths without the vibration forces being transmitted to the feed device as a result become. This can prevent dynamic overloading of the feed device. In addition, the delivery device can be dimensioned weaker due to the relief, which brings space and cost advantages.

The stenter can be used in different positions and orientations and for different purposes. In the preferred embodiment, it is an essentially vertically oriented side wall frame for a framing station in the body-in-white construction. Alternatively, the stenter can also be aligned horizontally or in another position. It can be used as a transfer unit, e.g. as floor-bound and freely movable or limited along a guide

Pallet can be designed for a vehicle floor assembly or a complete vehicle body. The clamping frame can also be used as a feed carriage and as a transport connection between a manual loading station and a fully automatic processing cell with one or more robots. It can also be used as a turntable.

The delivery device, in particular a freely programmable, multi-axis delivery robot, can be used in multiple functions as a drive and delivery unit for the clamping frame or frames and as a processing or handling unit for the body parts or other workpieces. Independent drives of the transfer units are not necessary. The multiple functions of the delivery device make better and more economical use of it. In addition, the flexibility of a transport or transfer system that connects several stations in a system along a transfer line can be increased significantly. Each station can have one or more existing ones Delivery devices have a locally independent transport or transfer technology that is independent of the neighboring stations except for the transfer modalities. The previous strict clock binding for all stations in the line is no longer necessary.

The simplifications on the clamping frame and on the station structure result in more space and freedom of movement for bodywork processing. This enables the joining of the body parts with a robot-guided or tenter frame-linked remote laser head with a long focal length for welding, soldering or the like. As a result, the number of processing tools required, in particular the multi-axis industrial robot, can be reduced even further. On both sides of the station or the transfer line, a robot is sufficient, which both delivers the stenter and also carries out the bodywork. To enlarge its working area, this robot can have an additional robot axis, in particular a driving axis parallel to the transfer line.

Further advantageous refinements of the invention are specified in the subclaims.

The invention is shown schematically and by way of example in the drawings. In detail show:

Figure 1: A schematic plan view of a

Processing station with two robot-guided clamping frames with air cushion arrangement,

FIG. 2: a perspective view of the processing station from FIG. 1,

3 shows a variant of the processing station of FIGS. 1 and 2 with frame magazines for several different clamping frames and a modified feed device,

FIG. 4: a perspective view of a processing station according to FIG. 3,

Figure 5: a stenter with parts of a

Station frame in side view,

Figure 6: a plan view of a variant of the

Processing station in connection with remote laser technology,

Figure 7: a variant of a positioning device for connecting the clamping frame with the station frame and

Figure 8 to 11: several variants of the tenter in

Design, alignment and kinematics.

The invention relates to a clamping frame (6, 7) for clamping sheet metal workpieces, in particular vehicle bodies or body parts (5), for processing them, for example Joining operations, welding, soldering or the like. The invention further relates to a processing station (1) equipped with one or more such clamping frames (6, 7). In the exemplary embodiments explained below, different variants of processing stations (1) with clamping frames (6, 7) are shown.

The tenter frame (6,7) can serve different purposes and have different orientations and kinematics. In the exemplary embodiment of FIGS. 1 to 7, one or more clamping frames (6) are shown with an essentially vertical orientation. These stenter frames are used e.g. as a side wall frame for tensioning and possibly also for transporting side wall parts (5) one

Vehicle body. Figures 8 to 11 show other variants with an essentially horizontal and lying arrangement of a stenter (7). Such clamping frames (7) serve e.g. as transfer units for the transport of clamped or otherwise held

Body components (7), e.g. an underbody group.

The stenter frame (6,7) is equipped with an air cushion arrangement (11) for low-friction transport. Otherwise, the clamping frame (6,7) can have any shape and design. It can consist, for example, of an essentially rectangular tubular frame, on which clamping devices, staking devices and similar tools or devices are attached at the required points. In addition, other components for machining or handling the workpieces (5) can be attached to the clamping frame (6, 7), in particular to a standing side wall frame, welding heads or the like. In the embodiment shown in FIGS. 1 to 7, the air cushion arrangement (11) is attached to the underside or to the side of the clamping frame (6) and supports it on the station floor (3) with little friction. The air cushion arrangement (11) can be in one or more parts. In the preferred embodiment, it consists of a plurality of air cushion elements (12) arranged next to one another and in the same plane, which are designed as air sliding cushions. They consist of a carrier plate with corner supports and an internal air cushion bellows and a buoyancy chamber. A compressed air cushion is generated in the buoyancy chamber with such a high overpressure that the clamping frame (6) with all of its components and, if appropriate, also equipped workpiece parts is raised and can be transported with low friction in the manner described below.

The tensioning frame (6) can be moved in all directions on the air cushion pad over the station floor (3). The station floor (3) is designed in a suitable manner for this. It can have a smooth, flat concrete surface or a flat surface designed with steel or glass plates or the like, at least in the range of movement of the clamping frame (6, 7). In a modification of this, it is possible to let groove-like depressions into the station floor (3) along the desired movement path of the tensioning frame (s) (6) and to guide the tensioning frame laterally therein.

The air cushion arrangement (11) is connected to a controller (not shown) and has a suitable operating fluid supply (24). For this purpose, suitable supply lines can be laid on the stenter frame (6), which are fed from outside with compressed air and other equipment. The stenter (6) can also have its own Have compressed air supply so that only energy and signals are supplied from the outside. Otherwise, the clamping frame (6) can also have the equipment supply required for actuating the clamping devices and the other frame components. In addition, the air cushion arrangement (11) can be equipped with one or more inclinometers and an associated control in order to be able to determine any undesired inclined positions and to be able to remedy them by appropriate pressure control.

The processing station (1) shown in the drawings can stand alone or be integrated in a production line in which several processing stations are arranged one behind the other along a transfer line (4) and are connected by a suitable conveying means for transporting the workpieces (5). This can be a fully automatic production line and processing station (1). Alternatively, the processing station (1) can be a prototype station with largely manual actuation.

In the embodiment shown, the processing station (1) is a framing station or geostation, in which a vehicle body-in-white determined its geometrically

Takes shape. In the drawings is the vehicle body

(5) for the sake of clarity, not shown in the details, but only symbolized by a dashed rectangle. The vehicle body (5) can already be assembled and loosely connected with all or its essential components before entering the framing station (1) in an upstream set-up station (not shown) on a pallet or another workpiece carrier. Alternatively, body parts can be added in the framing station (l), e.g. a roof part or side parts, if necessary with the stenter

(6) can be provided. To this end, everyone can Processing cycle of the clamping frame (6) can be fitted with new components and replaced. The assembly can take place within the framing station (1) on one or more stocked clamping frames (6) in a frame magazine (10) by means of one or more placement devices (27). The placement devices (27) can be multi-axis industrial robots, in particular sec axis articulated arm robots.

Two clamping frames (6) of the type described are arranged in the framing station (1) at the working position (8) and on the workpiece (5) on both sides of the transfer line (4). To change the workpiece, they can be withdrawn from the advanced working position (8) across the transfer line (4) to a rest position (9) and make room for changing the workpiece or body. Figure 1 shows a lower clamping frame (6) in the working position (8) and the other upper clamping frame (6) in the rest position (9). If necessary, the tensioning frame (6) can also be in the rest position (9) by a component feed (not shown) with the aforementioned body components, e.g. Side wall parts. In this case, only the above-mentioned transverse stroke of the clamping frame (6) takes place between the working and rest position (8.9).

If the production system and the processing station (1) are to be made more flexible with regard to the workpiece and body types, there is at least one frame magazine (10) on each side of the transfer line (4) in which one or more clamping frames (6) can be stored. The frame magazine (10) can have any shape and configuration and can optionally have several magazine areas. Within the processing station (1) there are then several different clamping frames (6) which are related to the respective workpiece and body type and are equipped accordingly. In the case of a type change, the Tensioning frame (6) replaced.

The processing station (1) has a station frame (2), which in the embodiment shown consists of four measured corner pillars, which are optionally connected in a portal-like manner across the transfer line (4). In the case of floor-mounted clamping frames (6), a base plate of the processing station (1) can be omitted. In the positioning area of the workpiece (5) there is a suitable floor clamping technology with a lifting device for receiving, positioning and clamping the floor assembly of the body (5) or a component carrier, for example a pallet.

The clamping frames (6) are positioned in the working position (8) by a positioning device (13), which can be designed in any suitable manner. Figures 5 and 7 show two variants for this.

in the embodiment of Figure 5 can

Positioning in the x and z directions, one or more centerings (14), for example prism-shaped or conical indexes on the station floor (3) or on the side of the station columns, which interact with corresponding receiving openings on the clamping frame (6). The assignment can also be reversed. With such centering ^' (14), the stroke of the air cushion arrangement (11) is used. When the compressed air and the pressure drop in the buoyancy chamber are switched off, the air bellows collapses, causing the tensioning frame (6) to drop a little. This lowering is used for the engagement of the centerings (14). For the positioning of the clamping frame (6) in the y direction, stops (15) on the clamping frame (6) and possibly on the station frame (2) can be present. In the working position (8) is the

Tenter frame position exactly determined and fixed. In the variant of FIG. 7, the air cushion arrangement (11) is used only for the transport of the preferably standing stenter frame (6), which is ind. three arranged at different locations and laterally protruding centering (14) shows that when the

Immerse the clamping frame (6) in corresponding receptacles (15) or receptacle openings on the station frame (2) in a horizontal movement. The centering engagement can be secured with one or more symbolically represented fixing devices (33). In this variant, the clamping frame (6) with the correspondingly stable centerings (14) hangs on the station frame (2). The air cushion arrangement (11) can be switched off in the secured working position (8). The centering (14) enables the clamping frame (6) to be positioned precisely in all spatial axes. For this purpose, it is advantageous to provide two centering points (14) arranged one above the other on the two vertical side edges of the clamping frame (β). In a modification of the embodiment shown, the

Centering (14) can also be arranged on the station frame (2) and the receiving openings on the clamping frame (6).

In the processing station (1) there are one or more processing devices (25, 26) with which the

Workpiece (5) or the vehicle body is processed. The processing devices (25, 26) are preferably designed as multi-axis industrial robots, in particular six-axis articulated arm robots. They preferably carry an interchangeable coupling on their robot hand, with which different processing tools (28) can be picked up and, if necessary, exchanged. Alternatively, the tool assignment can also be fixed. In the embodiments shown, e.g. one or more robots (25) on both sides of the transfer line (4) on

Station floor (3) arranged. With a portal-like design of the station frame (2), this can also be done one or more portal robots (26) can be arranged.

The transport and the movement of the clamping frame (6) can be carried out at a prototype station or the like, e.g. in the setup and test phase, done manually. In the normal, partially or fully automatic operation of the processing station (1), the transport and the delivery of the clamping frames (6) take place mechanized and preferably fully automatically by means of a delivery device (16). There are several different exemplary embodiments for this.

In the simple variant of Figure 1, e.g. the respective middle robot (25) as a delivery device (16) and has the function of a delivery robot (17). Due to the preferably available interchangeable coupling, the delivery robots (17) can first move the assigned clamping frame (6) back and forth between the working and rest position (8, 9) transversely to the transfer line (4). After positioning the clamping frame (6) in the working position (8), you can let go of it again and take up a processing tool (28) instead. With the help of the delivery robot (17) it is also possible to change the frame for maintenance or conversion purposes.

Each clamping frame (6) has at least one suitable docking point (23). In the embodiment shown, this is located centrally on the top of the clamping frame (6). Alternatively, it can exist multiple times or elsewhere, e.g. on one or both

Frame sides can be arranged. In the embodiment of FIG. 1, the delivery robots (17) can dock directly onto the docking point (23) with their robotic hand and a suitable docking device (22) and establish a positive connection to the clamping frame (6). All sliding and rotating movements of the delivery robot (17) are directly on the clamping frame (6) transfer. Due to the floor-mounted air cushion arrangement (11) and its low friction, only low feed and movement forces are required.

The equipment supply (24) can also be connected temporarily or permanently via the docking device (22) and the docking point (23). The necessary equipment, such as compressed air, cooling media, power and signal currents, etc. can be transmitted by the appropriately loaded delivery robot (17). If necessary, there can also be another stationary equipment supply (24) which is connected to the clamping frame (6) via the positioning device (13), automatic couplings or in some other way. In the simple variant shown in FIG. 1, after the delivery robots (17) have been undocked, the equipment supply can be disconnected if necessary.

Figures 3 and 4 show another variant of the delivery device (16). It has one or more swivel arms (18) which are stationary at one end, e.g. are mounted on the station frame (2) and carry a suitable docking device (22) at the other end. The swivel arms (18) have a suitable feed drive (17).

The swivel arm (18) can be designed in any suitable manner. In the exemplary embodiment shown, it consists of two arm parts (19, 20) connected to one another via an arm joint (21). The swivel bearing and the arm joint (21) of the swivel arm (18) preferably have vertical swivel axes, the swivel arms (18) being arranged and supported above the clamping frame (6) on the station frame (2).

The feed drive (17) can be an integrated drive of the swivel arm (18) with one or more controllable electric motors or the like, the Infeed device (16) can be designed, for example, as a so-called Scara robot. In this case, the feed device (16) is a simplified three-axis robot with rotary drives on the station support, on the arm joint (21) and on the docking device (22), with a stroke compensation for the lowering movement also being present.

In another variant, the feed drive (17) can in turn be formed by a feed robot (17), which in this case engages and moves with a robotic hand and a suitable docking device at a further suitable docking point on the clamping frame (6). The clamping frame (6) can be guided along the desired path by the swivel arm (18). In this way, the tensioned frame (6) can be moved from its rest position (9) in the frame magazine (10) to the working position (8) and back. In this case, it can be threaded into the working position (8) in possibly superimposed swiveling and driving movements.

In a further modification, the delivery robot (17) can, if necessary, engage directly on the swivel arm (18) and move it. In addition, external drives or means of transport, e.g. driverless and remote controlled, e.g. inductively guided transport systems can be used as an infeed device (16) or in connection with the swivel arm (18) or another frame guide as an infeed drive (17).

In the embodiment shown, the frame magazine (10) has a storage area for the clamping frame (6) in the rest position (9) at a suitable location, for example at the four station corners. Suitable positioning devices can be provided for defining the position. These can be, for example, rotary tables, drum magazines, circulation magazines or other frame recordings, which in turn can be done by means of a Air cushion arrangement (11) are mounted with low friction.

In the rest positions (9) in the frame magazine (10), the component assembly of the clamping frame (6) can also take place according to FIG. The four magazine areas can be operated via four swivel arms (18), which are each arranged at the four corners of the station frame (2), the swivel arm (18) being moved to the required clamping frame (6) and its docking point (23) and docks. The arrangement of four swivel arms (18) can be used on both

Sides of the transfer line (4) in the event of a frame change by the delivery devices (16), the old stenter frame (6) is removed from the working position (8) and conveyed to the adjacent magazine position on one side, while another stenter frame is simultaneously on the other side (6) is brought into the vacant working position (8). This frame change along the transfer line (4) can be repeated in cycles with each new workpiece (5). Such a procedure is recommended if the clamping frame (6) is equipped with components in the rest position (9) in the frame magazine (10). If component assembly is not required or is carried out in the area of the work position (8), the described frame change can be carried out at larger intervals and only when the workpieces (5) or bodies are changed.

In the embodiment shown in FIGS. 3 and 4, the docking connection can be maintained in the working position (8). In this case, the swivel arm (18) which is acted upon remains connected to the tensioning frame (6) at the docking point (23). This enables a permanent supply of resources from the station frame (2). In this case, the delivery robots (17) only have a transport and delivery function for the swivel arm (18) or the clamping frame (6) and can grip a processing tool (28) after they are released. To the Four magazine areas can each have a plurality of frame parking spaces or different clamping frames (6), which serve to make the processing station (1) even more flexible. If different clamping frames (6) are to be docked within these magazine areas, this is effected via the delivery robot (17) and a corresponding remote control of the docking device (22).

As illustrated in FIG. 5, a damping device (32) with a limited elasticity can be arranged at the connection point between the clamping frame (6, 7) and the feed device (16). It consists e.g. from several rubber buffers or other damping elements that can absorb vibrations at the connection point. The damping elements have a limited elasticity, and the required mechanical stability is also provided via an appropriate holder. As shown in FIG. 5, the damping device (32) can be arranged at the docking point (23) and thus at the connection between the docking point (23) and the tensioning frame (6, 7). Alternatively or additionally, the damping device (32) can also be arranged on the docking device (22) or on an interchangeable coupling or directly on the robot hand. In all

Embodiments prevent the damping elements from transmitting vibrations between the clamping frame (6, 7) and the delivery device (16).

The processing tools (28) can be of any type. The embodiment shown in FIGS. 1 to 3 is electrical

Resistance spot welding guns. These can possibly be available in different versions and can be changed by the robots (25, 26) as required using an appropriate tool magazine. Figure 6 shows a variant in which the components of the workpiece (5) or the body are joined by a laser welding process. In this case there is only one robot (25) on both sides of the transfer line (4) in the area of the working position (8), which can function both as a processing robot and as a delivery robot (17). To enlarge its working area, the robot can have an additional robot axis (29), for example a driving axis aligned along the transfer line (4). This additional axis (29) can also be used in the exemplary embodiments described above.

In this case, the processing tool (28) is designed as a remote laser head (30) which is guided by the robot (25) and which has a focal length of, for example, 400 to 600 mm or significantly more, e.g. 1,500 mm. The remote laser head (30) can be used for welding, soldering, gluing using a laser beam or for any other purposes. After uncoupling from the assigned clamping frame (6), the robot (25) can grip the remote laser head (30) and move it along the workpiece (5) on its transfer line side. The remote laser head (30) can also be a suitable device, e.g. have movable scanner heads for generating an additional independent laser beam movement. It is controlled by the robot (25). Alternatively, a conventional laser head with a shorter focal length can be used instead of the remote laser head (30).

The clamping frame (6) can be undocked in the working position (8) and offers sufficient space for the welding robot (25) to reach through with the remote laser head (30) and to achieve the desired one

Machining points on the workpiece (5). The laser beam can, for example, from a central laser source (31) generated and guided in a suitable manner via mirrors or light guide cables to the remote laser heads (30). The processing station (1) is shielded on the outside accordingly for laser beam protection.

In the processing station (1) shown in FIG. 6, a frame magazine (10) can be provided in a configuration similar to that in FIGS. 3 and 4. The individual delivery robot (17) can act on both magazine areas on its transfer line side.

The swivel arms (18) described at the beginning can also be used here.

Figures 8 and 9 show in side and front view the above-mentioned variant of lying and parallel to

Station floor (3) arranged clamping frame (7), which has the function of a transport unit here. The stenter (7) is used _. here as a pallet (34) for the transport of body components (5), for example an underbody group or a complete pre-stitched part

Vehicle body and can also be used to position the body parts (5) in the processing station (1). The pallet (34) has on the underside a large area or several air cushion arrangements (11) that are evenly distributed around the edge of the pallet. As a result, the pallet (34), like the side frame (6) described at the beginning, can be freely moved in the X and Y directions on the station floor (3) by means of an infeed device (16) and can also be rotated about the Z axis. Alternatively, a lateral guide on

Station floor (3) or at another suitable location to guide the pallet (34) on a predetermined path.

The feed device (16) can be designed in any way according to the above-described exemplary embodiments and is, for example, a freely programmable, Multi-axis delivery robot (17) designed with a corresponding docking device (22). One or more of the above-described docking points (23) are located on the pallet (34), which are arranged, for example, on the front and rear on projecting shoulders (35) and are contacted by the delivery device (16) from above or from the side can. The pallet (34) can be moved in the respective work area by a plurality of delivery devices (16) arranged along the desired movement path and then transferred to the next delivery device (16). The advancement devices (16), in particular the Zustellroboter (17)., Can in this case perform multiple functions and bring the pallet (34) initially in the desired working position (not shown) in the ^'them with the aid of suitable positioning precisely positioned and then fixed , The feed device (16) can then be detached from the pallet (34) and take up a processing or handling tool by means of a change coupling.

In the variant of Figure 10, the processing station (1) is designed as a robot cell, the clamping frame (7) as a rotary table (36) with a e.g. vertical axis of rotation is formed. The turntable (36) can have one or more

Have clamping positions for one or more body components (5). Via one or more delivery devices (16), in particular multi-axis delivery robots (17) in

Connection to one or more docking points (23) of the type described above, the turntable (36) can be rotated all the way around or reversing, and thereby the

Body components (5) in different

Bring processing positions.

In the embodiment of FIG. 11, a processing station (1) in the form of a robot cell is again shown in sections, the one in turn horizontal and substantially parallel to the station floor (3) aligned clamping frame (7) is designed as a transfer unit. The tensioning frame (7) here forms a feed table (37) which can be moved in a translatory and possibly also a rotary manner and which represents the connection between a manual insertion point (38) arranged outside the cell behind a partition (43) and a working position (39) inside the cell , In its simplest form, the feed table (37) can be moved back and forth linearly along a suitable side guide and through a closable partition opening. As in FIG. 10, the air cushion arrangement is arranged in a suitable manner and configuration on the underside of the table top. Suitable clamping or holding devices for receiving one or more body components (5) are arranged on the top of the table. The feed table (37) is in turn moved back and forth by means of a feed device (16), which is preferably designed as a multi-axis and freely programmable delivery robot (17). The robot (17) has a multiple function and is also used to process and / or handle the body components (5). For this he has ind on the robot hand. a suitable tool, for example a gripping tool (42), with which further components (40) can be fed from a suitable feeder or storage and can be joined to the body part (5). In addition, the parts (5, 40) can be moved to one or more processing devices (41), for example welding machines or the like.

In the exemplary embodiments from FIGS. 8 to 11, the docking points (23) and the docking devices (22) can be designed in the manner described above. If there is an additional guide for the stenter (7), the transport function of the

Infeed device (16) can be reduced to a simple sliding or rotary movement, which is a corresponding Simplification of the docking device (22) and the docking point (23) enables. In the simplest version, a pin or hook is arranged on the robot hand, which fits into a corresponding receiving opening on the clamping frame (7) to form a towing connection. Such a simplified docking device (22) can be attached to the tool (42), so that no tool change is required when the function of the delivery robot (17) changes.

Modifications of the shown embodiments are possible in different ways. The features of the exemplary embodiments described can be combined and interchanged as desired.

The air cushion arrangement (11) can be designed as a hanging storage instead of as a corridor storage. For this e.g. several rails pressurized with compressed air are present in a raised position on the processing station (1), on which the clamping frames (6) are suspended by corresponding ones

Bearing heads are guided. The compressed air sliding cushion is formed between the rails and the bearing heads. Different parking spaces in the frame magazine (10) can be operated using switches. In addition, any other bearing variations with air slide cushions are possible.

The station training and the design of the single or multiple feed device (16) is also variable. Instead of swivel arms, conventional straight conveyors can be used, which push the tenter frames (6) back and forth on their air slide cushions parallel to the transfer line (4). A second suitable conveyor can be used at the working position (8) to carry out the transverse stroke to feed the clamping frame (6), whereby the low-friction air slide cushion is also used. LIST OF REFERENCE NUMBERS

Processing station, framing station, station frame, station floor, transfer line, body part, clamping frame, side frame, clamping frame, transport unit, working position, resting position, frame magazine, air cushion arrangement, air cushion element, positioning device, clamping frame, centering, prism stop, holder, delivery device, clamping frame, delivery drive, delivery robot, swivel arm, arm part, arm joint, docking device, robot hand, docking point, equipment supply, robot tool, processing device, processing device, robot tool additional robot axis, driving axis remote laser head laser source damping device fixing device pallet approach Turntable feed table insertion position work position component processing device gripping tool partition

Claims

1.) Tensioning frame for tensioning vehicle bodies or body parts (5), thereby ensuring that the tensioning frame (6,7) has an air cushion arrangement (11) for support during transport. 2.) stenter according to claim 1, characterized g e k e n n z e i c h n e t that the Air cushion arrangement (11) aligned horizontally and is provided for support on the flat floor ^' (3). 3.) Tenter frame according to claim 1 or 2, characterized in that the air cushion arrangement (11) is controllable. 4.) Tenter frame according to claim 1, 2 or 3, characterized in that the air cushion arrangement (11) is arranged on the underside of the tenter frame (6, 7). 5.) Tenter frame according to one of the preceding claims, characterized in that the air cushion arrangement (11) has a plurality of air cushion elements (12). 6.) Tenter frame according to one of the preceding claims, characterized in that the air cushion elements (12) are arranged in a common plane. 7.) clamping frame according to one of the preceding claims, characterized in that the clamping frame (6, 7) has at least one docking point (23) for a feed device (16). 8) Clamping frame according to one of the preceding claims, characterized in that the docking point (23) has a damping device _(32). 9.) Tenter frame according to one of the preceding claims, characterized in that the tenter frame (6, 7) has an operating medium supply (24) for the air cushion arrangement (11). 10.) Tenter frame according to one of the preceding claims, characterized in that the equipment supply (24) is connected to the docking point (23). 11.) Tenter frame according to one of the preceding claims, characterized in that the tenter frame (6, 7) has parts of a positioning device (13) with a centering (14). 12.) Tenter frame according to one of the preceding claims, characterized in that the tenter frame (6, 7) is oriented essentially vertically. 13.) Tenter frame according to one of the preceding claims, characterized in that the tenter frame (7) is aligned substantially horizontally and is designed as a transport unit for one or more vehicle bodies or body parts (5). 14.) Processing station with one or more clamping frames (6,7) according to one of the preceding Claims, characterized in that the processing station (1) at least one Has frame magazine (10) with one or more different clamping frames (6,7). 15.) Processing station according to claim 14, characterized g e k e n n z e i c h n e t that the Processing station (1) in the range of movement of the clamping frame (6,7) has a flat station floor (3) for floor-bound clamping frame transport. 16.) Processing station according to claim 14 or 15, characterized in that the processing station (1) has a station frame (2), at least one feed device (16) and parts of a positioning device (13) for the clamping frame (6, 7). 17.) Processing station according to claim 14, 15, or 16, characterized in that the feed device (16) has an operating medium supply (24) for the clamping frame (6, 7). 18.) Processing station according to claim 14, 15, or 16, characterized in that the processing station (1) is a stationary one Has equipment supply (24) for the tenter (6.7). 19.) Processing station according to one of the preceding claims, characterized in that the delivery device (16) is designed as a multi-axis delivery robot which has an interchangeable coupling with a docking device (22) for detachable connection to the docking point (23) on the clamping frame (6, 7) having. 20.) Processing station according to one of claims 14 to 18, characterized in that the delivery device (16) at least. has a single or multi-section swivel arm (18) mounted on the station frame (2) with a docking device (22) for the clamping frame (6, 7) and with an infeed drive (17). 21.) Processing station according to claim 20, characterized in that the infeed drive (17) is designed as a multi-axis infeed robot which has an interchangeable coupling for releasable connection to the swivel arm (18). 22.) Processing station according to one of the preceding claims, characterized in that the docking device (22) or the interchangeable coupling have a damping device (32). 23.) Processing station according to one of the preceding claims, characterized in that the processing station (1) has at least one processing device (25, 26) with a processing tool (28). 24.) Processing station according to one of the preceding Claims, characterized in that the processing device (25, 26) is designed as a multi-axis robot with an interchangeable coupling for tool replacement. 25.) Processing station according to one of the preceding Claims, characterized in that the machining tool (28) is designed as a remote laser head (30). 26.) Processing station according to one of the preceding Claims, characterized in that the processing device (25, 26) has an additional travel axis (29).