EP3140179A1 - Dispositif de manipulation, dispositif de traitement de pièce et procédé de détection d'une pièce - Google Patents

Dispositif de manipulation, dispositif de traitement de pièce et procédé de détection d'une pièce

Info

Publication number
EP3140179A1
EP3140179A1 EP15722141.7A EP15722141A EP3140179A1 EP 3140179 A1 EP3140179 A1 EP 3140179A1 EP 15722141 A EP15722141 A EP 15722141A EP 3140179 A1 EP3140179 A1 EP 3140179A1
Authority
EP
European Patent Office
Prior art keywords
workpiece
treatment
handling
detection
sensor elements
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15722141.7A
Other languages
German (de)
English (en)
Inventor
Michael Kincses
Benny FRASCH
Edgar Blum
Oliver RUND
Klaus Rundel
Marek DOWNAR
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Publication of EP3140179A1 publication Critical patent/EP3140179A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines

Definitions

  • the present invention relates to a handling device for a workpiece, for example a conveying device for vehicle bodies.
  • the present invention has for its object to provide a handling device for a workpiece, by means of which the workpiece is safe and reliable to handle.
  • a workpiece handling device which comprises:
  • a moving device for moving and / or conveying the workpiece
  • a workpiece receiving device for releasably fixing the workpiece to the moving device
  • a detection device for carrying out a detection process by means of which the presence of a workpiece arranged on the workpiece holder and / or a state of a workpiece receiving device arranged on the workpiece and / or a release of a workpiece from the workpiece receiving device can be determined.
  • the handling device comprises a detection device, a reliable monitoring of the workpiece during operation of the handling device can preferably be carried out.
  • the workpiece is thus safe and reliable to handle.
  • the detection device is preferably designed such that the detection process can be carried out.
  • the detection device preferably comprises an input device, a detection device, a sensor device, a processor device, a memory device and / or an output device.
  • a workpiece is arranged, in particular fixed, on the workpiece receiving device.
  • a loosening of the workpiece is an undesired loosening in which the workpiece is separated from the workpiece receiving device, although it should remain there upon proper operation and / or actuation of the workpiece receiving device.
  • a workpiece arranged on the workpiece receiving device is present and / or if a collision of the workpiece is imminent, occurs and / or occurred.
  • workpieces can be preferably determined and / or monitored by means of the detection device, whether attachments, in particular doors, and / or hoods are arranged in predetermined positions or deviating undesirable positions.
  • an actual operating state of a motor device of the movement device can be determined for carrying out the detection process by means of the detection device.
  • the actual operating state of a motor device of the movement device is comparable to a predetermined and / or expected desired operating state.
  • the detection device is preferably coupled to the motor device.
  • the motor device comprises a sensor device or even serves as a sensor device.
  • state data and / or operating data of the motor device are used to carry out the detection process.
  • an actual torque and / or an actual power of a motor device of the movement device can be determined for carrying out the detection process by means of the detection device.
  • an actual torque and / or an actual power of a motor device of the movement device with a predetermined and / or expected target torque and / or a predetermined and / or expected target power is comparable.
  • a voltage and / or a current that is applied to the motor device.
  • an instantaneous actual torque curve and / or a temporal actual power curve of a motor device of the movement device can be determined for carrying out the detection process by means of the detection device.
  • a temporal actual torque curve and / or a temporal actual power curve of a motor device of the movement device with a predetermined and / or expected desired torque curve and / or desired power curve is comparable.
  • the detection device is preferably an undesirable state of the handling device and / or the workpiece can be determined and / or output an error message, especially if determined actual values, in particular an actual power, an actual torque, an actual torque curve and / or an actual power curve is outside a predetermined desired value range.
  • a desired torque curve and / or a desired power curve of the motor device of the movement device has sections with different widths of desired value ranges.
  • the associated desired value range can preferably be selected to be very narrow or small in order to reliably detect a fault condition even with slight deviations of the actual values from the desired values to be able to.
  • a desired operating condition, a desired torque, a desired power, a desired torque curve and / or a desired power curve of the engine device is predetermined, in particular by empirical determination and / or computational determination considering :
  • the mass and / or the mass distribution of the workpiece to be moved the nature, direction and / or speed of the movement to be performed or performed; and or
  • the properties, in particular the shape and / or the mass, of different types of workpieces which are to be handled by means of the handling device can be detected and stored in the detection device.
  • the workpiece when the workpiece is to be moved by means of the handling device by a liquid, is preferably the shape of the workpiece to be moved and thus preferably a flow resistance during movement of the workpiece by the liquid, for determining and / or determination of the desired operating state of the target Torque, the target power, the desired torque curve and / or the target power curve of the engine device considered.
  • a state for example open or closed doors or hoods of a workpiece designed as a vehicle body, and / or a position of the workpiece to be moved, in particular relative to a rotational axis of the handling device, for determining ment and / or determination of the desired operating state, the desired torque, the desired power, the desired torque curve and / or the desired power curve of the engine device considered.
  • the mass and / or the mass distribution of the workpiece to be moved may preferably be a reliable determination and / or determination of the desired torque, the desired operating condition, the desired power, the desired torque curve and / or the desired power curve of Motor device done.
  • the workpiece to be moved is moved linearly or rotationally and which acceleration and / or speed the workpiece is to learn or experience here.
  • the setpoint torque, the desired power, the desired torque curve and / or the desired power curve of the engine device starting torques, braking torques, oscillations, gravity, different rotational positions, a flow resistance, in particular a liquid resistance, and / or a horizontal distance of the center of gravity of the workpiece from a rotational axis of the handling device are taken into account.
  • the aspects to be taken into consideration may for example be deposited as a function in the detection device.
  • maps for the aspects may be provided.
  • a state of a treatment plant in particular a filling level or a flow of a liquid in one
  • Treatment room for determining and / or determination of a desired operating state, a desired torque, a target power, a target torque Mentverlaufs and / or a desired performance curve of the engine device is taken into account.
  • the handling device comprises a with respect to a direction of gravity under the moving device and the workpiece disposed thereon catching device, on which the workpiece or a part of the workpiece in the event of a release thereof impinges.
  • the handling device preferably comprises one or more sensor elements of a sensor device, which are arranged for detecting a detachment of the workpiece and / or the part of the workpiece on the collecting device and directly and / or indirectly actuated upon impact of the workpiece or the part of the workpiece on the collecting device.
  • the collecting device can on the one hand enable a reliable recording of the dissolved workpiece and / or part of the workpiece. However, it can also be provided that the collecting device only the
  • the collecting device is in particular an actuating device for actuating one or more sensor elements.
  • the handling device according to the invention is particularly suitable for use in a workpiece treatment device for the treatment of workpieces.
  • the present invention therefore also relates to a workpiece treatment device for the treatment of workpieces, in particular for the treatment of vehicle bodies.
  • the workpiece treatment device according to the invention preferably comprises one or more handling devices, in particular handling devices according to the invention.
  • the workpiece treatment device according to the invention preferably has one or more of the features and / or advantages described in connection with the handling device according to the invention.
  • the workpiece treatment device comprises a treatment space which is bounded and / or surrounded by a wall of the workpiece treatment device.
  • the treatment room can be filled, for example, with a liquid.
  • the workpiece treatment device comprises one or more sensor elements, which are arranged in particular on an outer side of the wall facing away from the treatment space, in particular an outer side of a bottom wall and / or side wall.
  • the sensor elements are preferably arranged substantially completely outside the treatment space of the workpiece treatment device.
  • the sensor elements can be actuated by movement, expansion, elastic and / or plastic deformation and / or vibration of the wall.
  • the workpiece treatment device comprises a treatment space which is bounded and / or surrounded by a wall of the workpiece treatment device, and in that one or more sensor elements of the workpiece treatment device are arranged in a section of the wall of the workpiece treatment device a release of a workpiece and / or a part of a workpiece by means of the workpiece and / or the part of the workpiece is set directly or indirectly in motion.
  • a movement of the section of the wall may in particular be understood to mean an expansion, a vibration, an elastic and / or plastic deformation and / or a deflection of the wall.
  • One or more sensor elements are preferably designed as strain sensor elements.
  • an expansion of the wall can be determined hereby preferably simple and reliable, in particular to be able to conclude a release of the workpiece and / or the part of the workpiece.
  • one or more sensor elements are designed as vibration sensor elements, acoustic sensor elements, motion sensor elements and / or vibration sensor elements.
  • one or more sensor elements are designed as weighing sensor elements.
  • a weighing sensor element is preferably a sensor element by means of which a force acting directly or indirectly on the sensor element, in particular a weight force, can be determined.
  • a weighing sensor element preferably serves for determining a weight force acting on the wall of the workpiece treatment device and / or on a catching device.
  • a weight force acting on the wall of the workpiece treatment apparatus and / or on a collecting device is within a predetermined value range.
  • area to close on a release of a workpiece and / or a part of a workpiece can.
  • a weighing sensor element preferably comprises one or more load cells.
  • an inner side of the wall is provided with a frame or a supporting structure.
  • a frame or a supporting structure by selective fixing of the frame or the support structure on the inside of the wall can thus a targeted
  • the one or more sensor elements are then preferably arranged on the outside of the wall at those points at which the frame or the support structure is arranged on the opposite inner side.
  • the workpiece treatment device comprises a plurality of handling devices.
  • each handling device is preferably exactly one workpiece movable and / or conveyed.
  • each handling device of the workpiece treatment device in each case a workpiece can be moved and / or conveyed essentially independently of the workpieces which are moved and / or conveyed by means of the other handling devices.
  • the workpiece handling device preferably comprises a series of interconnected and / or coupled handling devices.
  • the handling devices are movable together along a conveying direction.
  • the workpieces arranged thereon can preferably be moved separately, in particular raised and / or lowered and / or rotated.
  • the workpiece treatment device comprises a coordination device.
  • a plurality of detection devices of a plurality of handling devices can be coordinated with one another.
  • the coordination device preferably interactions between the individual handling devices and thus mutual influences of the actual operating conditions, the actual torques, the actual performance, the actual torque curves and / or the actual power curves of the engine devices of the handling devices for determining fault conditions considered ,
  • a workpiece immersed in a treatment liquid sets the treatment liquid in motion and thus influences an adjacent workpiece, which is likewise arranged in the treatment liquid, in its movement.
  • the workpiece treatment device is designed as a dip treatment plant for the dip treatment of workpieces, in particular vehicle bodies.
  • An immersion treatment can be used in particular for degreasing, phosphating, coating, etc. of workpieces.
  • an immersion treatment may be a dip-painting process.
  • the workpiece treatment device preferably comprises a container for receiving the treatment liquid.
  • a container for receiving the treatment liquid.
  • one or more sensor devices for detecting a detachment of the workpiece or a part of a workpiece are preferably arranged.
  • the underside of the container is in particular a wall which limits the treatment space.
  • a coordination device and / or by using a plurality of sensor devices a temporally and / or spatially resolved monitoring of one or more handling devices or the workpiece treatment device can preferably be realized.
  • an expected function and / or a desired value profile can be created and / or calculated by means of the coordinating device, taking into account the states, the movements and / or the positions of all workpieces arranged on the handling devices.
  • the present invention further relates to a method for detecting a workpiece.
  • the invention is in this respect the task of providing a method by means of which a moving means of a handling device and / or conveyed workpiece can be easily and reliably detected and / or monitored.
  • a method for detecting a workpiece comprising: Moving and / or conveying a workpiece by means of a moving device of a handling device, wherein the workpiece is detachably fixed to a workpiece receiving device of the moving device; Performing a detection operation by means of a detection device of the handling device, wherein by means of the detection operation, the presence of a workpiece arranged on the workpiece receiving device, a state of a workpiece receiving device arranged on the workpiece and / or a release of a workpiece is determined by the workpiece receiving device.
  • the method according to the invention preferably has one or more of the features and / or advantages described in connection with the handling device according to the invention and / or the workpiece treatment device according to the invention.
  • the method according to the invention can be carried out by means of the handling device according to the invention and / or the workpiece treatment device according to the invention.
  • the handling device according to the invention and / or the workpiece treatment device according to the invention are preferably suitable for carrying out the method according to the invention.
  • an actual operating state of a motor device of the movement device is determined by means of a detection device and, in particular, compared with a predetermined and / or expected desired operating state.
  • a plurality of detection devices of a plurality of handling devices for moving and / or conveying of individual workpieces are coordinated with each other by means of a coordinating device. It may be favorable if the workpiece is treated in a treatment room and if by means of the detection device from outside the treatment room a loosening or loosening workpiece and / or a loosening or loosening part of a workpiece upon impact with a catching device and / or a wall the treatment room is detected.
  • the handling device according to the invention, the workpiece treatment device according to the invention and / or the method according to the invention for detecting a workpiece may have one or more of the features and / or advantages described below:
  • one or more sensor devices are simple and thus easy to access.
  • the detection device according to the invention preferably has a simple and less complex construction and is preferably protected due to the advantageous positioning from damage by falling workpieces and / or parts of workpieces.
  • Strain sensor elements formed as sensor elements for example, strain gauges. Strain gauges can be arranged for example at transition points between different sections and / or components of a wall of a treatment room.
  • the described detection device is particularly suitable for newly produced handling devices and / or workpiece treatment devices, but may also be provided for retrofitting existing handling devices and / or workpiece handling devices.
  • sensor elements designed as strain sensor elements may be arranged and / or fixed with a predetermined pretension on a wall of a treatment space, in particular on an outer side of a wall of a treatment space.
  • a clamping device for fixing one or more strain sensor elements may be provided under prestress.
  • Such a clamping device may in particular be arranged at a location on an outer side of the bottom wall, which is opposite to a point on an inner side of the bottom wall, on which a frame or a support structure is fixed.
  • the handling device or the entire workpiece treatment device can preferably be brought to a standstill. In particular, this can preferably be avoided that accumulate more workpieces on a loosened workpiece and thereby damaged.
  • Figure 1 is a schematic vertical sectional view through a workpiece treatment apparatus for treating workpieces, wherein the workpiece is arranged in a first Drehrecardi.
  • Fig. 2 is a corresponding to FIG. 1 schematic representation of
  • FIG. 3 is a corresponding to FIG. 1 schematic representation of
  • Fig. 4 is a corresponding to FIG. 1 schematic representation of
  • Detection device for monitoring the workpiece 1 is a schematic representation corresponding to FIG. 1 of the workpiece treatment device from FIG. 1, the workpiece having detached from a workpiece receiving device; 1 corresponding schematic representation of the workpiece treatment device of Figure 1, wherein the workpiece has dissolved in an alternative position of a handling device of the workpiece treatment device of the workpiece receiving device.
  • Fig. 11 is a schematic vertical sectional view of a fourth embodiment of a workpiece processing apparatus, in which a plurality of handling devices for handling a plurality of workpieces and a coordinating device for coordinating the handling device are provided.
  • FIGS. 1-8 illustrated embodiment of a generally designated 100 workpiece treatment device is used for the treatment of workpieces 102nd
  • the workpiece treatment device 100 is designed, for example, as a dip treatment system 104 for the dip treatment of workpieces 102, in particular vehicle bodies 106.
  • the workpiece treatment device 100 comprises a handling device 108, by means of which the workpiece 102 can be handled, in particular moved and / or conveyed.
  • the handling device 108 comprises in particular a movement device 110 for moving a workpiece 102.
  • the workpiece 102 can be rotated in particular in a direction of rotation 112 about a rotation axis 114 of the handling device 108.
  • the movement device 110 is therefore designed in particular as a turning device 116.
  • the handling device 108 comprises a motor device 118, for example an electric motor.
  • the handling device 108 further comprises a workpiece receiving device 120, by means of which one or more workpieces 102, in particular exactly one workpiece 102, can be secured and detachably attached to the movement device 110.
  • the workpiece processing apparatus 100 further includes a container 122 for receiving a treatment liquid.
  • the container 122 in particular surrounds a treatment space 124 in which the treatment liquid can be received.
  • the container 122 comprises a plurality of walls 126, in particular a plurality of side walls 128 and a bottom wall 130.
  • the workpiece 102 by means of the handling device 108 by a rotational movement in the container 122 can be introduced and removed from the same.
  • the workpiece 102 is in particular immersed in the treatment liquid and removable from the same.
  • the workpiece treatment device 100 therefore preferably comprises a detection device 132, by means of which the workpiece 102 can be monitored.
  • the detection device 132 determines whether the workpiece 102 is fixed to the workpiece receiving device 120.
  • a state of the workpiece 102 arranged on the workpiece receiving device 120 can be determined.
  • the detection device 132 it is possible to determine whether the workpiece 102 has detached from the workpiece receiving device 120.
  • the detection device 132 preferably comprises one or more sensor devices 134, by means of which a detection process can be carried out.
  • the detection device 132 is preferably part of the handling device 108.
  • the detection device 132 is in particular coupled to the motor device 118 in order to conclude from a current actual state of the motor device 118 by comparison with predetermined and / or expected desired values on correct handling of the workpiece 102 and / or correct operation of the workpiece treatment device 100 to be able to.
  • a power curve and / or a torque curve of the motor device 118 during the rotational movement of the workpiece 102 about the rotation axis 114 can be monitored.
  • a curve 136 of the highest permissible torque and a curve 138 of the lowest permissible torque of the motor device 118 are given.
  • the maximum allowable torque curve 136 and the lowest allowable torque curve 138 are above and below, respectively, an actual torque curve 142 of the engine device 118 obtained in an optimal operation of the workpiece processing apparatus 100.
  • the curves 136, 138 and thus the desired value range 140 are preferably stored in the detection device 132.
  • a processor device not shown
  • the comparison between the determined actual values and the desired values necessary for carrying out a detection process can preferably be carried out.
  • the handling device 108 can be operated, for example, in accordance with regulations and monitored in the process.
  • the actual torque curve 142 can be obtained, from which the curves 136, 138 can be generated by specifying tolerance ranges.
  • a mathematical determination of the variables influencing the torque curve is carried out.
  • the actual torque curve of the motor device 118 at a given desired rotational speed of the workpiece 102 results in particular from the different position of the workpiece 102 relative to the moving device 110 and / or relative to the container 122 and the treatment liquid contained therein.
  • a relatively low torque is sufficient to move the workpiece 102 in motion.
  • the workpiece 102 may be brought into the rotational orientation shown in FIG. 2, in particular due to gravity in the direction of gravity g, with low torque and low power of the motor device 118 and thereby immersed in the treatment liquid in the container 122.
  • the movement of the workpiece 102 in the treatment liquid is influenced in particular by the flow resistance.
  • a torque must thus be applied to compensate for or overcome this flow resistance.
  • the workpiece 102 is then finally in the in Fig. 4 completely immersed Drehauscardi shown in which a (not shown) center of gravity of the workpiece 102 has arrived at a lowest point with respect to the direction of gravity g.
  • a further movement of the workpiece 102 in the direction of rotation 112 thus requires a torque of the motor device 118, which on the one hand can overcome the now opposing gravity and also the flow resistance in the treatment liquid.
  • the described flow resistance of the workpiece 102 depends significantly on the shape and size of the workpiece 102.
  • a significant difference in the determined flow resistance can result if a part of the workpiece 102, for example a hood of a vehicle body 106, is in an undesired unfolded position.
  • a release of the workpiece 102 from the workpiece receiving device 120 can be reliably detected even if the expected target values due to the instantaneous positions (rotational orientation) of the workpiece 102, assume rather low values, for example because the desired movement of the workpiece 102 about the axis of rotation 114 due to gravity is favored (see FIG. 7) or because the workpiece 102 has reached the lowest point (see FIG Fig. 8).
  • a detection device 132 which comprises a plurality of sensor elements 144 of the sensor device 134, wherein the sensor elements 144 on an outer side 146 of the walls 126 of the
  • Container 122 are arranged.
  • the sensor elements 144 are arranged on an outer side 146 of the bottom wall 130 and / or on the outer side 146 of the side wall 128 of the container 122.
  • the sensor elements 144 are configured in particular as strain sensor elements 148, as vibration sensor elements 150, as acoustic sensor elements 152, as motion sensor elements 154, as vibration sensor elements 156 and / or as weighing sensor elements 157.
  • the sensor elements 144 it can be determined, preferably directly or indirectly, whether the wall 126 of the container 122 is set in motion or otherwise shaken in the event of a dropping of a workpiece 102.
  • the sensor elements 144 as
  • Strain gauges are formed, which are fixed to the wall 126 and are stretched when the wall 126 is set by the falling workpiece 102 in motion and / or deformed.
  • a plastic deformation and / or an elastic deformation of the wall 126 can be determined by means of the sensor elements 144.
  • strain gauge By suitable arrangement of the strain gauge, in particular by means of joints, racks or other the movement of the wall 126 amplified. kenden measures, a reliable operation of the sensor element 144 can be ensured.
  • the in Fig. 9 illustrated second embodiment of the workpiece treatment device 100 in structure and function with the in Figs. 1-8 illustrated first embodiment, so that reference is made to the above description thereof in this regard.
  • a third embodiment of a workpiece treatment device 100 shown in FIG. 10 differs from that shown in FIG. 9 illustrated essentially in that the container 122 is provided with an actuator 158.
  • the actuating device 158 is designed, for example, as a frame 160 and / or as a support structure 162 and arranged on an inner side 164 of the wall 126, in particular the bottom wall 130, of the container 122, which is opposite the outer side 146 of the wall 126.
  • the actuating device 158 serves in particular as a catching device 166 on which a workpiece 102 releasing from the workpiece receiving device 120 strikes.
  • the actuating device 158 serves in particular for the targeted actuation of the sensor elements 144.
  • the actuating device 158 is preferably fixed selectively to the inner side 164 of the bottom wall 130 of the container 122.
  • the fastening points of the actuating device 158 on the inner side 164 of the bottom wall 130 are arranged directly opposite the fastening points of the sensor elements 144 arranged on the outer side 146.
  • the third embodiment of the workpiece treatment device 100 shown in FIG. 10 is identical in construction and function to the one shown in FIG. 9 illustrated second embodiment, so that reference is made to the above description in this regard.
  • FIG. 11 illustrated fourth embodiment of a workpiece treatment device 100 differs from that shown in FIG. 9 illustrated essentially by the fact that a plurality of handling devices 108 are provided for handling a plurality of workpieces 102.
  • Each handling device 108 preferably comprises a detection device 132, in particular a detection device 132 coupled to the respective motor device 118.
  • a detection device 132 according to the in Figs. 9 and 10 illustrated embodiments may be provided.
  • a coordination device 168 is provided, by means of which the plurality of detection devices 132 can be coordinated with one another.
  • the coordinating device 168 By means of the coordinating device 168, it can be specifically taken into account, in particular, which influence the movements of the workpieces 102 have on the torque characteristics to be determined by means of the detection devices 132.
  • a desired value range 140 of a motor device 118 can be varied to varying ambient conditions. conditions, for example, a movement of adjacent workpieces 102 and a resulting movement of the
  • a plurality of sensor elements 144 for example on the outer side 146 of the wall 126 of the container 122, it may also be determined with spatial resolution, at which point a signal is generated, in particular by impingement of a falling workpiece 102 on the bottom wall 130.
  • the fourth embodiment of the workpiece treatment device 100 shown in FIG. 11 is identical in construction and function to the one shown in FIG. 9 illustrated second embodiment, so that reference is made to the above description in this regard.
  • a collection device 166 which comprises a frame 160 and / or a support structure 162.
  • the workpiece treatment devices 100 are reliably operable. In particular, damage to the workpieces 102 and / or the entire workpiece processing apparatus 100 in the case of Loosening of the workpiece 102 by a handling device 108 can be effectively avoided.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Coating Apparatus (AREA)
  • Apparatus For Disinfection Or Sterilisation (AREA)

Abstract

L'invention vise à mettre en oeuvre un dispositif de manipulation d'une pièce, par exemple un dispositif de transport de carrosseries de véhicules, permettant de manipuler la pièce de façon sûre et fiable. A cet effet, le dispositif de manipulation comporte : un dispositif de déplacement destiné à déplacer et/ou transporter la pièce; un dispositif de logement de pièce destiné à fixer de façon amovible la pièce sur le dispositif de déplacement; un dispositif de détection destiné à réaliser un processus de détection permettant de déterminer la présence d'une pièce logée dans le logement de pièce et/ou un état d'une pièce logée dans le dispositif de logement de pièce et/ou un détachement de la pièce vis-à-vis du dispositif de logement de pièce.
EP15722141.7A 2014-05-08 2015-05-04 Dispositif de manipulation, dispositif de traitement de pièce et procédé de détection d'une pièce Withdrawn EP3140179A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014106431.3A DE102014106431A1 (de) 2014-05-08 2014-05-08 Handhabungsvorrichtung, Werkstückbehandlungsvorrichtung und Verfahren zum Detektieren eines Werkstücks
PCT/EP2015/059747 WO2015169764A1 (fr) 2014-05-08 2015-05-04 Dispositif de manipulation, dispositif de traitement de pièce et procédé de détection d'une pièce

Publications (1)

Publication Number Publication Date
EP3140179A1 true EP3140179A1 (fr) 2017-03-15

Family

ID=53175470

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15722141.7A Withdrawn EP3140179A1 (fr) 2014-05-08 2015-05-04 Dispositif de manipulation, dispositif de traitement de pièce et procédé de détection d'une pièce

Country Status (4)

Country Link
EP (1) EP3140179A1 (fr)
CN (1) CN106536337B (fr)
DE (1) DE102014106431A1 (fr)
WO (1) WO2015169764A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUB20159307A1 (it) * 2015-12-23 2017-06-23 Geico Spa Impianto di trattamento scocche in vasca con rilevazione di caduta e metodo di rilevazione
DE102023111061B3 (de) 2023-04-28 2024-09-19 Wenker Gmbh & Co. Kg Vorrichtung zum Drehen einer Werkstücktrageinheit sowie Fördersystem für eine Tauchbehandlungsanlage
DE102023119243A1 (de) * 2023-07-20 2025-01-23 Eisenmann Gmbh Verfahren zum Betreiben einer Fertigungsanlage sowie Fertigungsanlage

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57107314A (en) * 1980-12-22 1982-07-03 Mitsubishi Motors Corp Method of conveyance
DE3130486A1 (de) * 1981-07-23 1983-02-17 Bayerische Motoren Werke AG, 8000 München Foerderanlage fuer teile
DE19802674C2 (de) * 1998-01-24 2001-05-10 Michael Ertl Verfahren zur Gewichtsmessung von Lasten in Hubvorrichtungen
CA2530372A1 (fr) * 2003-06-25 2005-01-06 Honda Motor Co., Ltd. Procede et dispositif de transport d'assistance
JP2005289102A (ja) * 2004-03-31 2005-10-20 Nakanishi Metal Works Co Ltd 搬送装置
DE102005027721A1 (de) * 2005-06-16 2007-01-04 Dürr Ecoclean GmbH Reinigungsvorrichtung und Verfahren zum Reinigen von Werkstücken
KR100746913B1 (ko) * 2005-11-11 2007-08-07 현대자동차주식회사 자동차 제조용 소형 부품 공급 장치
JP5598183B2 (ja) * 2010-09-03 2014-10-01 トヨタ自動車株式会社 搬送装置
CN202201623U (zh) * 2011-08-22 2012-04-25 北汽福田汽车股份有限公司 吊装设备
CN202296259U (zh) * 2011-09-13 2012-07-04 黄石市中城自动化科技有限公司 重载箱型车体智能小车

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2015169764A1 *

Also Published As

Publication number Publication date
WO2015169764A1 (fr) 2015-11-12
DE102014106431A1 (de) 2015-11-12
CN106536337B (zh) 2018-12-25
CN106536337A (zh) 2017-03-22

Similar Documents

Publication Publication Date Title
DE102010044644B4 (de) Verfahren zur Kollisionserkennung für eine Antriebseinheit
EP2433761B1 (fr) Dispositif doté d'une chambre climatisée contenant un robot
EP2926941B1 (fr) Dispositif d'usinage par rayonnement ou jet de fluide
DE102013018329B4 (de) Roboterhand zur Behandlung eines Werkstücks in einem Hochtemperaturbereich
EP2792431A1 (fr) Installation de traitement pour des composants de structure d'avion
DE102015106725B4 (de) Verfahren zur maschinellen Reinigung von Werkstücken und/oder Maschinenbauteilen sowie Reinigungsanlage
DE102009057585A1 (de) Roboter mit Kalibrierposition
DE102009051583A1 (de) Robotersystem und Verfahren zum Verlegen eines Schienenstrangs
EP2913284B1 (fr) Procédé et installation de traitement de pièces
EP3140179A1 (fr) Dispositif de manipulation, dispositif de traitement de pièce et procédé de détection d'une pièce
DE102013001110A1 (de) Roboter mit einer Handhabungseinheit
DE102007037404B4 (de) Verfahren zum maschinellen Verarbeiten und/oder Transfer von Bauteilen
DE102012003799A1 (de) Vorrichtung zur Wärmebehandlung von Lebensmittelprodukten mit integrierter Handlingeinrichtung
EP2851304A1 (fr) Machine de fermeture de coques avec corps de bande échangeable
DE202015102825U1 (de) Stopfenfügewerkzeug
WO2012110148A1 (fr) Introduction automatisée d'une barre de contact dans une sonde employée en métallurgie
EP3019432B1 (fr) Dispositif servant à soulever et reposer une poche de coulée, installation équipée d'un tel dispositif et procédé
DE102010042777A1 (de) Laserschneidanordnung und Verfahren zum Schneiden
DE102012213421A1 (de) Industrieroboter
DE102015002433B4 (de) Verfahren zum Betreiben eines Greifsystems
EP3075452B1 (fr) Dispositif de manipulation destine a l'entretien de broyeurs-agitateurs a boulets et procede d'entretien d'un broyeur-agitateur a boulets
DE202010015845U1 (de) Vorrichtung für die Montage von Karosserieteilen an Fahrzeugkarosserien
EP2844398B1 (fr) Traverse avec entraînement integre pour transporter des objets
DE102019007101A1 (de) Vorrichtung und Verfahren zur Bestimmung der Lebensdauer eines mechatronischen Systems sowie Roboter
DE102004060354B4 (de) Anlage für Wärmebehandlungen von Metallen, insbesondere für das Härten und das Vergüten von Stahl

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20161028

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Effective date: 20170510