WO2009098285A1 - Table tournante - Google Patents

Table tournante Download PDF

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Publication number
WO2009098285A1
WO2009098285A1 PCT/EP2009/051371 EP2009051371W WO2009098285A1 WO 2009098285 A1 WO2009098285 A1 WO 2009098285A1 EP 2009051371 W EP2009051371 W EP 2009051371W WO 2009098285 A1 WO2009098285 A1 WO 2009098285A1
Authority
WO
WIPO (PCT)
Prior art keywords
processing
turntable
robot
fixing
machining
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.)
Ceased
Application number
PCT/EP2009/051371
Other languages
German (de)
English (en)
Inventor
Manfred Hahl
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.)
EDAG GmbH and Co KGaA
Original Assignee
EDAG GmbH and Co KGaA
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 EDAG GmbH and Co KGaA filed Critical EDAG GmbH and Co KGaA
Priority to EP09708843A priority Critical patent/EP2237923A1/fr
Publication of WO2009098285A1 publication Critical patent/WO2009098285A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control the units passing two or more work-stations whilst being composed
    • B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B23K37/0435—Clamps
    • B23K37/0443—Jigs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0096—Program-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/006—Vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
    • B23P2700/50—Other automobile vehicle parts, i.e. manufactured in assembly lines

Definitions

  • the invention relates to a device for processing workpieces using a turntable, which transports the workpieces in a processing position.
  • the workpieces may in particular consist of several substructures, which are joined by means of the device to form a joining structure, the workpiece.
  • the machining is a joining process or comprises a joining process.
  • the invention relates to a method for joining substructures to vehicle parts. The method is used in series production, preferably in mass production of body parts for motor vehicles.
  • a plurality of fixing tools are distributed around the axis of rotation, which differ in adaptation to different workpieces, so that by means of a rotary movement of the turntable each of the fixing tools optionally moved to a loading position and loaded there by means of a loading robot with the currently being machined workpiece can.
  • the fixing tools are arranged movably on the turntable, so that they can each be moved away from the loading position by means of a conveying device from the turntable into a peripheral processing position where they can be processed by processing robots. After removal of the machined workpiece, the fixing tool is moved on the turntable back to the loading position, where it is occupied by the next workpiece.
  • This device also requires comparatively much space and is complex.
  • the invention relates to a device for machining workpieces, which comprises a turntable rotatable about a rotation axis with a plurality of fixing tools, which are arranged about the axis of rotation of the turntable and differ from each other in adaptation to workpieces of different types.
  • the machining position is assigned at least one machining robot, that is arranged so that it can edit the workpiece located in the machining position.
  • the device further comprises a rotary drive, by means of which the turntable is reversibly rotatably driven to the adapted to the workpieces to be machined
  • Fixing tools can in the case of a vertical axis of rotation in particular at an upper Be arranged front side of the turntable and record, position and fix the resting under gravity workpieces.
  • the at least one processing robot is arranged in an inner region of the turntable between the fixing tools distributed around the axis of rotation, it is therefore referred to below as an internal processing robot.
  • an internal processing robot In the interior region, a plurality of internal processing robots, in particular two or three processing robots, may be arranged.
  • the one or more internal processing robot is or are preferably assigned to only one processing position, thus processing only located in this processing position workpieces. Basically, however, an assignment to an optional, approachable from the turntable further processing position is conceivable, either of only one of the internal processing robot or more. In preferred embodiments, however, the device has only a single processing position.
  • this processing position if several processing positions are provided and each additional processing position, at least one further processing robot associated, which is arranged outside of the turntable at the periphery thereof.
  • the at least one processing robot is supported in preferred embodiments independently of the turntable, so that he does not join the rotational movements of the turntable.
  • the processing robot is in particular not supported on the turntable, but preferably on a floor on which the turntable is rotatably mounted.
  • the independent of the turntable support relieves the turntable and in particular its rotary bearing and rotary drive.
  • the inner region remains free between the fixing tools.
  • the processing robot can be arranged and supported in such a free, central inner region and, accordingly, between the inner region rise up the fixing tools. If a plurality of processing robots are arranged indoors, the above embodiments are preferably applicable to each of the plurality of processing robots.
  • the arrangement of several processing robots, in particular two processing robots, indoors is given preference over the arrangement of only a single internal processing robot preference.
  • a plurality of processing robots are provided in the interior area, these can advantageously each be smaller than can be an internal processing robot, which is assigned in the interior as the only one of the processing position.
  • the plurality of processing robots can be arranged in the inner area at the fixing tool located in the processing position, in particular, next to each other and work side by side; Correspondingly, the sphere of action and consequently the size of each of these processing robots can be reduced relative to a single internal processing robot. Furthermore, at the same time, more machining tools can be brought out of the inner area, thereby shortening the residence time of the workpiece in the machining position.
  • the at least one processing robot in the case of a plurality of processing robots a part of these robots or preferably all processing robots, is or are preferably arranged in a stationary manner.
  • the one or more machining robots may or may in particular be industrial robots.
  • the one or more machining robots preferably have or have all six degrees of freedom of movement.
  • multiple ones may exist in the confined space
  • Turntable must be further rotated, so that the previously used fixing tool of the Beladeposition seen from the processing position or seen from the machining position on the loading position in a rest position and this further rotation simultaneously moved instead of another of the fixing tools in the loading position and loaded there with the first workpiece of the new kind. Since the fixing tools do not extend to the machining position and accordingly retract into the turntable after machining, the turntable does not have to be attached to a conveyor causing the extension and retraction and be undocked by this. Furthermore, the part of the device required for the transport and positioning of the fixing tools, in particular the turntable, is structurally simplified.
  • the turntable can be distributed around the axis of rotation while basically only be equipped with two or three fixing tools, it preferably has distributed around the axis of rotation, however, at least four fixing tools. In a preferred embodiment, it has exactly four fixing tools, which can be arranged in particular relative to each other so that they form a rectangle about the axis of rotation of the turntable.
  • the variety of workpieces that can be machined can be increased by arranging four fixing tools or optionally even more fixing tools.
  • a particular advantage is that the four or possibly even more fixing tools create a larger free space in the interior, in which a corresponding number of internal processing robots can be arranged. It is particularly advantageous if four fixing tools which are elongate in the plan view of the turntable are arranged on or on the turntable in an at least substantially rectangular arrangement, ie with each other a rectangle, preferably a square.
  • the workpieces to be machined are preferably removed in each case in the processing position.
  • the machining position is assigned at least one removal robot, advantageously arranged on the periphery of the turntable.
  • the picking robot picks up the machined workpiece, moves it through the room to a shelf and places it there. He is then ready for the removal of the next machined workpiece.
  • This robot can be arranged stationary. Preferably, it is like the processing robot (s) an industrial robot with a robotic arm that is movable in space in all six degrees of freedom of movement.
  • the removal robot not only removes and deposits the workpieces, but holds the workpieces each after loosening tensioners of the fixing tool for further processing by the at least one or more of the processing robot .
  • the removal robot may keep the workpiece freely in space, for example, above the processing position for further processing, or may already move in the direction of the tray during further processing, with the processing robot or operators having to follow such a movement. It is also advantageous that, after removal from the workpiece, locations are accessible which were not or only with difficulty accessible on the workpiece received by the fixing tool.
  • the removal robot thus offers the workpiece or the machining robot (s) the workpiece in a more accessible position.
  • the machining process is preferably a joining process, for example a welding process, the workpiece held by the picking robot is advantageously continued to be joined more firmly, for example by welding.
  • the further processing in the removed state ie the flying processing can be used to a considerable increase in the utilization of the turntable and thus shortening the cycle time of a series production by the turntable after removal of the workpiece, before or at least still during further processing again reversed, ie turned back and thereby the fixing tool is moved back into the loading position.
  • the processing robot or performs the further processing or perform the next workpiece is placed in the already located in the loading position fixing tool and positioned relative thereto.
  • the fixing tool again assumes the machining position with the next workpiece before or as soon as the machining robot or the machining position is or are free again, the further machining is therefore complete.
  • the fixing tools include in preferred embodiments in each case at least one automatically operable tensioner, preferably a plurality of automatically operable tensioner, with which or which the workpiece is fixed relative to the fixing tool.
  • the fixing tools could provide only for a loose fixation in the sense of a pure positioning and an external fixing, such as a fixing robot may be provided, which clamps the workpiece during the processing against the fixing tool.
  • the removal robot could serve, for example, as a fixing robot.
  • an external fixator would take up space and would generally be an obstacle to the machining robot (s).
  • a media supply for the supply of this fixing tool with electrical energy or a pressurized fluid, preferably compressed air , intended.
  • the word "or” is used here and elsewhere in the sense of the invention always in the general logical sense, so includes both the meaning of "either .... or” and that of "and”, as far as the respective context does not exclusively can only give a limited meaning.
  • the media supply can therefore ensure only electrical energy in a first variant, in a second variant only pressurized fluid and in a third variant both in combination.
  • the fixing tools can each be permanently connected to a separate media supply, or at least the fixing tool used for the respective production can be connected to the operation of a media supply upon commencement of operation and the connection can be maintained during operation with this fixing tool.
  • the media supply is in such embodiments a drag feed.
  • less space than a drag feeder claims a media feeder with a rotary joint which connects the particular fixing tool used in the loading position and in the processing position with the media feeder, but between the two Separates positions from the media feeder.
  • the turntable one or preferably per fixing tool each having its own coupling connection and the media supply for the loading position and the processing position each having a counterpart coupling connection.
  • the coupling connection of the fixing tool in operation connects automatically in the two positions with the respectively associated position of the associated coupling connection of the media supply, when the fixing tool is moved to the position in question.
  • the tensioner or clamps are or are actuated for tensioning, ie closed, and opened after machining in the machining position in order to be able to remove the workpiece.
  • the media supply can be further simplified if the workpiece is not stretched in the loading position, but only in the processing position. If the media supply takes place by means of a rotary connection via coupling couplings that can be coupled and uncoupled, then a connection coupling of the media supply assigned to the loading position can be dispensed with.
  • the media feeder has a connection coupling only for the processing position. In the loading position, the workpiece is only inserted into the fixing tool and positioned, but not yet tensioned, but moved after positioning directly in the machining position. When the machining position is reached, the connection coupling of the fixing tool and the connection coupling of the media supply automatically engage, the clamps are actuated and the workpiece is thereby tensioned.
  • a loading robot assigned to the loading position or a removal robot assigned to the processing position are provided with an exchangeable gripping device is or is equipped.
  • the interchangeable gripping device comprises a gripping tool for a workpiece of a first type and another gripping tool for a second type thereof differing from one another.
  • one or more interchangeable gripping devices with at least two different gripping tools, which are fastened simultaneously to a robot arm, it is no longer necessary to undock the gripping tool used in one production from the robotic arm and to dock the new gripping tool adapted for the new production, but only to change the orientation of the robotic arm to a base of the robot in question, to either one or the other Use gripping tool for use.
  • a preferred interchangeable gripping device and a method for a rapid gripper tool change are disclosed, for example, in DE 10 2007 055 119.5, which is referred to in this regard. The same applies with regard to the machining tools of the machining robot (s), if a change should be required here.
  • the workpiece consists of at least two, more preferably even more substructures which are still present as separate substructures after insertion. However, they are positioned by means of the adjusted fixing tool relative to each other according to location and orientation and stretched in the positioned state by means of adhesion to the fixing tool.
  • the machining process can include a joining process; in particular, it can also be a pure joining process.
  • the at least one or the plurality of processing robots are joining robots. As a joining process in particular welding comes into question.
  • joining processes can also be used, for example soldering or roll folding, but in principle the invention is advantageous in connection with any joining process, for example gluing, screwing or riveting, to name but a few examples.
  • the machining process can also be designed differently, for example as a tensioning or grinding process.
  • One or more different joining processes may or may also be combined with each other or with one or more other machining processes.
  • a single processing position is provided on the turntable, so the device equipped with one or preferably more processing robots for this single processing position.
  • two processing positions are provided, the device thus equipped with at least one, preferably in each case a plurality of processing robots for each of the processing positions.
  • a turntable with at least, preferably exactly four distributed around the axis of rotation of the turntable fixing tools.
  • the fixing tools of the turntable can be set up in the expansion stage for processing workpieces of different types in the two processing positions, ie workpieces of a first type in one and workpieces of another type in the second processing position.
  • the fixing tools that fix the workpiece in the machining positions can also be the same in order to be able to process identical workpieces simultaneously in both machining positions. It can in the expansion stage, but also in the basic version, all fixing tools differ from each other or two of the fixing tools, possibly even more of the fixing tools to be the same.
  • the turntable is equipped with at least two different fixing tools. If two machining positions are formed on the turntable, the device comprises at least two internal machining robots, one for the one and the other for the other machining position. In yet another embodiment, the device comprises in the interior of the turntable for at least one of the processing positions, preferably for each of the processing positions, two or possibly even more internal processing robots.
  • Figure 2 shows the device in a perspective view.
  • FIG. 1 shows a device for processing workpieces 8 in a plan view.
  • the device comprises a turntable 1, which is rotatable about a vertical axis of rotation Z.
  • On a frame of the turntable 1 are arranged around the axis of rotation Z evenly distributed more fixing tools, in the embodiment four fixing tools 2, 3, 4 and 5.
  • the fixing tools 2 to 5 are relative to the frame of the turntable 1 stationary and therefore could be an integral part of the frame be.
  • each of the fixing tools 2 to 5 is detachable and thus replaceable, preferably individually replaceable, attached to the frame.
  • the fixing tools 2 to 5 each have a carrier 6 and a plurality of positioning elements and tensioners 7 for positioning and clamping the workpieces 8.
  • the tensioners 7 may in particular be mechanical tensioners which clamp the workpieces 8 with a force fit and thereby fix relative to the fixing tool 2, 3, 4 or 5.
  • the carrier 6 may be plate-shaped as in the embodiment. They form a common platform for each set of positioning elements and tensioners 7 and have the connection technology for attachment to the frame of the turntable 1. They are arranged at the top of the turntable 1 in the circumferential direction close to one another to form a ring, so that as little space as possible is required radially to the axis of rotation Z.
  • the fixing tools 2 to 5 are arranged offset in the circumferential direction at an angular distance of 90 ° to each other.
  • the carrier 6 are seen in plan view arranged in pairs at right angles to each other and thus form a rectangle about the rotation axis Z.
  • the carriers 6 are elongated in the circumferential direction, ie in the circumferential direction with respect to the axis of rotation Z longer than in the radial direction. They are arranged close to each other, in the embodiment they collide.
  • the carrier 6 are beveled in the region of the rotation axis Z facing inner ends and there arranged on fermentation to each other.
  • the device comprises a drive for a reversing rotary drive of the turntable 1.
  • a motor of the drive can be arranged in particular in the area below the fixing tools 2 to 5.
  • the drive rotates the turntable 1 back and forth, so that one of the fixing tools 2 to 5, in the embodiment, the fixing tool 2, between a loading position L and a processing position W out and moved forth, is pivoted in the embodiment about the rotation axis Z back and forth.
  • the turntable 1 is rotated for the movement of the fixing tool 2 from one of the two positions L and W in the other by an angle of the arrangement of the fixing tools 2 to 5 corresponding angle back and forth.
  • the fixing tool 2 is loaded in the loading position L with the workpiece to be machined 8, moved with this workpiece 8 in the processing position W and after processing and removal of the workpiece 8 back to the loading position L and loaded there with the next workpiece 8. This process is constantly repeated in time with series production.
  • a loading robot 9, a plurality of processing robot 11 and a removal robot 12 are arranged.
  • the loading robot 9 is assigned to the loading position L and accordingly arranged so that it can insert the workpieces 8 into the fixing tool 2 when it occupies the loading position L.
  • the workpieces 8 are each formed by a set of prefabricated substructures, which are joined in the processing position W to form a complete structure, the workpiece 8.
  • the substructures are fed to the loading robot 9 relative to one another in the arrangement in which they are subsequently joined to the workpiece 8.
  • the loading robot 9 carries at the end of its robot arm a gripping device, with which he engages the not yet joined, loose composite of the substructures as a whole and stores in the currently located in the loading position L fixing tool 2.
  • the fixing tool 2 can be equipped with a sensor, by means of which it is automatically determined whether each of the substructures occupies the predetermined position according to location and orientation. Alternatively, such a sensor may also be arranged on the loading robot or externally on another location of the device.
  • the turntable 1 executes a partial rotation, in the example a quarter turn, through which the fixing tool 2 enters the Processing position W arrives.
  • the workpiece 8 is machined by joining the substructures into a solid overall structure.
  • not only three peripheral processing robots 11 are assigned to the processing position W, but two internal processing robots 10 arranged in a central inner area of the turntable 1 near the rotation axis Z between the fixing tools 2 to 5 , The inner processing robot 10 and the peripheral processing robot 11 simultaneously act on the workpiece 8.
  • all processing robots 10 and 11 are joining robots.
  • the joining process may in particular be a welding process.
  • the inner processing robot 10 are supported independently of the turntable 1 on the ground, so do not rotate with a rotational movement of the turntable 1 and the fixing tools 2 to 5. This relieves the pivot bearing and the rotary drive of the turntable 1.
  • the clockwise reciprocating, reversing rotary motion can thereby be carried out more quickly than with a support on the turntable, since the support on the turntable 1 would increase its moment of inertia.
  • the workpieces 8 are not only positioned relative to each other for the machining process by means of the fixing tool 2, but also tensioned by means of the tensioner 7.
  • Clamping can already be carried out in the loading position L or only in the processing position W.
  • the energy required for clamping for example electrical
  • the media feeder is not designed as a tow cable connection permanently connected at least during production, but as
  • Rotary connection with one or more fixed coupling connections has the
  • the media supply comes with a single coupling connection, which is assigned to the processing position W.
  • the tensioners 7 are operated only in the processing position W, namely closed and locked for clamping and opened to release the workpiece 8.
  • the media supply may additionally have a coupling connection for the loading position L, in order to clamp the workpiece 8 already in the loading position L, to lock in the tensioned state and to move in this state into the processing position W, in which the tensioners 7 after editing, only open.
  • the released workpiece 8 from the fixing tool 2 and places it in a tray, for example, in a magazine or on a discharge conveyor.
  • the turntable 1 rotates back, so that the fixing tool 2 is moved back to the loading position L and there with the next workpiece 8, d. H. the next loose composite of substructures.
  • the machining process is subdivided into sub-processes.
  • a first sub-process is performed on the clamped in the processing position W relative to the fixing tool 2 workpiece 8, a second sub-process only after the fixing tool 2 of the workpiece 8 is free again.
  • the removal robot 12 lifts the workpiece 8 from the fixing tool 2 and holds it in space, while the same processing robot 10 and 11 carry out the second sub-process of machining. Since the workpiece 8 during the second
  • Partial process is free of the fixing tool 2 and in particular its tensioners 7, the processing robot 10 and 11 can now reach points that are not or only poorly accessible in the tensioned state.
  • the removal robot 12 may be adapted to guide the workpiece 8 in space prior to or during such downstream processing, if necessary to rotate, to make the respective locations even more accessible.
  • the fixing tool 2 can already be loaded with the next workpiece 8 in the loading position L. Is it?
  • the substructures of the workpiece 8 in the tensioned state are joined geometrically, for example by spot welding, and the already stable, stable workpiece 8 with respect to its geometry is subsequently finished or at least in the second partial process more firmly joined, for example, welded.
  • the robots 9 to 12 may in particular be conventional industrial robots, each having a stationary base and a robot arm protruding from the base with all six degrees of freedom of movement.
  • the tools are fastened detachably in a known manner to the robot arms, in the case of the robots 9 and 12 each a gripping tool and in the case of the machining robots 10 and 11 each a machining tool, for example a welding tool.
  • the arrangement of processing robots 10 and 11 both on the periphery and in the interior of the turntable 1 is of great advantage since this requires the arrangement of small processing robots 10 and 11 with correspondingly small operating radius, but in large numbers allowed close to each other.
  • the fixing tools 2 to 5 are different as already mentioned. Each is adapted to receive, position and fix one type of other workpiece 8.
  • the workpiece 8 is a side part of a motor vehicle body consisting of the substructures A-, B- and C-pillar and roof frame and sill, which are joined by means of the device to a fixed side part.
  • side parts of different vehicle models can be processed according to the number of fixing tools.
  • other body parts can be edited, such as a front, a rear or a floor assembly.
  • a side part of another vehicle model or one of the other type Body part or from a left to a right side part of the same vehicle model has only adapted to the workpiece of the other type fixing 3, 4 or 5 instead of the fixing tool 2 in the loading position L and then in time with the respective next series production between the positions L and W. be moved back and forth.
  • the drive of the turntable 1 is therefore not only for the required in a particular production reversing movement, but also for a rotation on the rotation angle of the reverse ierterrorism set up.
  • the turntable 1 has the ability to reciprocate each of the fixing tools 2 to 5 by a simple rotational movement optionally in the loading position L and oscillating between this and the processing position W in the cycle of series production.
  • changes in the control are made in the processing robots, preferably this is done automatically by a control software. If necessary, the processing tools are changed.
  • the change of the respective gripping device is generally required. This can be done conventionally by undocking the previously used and docking a new gripping device.
  • the robots 9 and 12 or at least one of these robots, in this case preferably the loading robot 9, may be equipped with an interchangeable gripping device which simultaneously integrates at least two different gripping devices in a gripping head attached to the end of the robotic arm.
  • Preferred changeover devices and also changing devices of machining tools that can be used for the robots 10 and 11 are disclosed in particular in DE 10 2008 003 067.
  • a further processing position can be formed, so that on the turntable 1 another workpiece 8 or a workpiece of another type, for example the other side part of the same vehicle type or, for example, a door or tailgate edited, preferably joined, can be.
  • This further processing position is expediently formed opposite the working position W, in the position which occupies the fixing tool 4 in the figures.
  • This further processing position may advantageously be associated with two further internal processing robots such as the processing robot 10 of the processing position W, these further internal processing robot 10 would work to the other side.
  • the device can have one or more associated with this further processing position further peripheral processing robot 11, advantageously also its own loading robot 9 at the position that just occupies the fixing tool 5 in the figures, and optionally also another removal robot 12, which would expediently be the picking robot 12 diagonally opposite the axis of rotation Z arranged.
  • the fixing tools 2 and 4 may be the same, for example, to process the same workpieces 8 and thereby increase the throughput.
  • the fixing tools 3 and 5 may be the same and different from the fixing tools 2 and 4, in order nevertheless to be able to carry out a rapid model change without having to equip the turntable 1 with new fixing tools.
  • the fixing tools 2 and 5 can also differ from one another in the expansion stage in order to simultaneously be able to machine workpieces of different types at the two machining positions.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif pour usiner des pièces, ce dispositif comprenant a) une table tournante (1) qui peut tourner autour d'un axe de rotation (Z) et qui est équipée d'outils de fixation (2, 3, 4, 5) qui sont disposés autour de l'axe de rotation (Z) et se différencient de manière à recevoir et à fixer des pièces (8) différentes, chacun de ces outils pouvant être déplacé dans une position de travail (W) par l'intermédiaire d'un mouvement de rotation de la table tournante (1), b) au moins un robot d'usinage (10) intérieur qui est disposé dans une zone intérieure de la table tournante (1) entre les outils de fixation (2, 3, 4, 5) pour usiner une pièce (8) se trouvant dans la position de travail (W), c) ainsi qu'une commande de pivotement servant à générer un mouvement de rotation réversible de la table tournante (1), par l'intermédiaire duquel chacun des outils de fixation (2, 3, 4, 5) peut être déplacé alternativement entre la position de travail (W) et une position de chargement (L) dans laquelle les pièces (8) sont mises en place.
PCT/EP2009/051371 2008-02-07 2009-02-06 Table tournante Ceased WO2009098285A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP09708843A EP2237923A1 (fr) 2008-02-07 2009-02-06 Table tournante

Applications Claiming Priority (2)

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DE102008008306A DE102008008306A1 (de) 2008-02-07 2008-02-07 Drehtisch
DE102008008306.2 2008-02-07

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WO2009098285A1 true WO2009098285A1 (fr) 2009-08-13

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PCT/EP2009/051371 Ceased WO2009098285A1 (fr) 2008-02-07 2009-02-06 Table tournante

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EP (1) EP2237923A1 (fr)
DE (2) DE102008008306A1 (fr)
WO (1) WO2009098285A1 (fr)

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