WO2010125057A2 - Support de robot - Google Patents

Support de robot Download PDF

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Publication number
WO2010125057A2
WO2010125057A2 PCT/EP2010/055616 EP2010055616W WO2010125057A2 WO 2010125057 A2 WO2010125057 A2 WO 2010125057A2 EP 2010055616 W EP2010055616 W EP 2010055616W WO 2010125057 A2 WO2010125057 A2 WO 2010125057A2
Authority
WO
WIPO (PCT)
Prior art keywords
receptacle
robot
component
machining
processing
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/EP2010/055616
Other languages
German (de)
English (en)
Other versions
WO2010125057A3 (fr
Inventor
Christian KÖRBEL
Wolfgang Gärtner
Martin Kraft
Markus Wess
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
Publication of WO2010125057A2 publication Critical patent/WO2010125057A2/fr
Publication of WO2010125057A3 publication Critical patent/WO2010125057A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors

Definitions

  • the invention relates to a method and a device for processing components, in particular in mass production of vehicles, preferably automobiles.
  • robots are used for machining vehicle components, for example for joining, forming or even machining.
  • the robots are arranged in processing stations along a production line or in a stand-alone processing station.
  • a preferred for the invention processing process to add components in stationary folding beds to composite components, for example, to vehicle attachments such as doors, hoods and Heckldappen.
  • a particularly efficient process is described in WO 2008/138503 A1.
  • PCT / EP2009 / 051371 proposes arranging a plurality of component receptacles adapted to different component types on a turntable, such that in the case of a type change by means of the turntable only the respectively fitting component receptacle has to be moved into a machining position, in which the same machining robots each Edit components.
  • change devices are also still complex and therefore expensive, also the flexibility limits, since the component mounts mounted in advance in the changing device and attached to the for Operation required media such as electricity, signaling and compressed air must be connected.
  • the changing facilities also require considerable space.
  • Components are also machined while being held in a component receptacle by a robot, such as WO 2007/110235 A1, in a tenter frame or tenter frame, as disclosed in particular in PCT / EP2008 / 004074.
  • a robot such as WO 2007/110235 A1
  • a tenter frame or tenter frame as disclosed in particular in PCT / EP2008 / 004074.
  • DE 103 38 170 Al proposes to arrange the machining tool stationary and instead to move the component holder with the component group received therein by means of a robot according to the machining process in space relative to the machining tool.
  • the inclusion of the component in a recording held by a robot poses problems when the machining process exerts machining forces on the component mounting, which are transmitted to the robot via the component mounting.
  • the robot arms of industrial robots have a certain flexibility, so they give in according to the load.
  • the load is on the one hand unfavorable for the robot, on the other hand, the machining position in which the robot presents the component to the machining tool, with a certain inaccuracy afflicted.
  • the component holder is inherently yielding, whereby the blurring is increased in the processing position.
  • the invention combines the advantages of manufacturing in stationary component mounts with the advantages of manufacturing in component mounts that are held during the manufacture of robots by the component pickup handled by a pick-up robot, while the processing is supported by a support device.
  • a method for processing a component the component received in a component receptacle is held by a suspension robot in a processing position in which the component is processed by means of a machining tool.
  • the robot can hold the recording immobile in the supported state in space or even move, as far as the support device in the supported state allows movements.
  • the term of holding in the context of the invention also includes a controlled or controlled movement of the recording.
  • the component receptacle which is also referred to below simply as a recording, is attached to a robot arm of the recording robot and remains for the processing of a series of identical components on the robot arm.
  • the invention assumes a machining process in which the machining tool exerts on the receptacle an external machining force which has to be supported outside the receptacle and the tool in order to hold the component in the machining position.
  • a processing force which not only acts within a Kraflhnes closed in the tool on the component and the recording, but unfolds effect to the outside, supported by the robot with the disadvantages mentioned above.
  • the receptacle or the robot arm is supported in the machining position on the support device in the effective direction of the machining force, so that the robot arm is at least substantially relieved of the load generated by the machining force. More precisely, he is at least essentially not burdened by this processing power. That it is at least substantially relieved, means that the support device receives at least a major part of the processing force, preferably at least 80% or more preferably over 90% of the processing power.
  • the support means is adapted to the machining process so that it receives the possibly acting in the changing direction processing force with respect to the main direction of action and the picking robot is thus at least substantially free of the processing power and relieved in this sense.
  • the support means can fulfill its supporting function by supporting the receptacle or the robot arm.
  • the word “or” is used here as always else by the invention in the usual logical sense as “inclusive or”, thus includes the meaning of "either or” and also the meaning of "and”, as far as the respective concrete context not just one of these two Meanings can result.
  • the support function this means that the support device directly either directly supports only the robot arm or directly only the receptacle or simultaneously both the receptacle and the robot arm. However, it corresponds to preferred embodiments if it directly supports only the receptacle and the receptacle and thus indirectly the robot arm.
  • second type of Aumahmeroboter For a change from a component of a first type to a component of another, second type of Aumahmeroboter must not first receive the adapted to the component of the first type recording, but they can move without delay to a tray, store in the tray, preferably automatically undock , And record instead of the stored recording another, adapted to the component of the second type recording, preferably automatically dock. It can move the new receptacle immediately after the support device and position it relative to it, so that the new receptacle is supported by the support device in the manner explained.
  • the support means and the receptacles are adapted to each other so far that the different receptacles can each be supported by the same support means.
  • the receptacles are preferably identical to one another with respect to their interface (s) with one another, while they differ from one another in adaptation to the different component types.
  • the receptacle can be supported, in particular, on its rear side remote from the accommodated component by the support device, since in many applications the machining forces act mainly on the receiving side facing the component to the rear side of the receptacle facing away from the component.
  • the receptacle is preferably connected to the robot arm on its rear side remote from the accommodated component.
  • the robotic arm can move the receptacle in preferably all six degrees of freedom of mobility in space.
  • the receptacle is advantageously attached to one end of the robot arm.
  • the receptacle is supported by the support device in the machining position, more precisely with the component in the working position, at least essentially immovably.
  • the support means forms a simple, non-movable, inherently non-variable system on which the receptacle rests in the supported state, for example, a support on which the receptacle rests and already due to gravity, so its weight, is fixed so far, that the robot only has to apply low holding forces in order to reliably prevent movements of the receptacle relative to the support device.
  • the receiving robot can temporarily lift the receptacle with the component from the support device and then reposition it with another orientation relative to the support device in the processing position for further processing.
  • the component is not moved during processing and not repositioned by lifting, possibly with a brief interruption of processing.
  • the support device may be equipped with a fixing device to fix the receptacle or the robot arm in addition to the support and relieve of any burden.
  • the support device movably supports the receptacle in the machining position, thus supporting it in a movable manner.
  • the picking up robot may also preferably move the pickup during processing, ie under the action of the external processing force, either continuously or intermittently or intermittently continuously or intermittently discontinuously, while the support means preferably constantly picks up during movement in relation to the main loading by machining forces supports.
  • the receptacle can be supported in particular by the fact that it rests in the processing position on the support means, is held for the purpose of moving only by the pickup robot and otherwise rests freely.
  • the distribution of tasks between the support device and the pickup robot can be such that the pickup robot holds the receptacle with respect to each degree of freedom of the movable wedge, which the support device of the receptacle leaves in the supported state. If the component is not moved during processing or between individual processing steps or should be fixed immobile for the entire processing in the support device, the pickup robot stops in the context of said task distribution, the recording relative to the support means and if this is preferably arranged as stationary and fixed, so unmoved, in the space of the processing station.
  • the support device supports the receptacle movably, so that in the supported state it has at least one degree of freedom of movability, then the receptacle observer holds the receptacle stationary with respect to this degree of freedom of movability or moves it in that degree of freedom in the processing position, for example between two processing steps or under the influence of the external machining force, while the support device supports the receptacle.
  • the support means of the receptacle leaves exactly two degrees of freedom of translation or a single degree of freedom of rotation, preferably all three degrees of freedom combined, with respect to which the recording robot holds the receptacle fixed or in which he or she moves relative to the support means and keeps moving. He may also move the recording in relation to one or more of the permitted degrees of freedom and fix it in the remaining degree of freedom (s).
  • the support means of the recording in the applied state leaves two degrees of freedom of translation and a degree of freedom of rotation, wherein the axis of rotation is preferably a surface normal of a contact surface of the support means and the translational movements tangential to the contact surface are possible.
  • the invention also relates to a device for machining a component, comprising a picking robot with a robot arm, a housing for the component attached to the robot arm, a machining robot with a robot arm and a machining tool fastened to the robot arm of the machining robot for machining the robot Component comprises.
  • the apparatus further comprises a supporting device for supporting the receptacle attached to the robot arm of the receiving robot or directly the robot arm of the receiving robot, wherein the support acts against an external machining force exerted on the receptacle by the machining tool during machining.
  • the machining force is a force exerted by the machining tool that would act on the robot arm of the recording robot without supporting it via the receptacle. When supported only directly from the robot arm, this is expediently as close as supported during the recording, so that such a support comes close at least with respect to the load and compliance of the robot arm, the preferred direct support of the recording.
  • the device according to the invention is flexible with regard to the possibility of changing the type of component to be processed.
  • the receptacle is fastened by means of a coupling to the robot arm, which allows a rapid, automatic undocking of the receptacle from the robot arm.
  • the device further comprises at least two different receptacles, namely the receptacle to be covered for the components of the first type and a further receptacle for components in each case of the second type.
  • the robot arm has a coupling half of the coupling, and the at least two receptacles each have a cooperating with this coupling half further coupling half, wherein the coupling halves of the receptacles are advantageously the same, but may well be different, as long as they only with the coupling half of the robot arm can interact, so that the recording robot can either dock one or the other recording automatically.
  • the coupling halves of the receptacles are advantageously the same, but may well be different, as long as they only with the coupling half of the robot arm can interact, so that the recording robot can either dock one or the other recording automatically.
  • Such robots have a stationarily arranged robot base and a robot arm projecting therefrom.
  • the processing robot is preferably also such a conventional robot-based stationary robot and projecting robot movable in space. For the type change only recordings in sufficient numbers and adapted to each one of the component types in the access area of the recording robot must be maintained.
  • the support device on a contact side on a contact surface or more contact surfaces for applying the recording and in or next to the contact surface or the contact surfaces on a passage or a recess for the robot arm of the recording robot.
  • the contact surface (s) and the passage are shaped and arranged relative to one another such that the robot arm can grip from the rear side of the support device, which faces away from the contact side, through the passage.
  • the passage is preferably open to one side, so that the Pickup robot can move its robot arm from this open side into the passage to apply the recording to the contact surface (s) of the support means.
  • the recess is shaped so that the robot arm can be received in the recess at least when the component is in the working position, if it has substantially parallel to the back of the recording.
  • the support device can in principle be arranged on a further robot or, if appropriate, a plurality of further robots, it is advantageously arranged in a stationary manner at a location accessible to the pickup robot and the processing robot.
  • the support device is as described above for the method in further developments adapted to support the recording in the machining position movable, so to leave her in the supported state at least one degree of freedom of mobility. Particularly preferably, it forms a contact surface, against which the receptacle rests in the supported state, so that it is supported in the direction of an axis orthogonal to the contact surface, which expediently points parallel to the main direction of action of the machining tool. If the recording on a contact surface, it will be taken a translatory and two degrees of freedom of rotational mobility. The remaining three other degrees of freedom of mobility are preferably not blocked by the support means. For fixing the recording with respect to these degrees of freedom or the controlled movement in one or more of these remaining degrees of freedom preferably provides the picking robot.
  • the contact surface can be in the strict sense of the word an area extending in two dimensions. This corresponds to preferred embodiments. But it can also consist only of investment points or investment lines that support the component in the applied state as a surface, in the case of, for example, only point-shaped support so at least three spaced investment points. In the case of a point-only contact surface, for example, this preferably comprises a multiplicity of contact points, that is to say a field of contact points which act together like a contact surface extending continuously in two dimensions.
  • the support means may comprise a joint, preferably a pivot joint or a sliding joint or a combined pivot joint, in which a bearing structure or other structure of the support device is movably mounted relative to a base structure of the support means.
  • the receptacle is supported in such embodiments of the support device on their investment or otherwise acting support structure, so that it is movable relative to this in the joint or possibly more joints relative to the base structure.
  • the support device has an open bearing surface, to which the receptacle can be applied, for example, supported by gravity horizontal or tilted inclined to the horizontal can be placed.
  • the open bearing surface can, for example, act as a pneumatic bearing by providing nozzles for ejecting a compressed gas and forming a gas cushion, preferably an air cushion, in the bearing surface.
  • the open bearing surface can be advantageously formed with bearing elements such as rollers or more preferably balls, which are rotatable relative to a bearing structure of the support means and on the mantle or spherical surfaces recording by means of the recording robot can be created.
  • the support device can also, as already explained for the method, simply have a contact surface for a stationary support of the recording.
  • the support means may be a pillar or a post which supports the receptacle at one point or more, in a point-like manner.
  • a plurality of columns or posts distributed together form the support means to locally limited the recording in the processing position at several locations and in this sense punctiform support.
  • the support device consists of a plurality of support parts which are arranged at a distance from each other, the above embodiments for movable support also apply individually to each of the support parts. This means that each individual support part can have a hinge or an open bearing surface.
  • the recording only a single component can be recorded and edited. It is inserted into the recording in the cycle of production, processed and then removed, so that in the next cycle of the same series with the next identical type Component can be moved in the same way. Likewise, it is possible to proceed with a group of components, wherein in the same series in the cycle of production one after the other type-identical component groups are processed. As far as only one component is mentioned, both cases are included. If the receptacle accommodates a group of components, the designated component is one of the group which comprises at least one further component.
  • the invention can be advantageously used in particular in those machining processes in which appreciably external machining forces act on the component receptacle, ie machining forces which are introduced into the robot arm via the component receptacle when a support according to the invention is not performed.
  • machining processes are chip processing such as in particular milling and drilling, forming processes such as embossing, edges, bending or crimping, in particular roll crimping or roll hemming, or punching, as well as screwing and certain riveting processes.
  • the invention finds use in the joining of components, such as in particular the Rollfalzen mentioned, in which a folding roller moves off a component flange and this um reckon so that a folding pocket is formed, in which another component protrudes with its edge, whereby the components of a joining group be fixed relative to each other. Due to the invention, such joining processes can be carried out with simple joining tools. In order to close the power flow in the joining tool, roller pairs of folding roller and counter roller are used in many applications. With the support device used according to the invention, the counter roller can be omitted. This is on the one hand in terms of the cost of the joining tool, on the other hand but especially in view of the often not available for the counter-role space and also for the mobility relative to the component.
  • the receptacle or the plurality of receptacles of the device is or are a folding bed or in each case a folding bed, such a receptacle can form a contact surface, in particular for one or more viewing surfaces, of one of the components to be joined.
  • the rolling over of component visible surfaces with a counter-roller is always problematic, as the visible surface is affected by the rolling over. Therefore, the invention also allows a particularly gentle processing in such joining processes as in particular the roll hemming or generalized the roll flanging.
  • the roll flanging becomes roll-folding.
  • Roll flanging can also be applied to an edge of a component without joining process just partially or completely reposition.
  • the Rollbördeln can be performed with a roller, a rotatable ball or even with a tool not movable Gleitbördelelement.
  • the device can be extended by one or more further pickup robots of the type mentioned or one or more further processing robots of the type mentioned.
  • the plurality of processing robots may in particular be adapted to act on the same component or on a plurality of components received in the same component receptacle at the location of the support device according to the invention.
  • the multiple pickup robots can interact in particular in alternation with the same support device.
  • the device may have one or more processing or pickup robots downstream of the processing flow of the processing position in order to verbally remove the processed component or the processed component from the receptacle and, if appropriate, further process it.
  • the device may include one or more handling robots that are upstream of or in front of the pickup robot holding the pickup in the processing position.
  • Such an additional or a plurality of additional handling robots may or may be arranged to arrange the component or a plurality of components of a component assembly to be produced by the machining in the component receptacle. If in each case a group of components is received in the receptacle in order to join the components of the group in the processing position to a component assembly, the components of the group can each be arranged one after the other in the receptacle or, more preferably, already as a nested component group in which the components in FIG the arrangement they occupy relative to each other in the composite to be created, already arranged, preferably nested.
  • the receptacle and the pickup robot, to which the receptacle is attached can also be set up to automatically pick up the next component or the respectively next components of a composite to be created.
  • presenting the component fixture in the supported state and placing the component or multiple components in the presented fixture by means of one or more other robots is preferred.
  • Advantageous features are also described in the subclaims and their combinations.
  • FIG. 1 shows a device according to the invention of a first embodiment
  • FIG. 3 shows a support device with a receptacle for components supported thereon
  • FIG. 4 shows a device according to the invention of a second exemplary embodiment
  • Figure 5 shows a support device with a supported support for the
  • Device of the second embodiment and Figure 6 is a modified from the support device of Figure 5 support means and the supported thereon receptacle of Figure 5.
  • FIG. 1 shows a first exemplary embodiment of a device according to the invention in a vertical plan view.
  • the device is a robot cell for joining in each case a first component with a second component.
  • the first component may be, for example, an outer skin part for a motor vehicle and the second component may be an inner part to be joined thereto.
  • the first and second components in pairs, for example, form a movable attachment of a motor vehicle, such as a door, a hood, a tailgate or sunroof.
  • Even solid body parts can be joined, for example, each a roof part with a sliding roof frame. Roll-folding is particularly suitable for joining, so that it is assumed by way of example that the device is a folding cell.
  • the joining process is carried out at a processing position 15.
  • the first components and second components of the same group are nested in the required position for the component composite layer relative to each other.
  • the upstream processing stage are two Handling robot 1 and 2 arranged.
  • the handling robot 1 respectively removes a first component from one of a plurality of component trays 11 i, 1 lj and 1 lk and transfers the picked-up component into an adhesive region 12.
  • adhesive region 12 adhesive is applied along a joining edge of the component.
  • the handling robot 1 moves the component into a box area 13 and places it there in a positioned position.
  • the other handling robot 2 takes a second component from one of a plurality of further component trays 14m and 14n, moves the picked second component into the box area 13 and positions it there, preferably on the first component previously deposited by the handling robot 1 in the one to be created Composite provided location.
  • the components are now loosely nested, wherein the provided with the adhesive joining flange of the first component overlaps with a Fügefiansch the second component.
  • the handling robot 2 picks up the nested components, moves them into the processing area at 15 and positions them there on a component receptacle which is fastened to a robot arm of a receiving robot 3.
  • the pick-up robot 3 is shown in FIG. 1 without a component receptacle, but assumes a position which it would also assume during the processing of the box assembly obtained by the handling robot 2.
  • the component holder has been omitted in the illustration in order to release the view of a support device 30 which is arranged stationarily in the processing area at the processing position 15.
  • the pickup robot 3 can optionally dock each of the receptacles 20a to 20d automatically at a short time at the end of its robot arm, move it into the processing area, position it relative to the support 30 and bring it into contact with the support.
  • the docked, and thus on the robot arm of the recording robot releasably secured receptacle, such as the receptacle 20a, is positioned by the pickup robot 3 relative to the support means 30 so that it is supported by the support means 30 in order to edit Do not have to record occurring processing forces from the pickup robot 3, but to support the support means 30.
  • a Rollfalzrati or includes at least one Rollfalzrati.
  • a machining tool 10 is attached, for example, each a Rollfalzwerkmaschine.
  • a roll-seaming tool 10 it would also be conceivable, for example, for a roll-seaming tool 10 to be provided only in one of the robotic robots 4 and 5, while the other carries a machining tool of a different type, for example a stamping, stamping, milling, drilling, riveting or screwing tool , It could also be, for example, a welding tool or a heating tool for gluing the adhesive in the optional other tool.
  • one of the processing tools 10 is a tool of the type that exerts on the or only one of the components a resulting external machining force that is not captured in the tool 10 itself, by the flow of machining force in the tool 10 closing, but in the receptacle and is introduced via this in the support means 30. If the support means 30 were not present, the picking robot 3 would have to absorb this resulting external processing force.
  • the processing robots 4 and 5 are arranged next to one another and opposite the picking robot 3 via the support device 30.
  • deviating arrangements relative to the pickup robot 3 are conceivable, for example an arrangement on one or both sides of the support means 30. The arrangement depends, for example, on where the components must be processed.
  • the contact structure 31 forms an abutment face on a contact side facing the machining tools 10, against which the receptacle 20 fastened to the robot arm of the receiving robot 3 rests with its rear side in the supported state.
  • bearing elements 32 are rotatably arranged.
  • the bearing elements 32 may be rotatable rollers or, in particular, balls that are relatively rotatable Investment structure are rotatable.
  • the bearing elements 32 form the actual contact surface of the support device 30, ie, the positioned receptacle 20 rests on the bearing elements 32.
  • the receptacle 20 can therefore be moved in the supported state by means of the recording robot 3 with relatively little effort relative to the support means 30, while it is supported directly on the bearing elements 32.
  • This movable support advantageously allows rotational movements about an axis orthogonal to the contact surface, in the example the vertical axis Z, and also translational movements parallel to the contact surface, in the example case in the XY plane of the plan view.
  • the processing robot 4 and 5 act with their tools 10 primarily in a parallel to the Z axis direction of action on the component assembly and thus on the receptacle 20 on the support means 30.
  • the contact surface formed by the bearing elements 32, in the positioned state during processing the receptacle 20 rests with its rear side, has orthogonal to this direction of action Z and thus absorbs most of the processing forces.
  • the abutment structure 31 has a passage 33 for the robot arm.
  • the passage 33 extends in the Z direction through the abutment structure 31, and also opens to one side.
  • the robot arm can therefore be moved from the side, by a movement orthogonal to the Z axis a little way into the investment structure 31 in order to create the preferably held at a central location receptacle 20 to the contact surface 32 can.
  • optional movements of the receptacle 20 by the pickup robot 3 can therefore be effected from a central location.
  • the receptacle 20 can be held on the contact structure 31 of the pickup robot 3 in a favorable position for processing.
  • the support means 30, more precisely the abutment structure 31, permits movements parallel to the abutment surface 32, ie translation movements in the X and Y directions as well as rotational movements about the Z axis. With respect to these three degrees of freedom, the receptacle 20 is held by the pickup robot 3, either fixed or controlled, optionally controlled, moved.
  • the device also comprises a removal robot 6, which joins the component after machining in the processing position 15 from the receptacle 20 remaining there takes and stores in a tray 16.
  • the removal robot 6 can additionally be used for further processing of the bonded composite, for example for a further roll-folding process or a consolidation process for the adhesive.
  • another processing area is shown at 17.
  • the removal robot 6 can carry on its robot arm in particular a folding bed to take the composite component in this folding bed and in cooperation with a in the processing area 17, for example, fixedly arranged Rollfalztechnikmaschinection in a downstream Rollfalz- or other joining process on before the component composite in the Tray 16 is stored.
  • the device can perform a type change of components quickly and flexibly.
  • first components i, j and k are each of different types, one type per shelf, be stored or constantly transported in time to a series production of a larger Vietnamese institutionslim ' e.
  • the device also has gripper shelves 18 for the handling robots 1 and 2, so that they can automatically exchange themselves in adaptation to the respective component type a gripper for the one type of component against another gripper for the other type of component itself.
  • one or more change tools 10 corresponding to the different grippers in the gripper trays 18 may be provided in the access area of the respective robot 4 or 5.
  • the component receptacles 20a to 2d are adapted to the different component components that can be produced with the different component types, ie in each case one receptacle 20a, 20b 5 20c or 20d per producible component assembly. Since the pickup robot 3 corresponding to the component composite selected and automatically docked receptacle 20, ie one of the images shown 20a to 2Od, while editing a certain type of composite on the pickup robot 3 remains, can be performed quickly and flexibly by an exchange, the pickup robot 3 , are changed from a composite of one type to another, for which a matching receptacle 20 is kept. The device is thus also suitable for type changes with only a small amount Quantities for each or some of the component types or composite types.
  • the pickup robot 3 can change between the different receptacles 20a to 2Od arbitrarily and automatically quickly. In order to edit or produce even more different types of components or composite types, only further recordings 20 need to be maintained. The exchange of the currently located in the device recordings 20a to 2Od against others is easy and quick, since the recordings must be held only in a suitable position for automatic docking.
  • FIG. 2 shows a receptacle 20 attached to the robot arm of the recording robot 3 in a first variant.
  • the receptacle 20 is releasably attached by means of a coupling 9 on the robot arm of the recording robot 3.
  • the coupling 9 comprises a coupling half 9a fixedly connected to the robot arm and a coupling half 9b firmly connected to the receptacle 20.
  • the coupling halves 9a and 9b cooperate so that the receiving robot 3 with the coupling half 9a by a straight approach movement along the Z-axis and by a directed in the Z direction pressure force the receptacle 20 can automatically dock.
  • the robot can rotate the receptacle 20 in its outermost wrist joint 8 about the Z-axis back and forth.
  • the receptacle 20 is exemplified for the execution of a Rollfalzreaes. It comprises a carrier structure 21 with a rear side facing the robot arm, on which the coupling half 9b is arranged. At the opposite front of a folding bed 22 is arranged, which is reshaped a contour of the component to be folded of the composite to be produced. The folding bed 22 forms a strip-shaped narrow base for the relevant component, which follows the course of the joint flange.
  • the receptacle 20 is a lightweight structure, but generally has a considerable weight of at least several times 10 kg, possibly even more than 100 kg.
  • a running plate 23 is arranged, which forms on its surface facing the robot arm a running surface 24, with which the receptacle 20 is applied to the support device 30, namely its abutment structure 31. If the contact surface of the contact structure 31 as preferred and im Embodiment imputed formed by movably mounted bearing elements 32, the receptacle 20 is in the positioned, supported on the support means 30 state with the tread 24 on the bearing elements 32, so that the pickup robot 3, the receptacle 20 with low friction over the contact surface 32 and thereby move on the one hand, to be able to precisely position and on the other hand also reposition, this should be favorable for the processing.
  • the low-friction possible mobility in the supported state can also be used with advantage to move the receptacle 20 with the recorded component group during processing by means of the recording robot 3, that is, while a supported by the support processing force acts.
  • the pickup robot 3 rotates the receptacle 20 for this purpose about the Z axis, parallel to which also the machining forces mainly act, if necessary, he can also move the receptacle 20 on the contact surface 32, that translate in the XY plane.
  • the contact surface may for example be shaped so that the receptacle 20 automatically centered in the positioning by means of the recording robot 3 on the contact surface and then possibly only rotatable or in the applied state relative to the support means 30 is no longer movable.
  • the receptacle 20 has a Fixiereinrichtimg 25 for fixing the recorded component group.
  • the fixing device is formed by a plurality of suckers 25, which are connected to each other via a common suction line 26.
  • the suction line 26 passes through the coupling 9, so that the suckers 25 are operated on the one hand by means of the recording robot 3 and the other are automatically connected automatically when docking.
  • the suckers 25 are arranged distributed over the course of the folding bed 22 and are formed by simple suction openings on the surface of the folding bed 22.
  • the suction line 26 expediently runs along a side edge of the folding bed 22, so that the suction or suction openings 25 are guided out of the material of the folding bed 22 to the outside to the suction line 26.
  • FIG. 3 shows a support device 30 in a section, in the sectional plane of which the Z-axis extends.
  • the support device 30 comprises an abutment structure 31, to which the above statements apply. While the abutment surface 32 in the device shown in Figure 1 is a horizontal surface, the abutment surface 32 of the support device 30 shown in Figure 3 with an inclination to the horizontal. The angle of inclination is about 60 °.
  • the section of Figure 3 passes through the robot arm of the recording robot 3 and thus also through the passage 33.
  • the inclined bearing structure 31 is supported at its rear by means of a support 34 at the bottom of the device.
  • the axis of action Z is inclined to the vertical according to the inclination of the contact surface.
  • the receptacle 20 is equipped in the region of the folding bed 22 with a fixing device, which is designed in the example as a clamping device with mechanical clamping members 27.
  • a fixing device which is designed in the example as a clamping device with mechanical clamping members 27.
  • suction devices and clamping devices can also form a fixing device of the respective receptacle 20 in combination.
  • the receptacle 20 of FIG. 3 corresponds to the receptacle 20 of FIG. 2 and the support device 30 corresponds to that of FIG. 1, so that the statements there also apply and also use the same reference numerals become.
  • the contact surface of the support means 30 may be horizontally aligned as shown in FIG. Alternatively, a vertical orientation can be realized.
  • the vertical orientation is advantageous in terms of space requirements, but requires the picking robot 3, the application of a larger holding force to hold the receptacle 20 to the contact surface.
  • the supporting device could have means for holding the receptacle 20 in vertical alignment of the contact surface, for example one or more stops that support the weight of the receptacle 20.
  • the inclined orientation as shown by way of example in FIG. 3, mediates between the two extremes of horizontal and vertical alignment.
  • a component of the weight force in the direction of the abutment surface 32 that is to say in the direction of action Z of the machining forces, and on the other hand the area required in the vertical plan view is still reduced compared with the horizontal alignment.
  • a further advantage compared to the horizontal orientation is not completely irrelevant, namely, that the load on the machining robot can be kept within a narrower range of fluctuation.
  • the difference in the extension of the robot arms that is, the distance between the robot base and the machining tool 10 are greatest, so that the compliance of the machining robots varies the most.
  • the fluctuation margin in the compliance of the robot arms is smaller with vertical or inclined alignment.
  • For the inclination of the contact surface 32 are angles of inclination to the horizontal or vertical from the range between preferably at least 30 ° and preferably at most 60 ° low.
  • FIG. 4 shows, in a vertical plan view, a device according to the invention of a second exemplary embodiment.
  • a pickup robot 3 and a hold-down robot 7 now cooperate in order to fix components to be joined in the processing position 15 relative to one another.
  • the receptacles 20 of the first exemplary embodiment are each provided with their own fixing device, for example the suction device 25, 26 and the clamping device 27, whereby both types of fixing device can also be realized in combination.
  • the clamping device 27 is also known as a so-called piano clamping technique.
  • receptacles 28 are used which do not have their own fixing device or do not have sufficient own fixing device. Rather, the components to be joined in the respective receptacle 28 are inserted, comparable to the boxes in the first embodiment, and in the inserted state by means of a blank holder 29 clamped relative to each other and thereby fixed.
  • the hold-down device 29 replaces the fixing device 25 or 27 provided directly at the receptacles 20 in the first exemplary embodiment.
  • the hold-down device 29 in turn is fastened to another robot, the robot arm of a hold-down robot 7.
  • the hold-down 29 is advantageously secured by means of a coupling 9 corresponding to the coupling 9 of the first embodiment on the robot arm of the hold-down robot 7.
  • the connections made for coupling 9 apply to the connection.
  • FIG. 5 shows a receptacle 28 and a hold-down 29, which together fix the components relative to one another in the position required for the joining process. Shown is the situation in the supported state of the receptacle 28.
  • the arranged in the processing area support means is again denoted by 30.
  • the support device 30 has no passage 33, but rather a recess 35, in which the end of the robot arm of the reception robot 3 is received in the supported state of the receptacle 28.
  • the recess 35 is not formed as a passage, but nevertheless open to the side, so that the robot arm to the side of the recess 35 may protrude, while the receptacle 28 rests with its back on the contact surface 32 of the contact structure 31.
  • the support means 30 corresponds to that of the first embodiment.
  • the receptacle 28 of the mentioned difference with regard to the fixing technique also apply the statements made under the first embodiment, such as with respect to the folding bed 22 and the connection to the robot arm of the robot 3.
  • the handling is similar to that of the first embodiment and distinguishes only if this is caused by the interaction with the hold 29.
  • the robot arm of the receiving robot 3 remains during the machining of components or component groups of the same type, ie between two component type changes, with the receptacle 28 on the contact surface 32 of the support structure 30th
  • a handling robot By means of a handling robot, not shown, in each case a first component in the processing area at 15 in the supported state presented by the receiving robot 3 recording 28 is inserted in time with the production.
  • the associated second component is likewise inserted into the receptacle 28 by a further handling robot, not shown, in the predetermined relative position to the first component.
  • the hold-down robot 7 places the hold-down 29 in direction -Z against the inserted components and biases the hold-down 29 by pressure in the -Z direction relative to the receptacle 28, so that the components are fixed relative to each other.
  • the hold-down robot 7 takes with its hold-29 each a second component of one of the trays 141 to 14n and positioned this in the processing area relative to the inserted first component.
  • the hold-down robot 7 pushes the hold-down 29 in the direction of the receptacle 28, whereby the components are fixed relative to each other.
  • the components are processed by means of the processing tools 10 of the processing robot 4 and 5.
  • the comments on the first embodiment also apply. Differences arise primarily only in the second embodiment, two robots 3 and 7, which are required for fixing the components per group of components.
  • the hold-down robot 7 and the hold-down 29 are used in preferred embodiments to take the joined component composite out of the receptacle 28, so that it is free again for the next first component immediately after execution of the machining process in the machining position 15.
  • an optional processing station is illustrated by means of which the hold-down robot 7 can move the component assembly comparable to the removal robot 6 of the first exemplary embodiment to the deposit 16 and deposit it in the latter.
  • the hold-down robot 7 moves the hold-down 29 to the respective shelf 141, 14m or 14n in order to receive the matching next second component there.
  • the statements made for the first embodiment apply.
  • the receptacle 20 of the first exemplary embodiment and also the receptacle 28 of the second exemplary embodiment remain in the processing area on the support device 30 until a respective component type change is completed.
  • the pickup robot 3 could also actively record the respectively next first component by means of the receptacle 20 or the receptacle 28, instead of presenting the respective receptacle 20 or 28 only for insertion.
  • the alternative procedure is limited to cases in which the receptacle 20 or 28 has only a low weight.
  • the receptacle 28 would have to be at least as far equipped with its own recording technique that they themselves can each transport a first component at least.
  • the hold-down clamping technique is to mention. Become the components with so-called piano clamping technique fixed relative to each other, the fixing means of the receptacle 20 can hinder the machining process. This can be counteracted by the fact that the fixing can be opened and closed individually. By contrast, the hold-down clamping technique leaves the edge of the components free for the machining process and therefore does not hinder the machining process. This applies in any case for training, as in the exemplary embodiment, in which the hold-down is docked in a central region of the hold-down robot 7 and surrounded the places to be processed such as roll-folding, the central attachment area. Alternatively, a receptacle 28 and a hold-down 29 could be used, as disclosed in WO 2007/110235, which is incorporated herein by reference.
  • FIG. 6 shows a variant of the support device 30.
  • the modified support means 30 has an internal pivot with the Z axis as the hinge axis.
  • the modified support means 30 is divided into two hinge elements, namely a base structure 36 and an abutment structure 37 which forms a simple, non-movable abutment surface for the receptacle 20 or 28.
  • These two joint elements namely base structure 36 and abutment structure 37, are rotatable relative to one another by means of bearing elements 38.
  • the base structure 36 and the abutment structure 37 could also form a rotational sliding bearing with each other.
  • the joint member 37 forms the contact surface 32 for the receptacle 20 or 28.
  • a mobility is given in the applied state by the joint 37, 38.
  • the bearing elements 32 or 38 provided on the side of the support device 30 in FIGS. 5 and 6 are provided on the rear side of the receptacle 20 or 28 or a receptacle with a joint.
  • the recording is more complex, the support means 30 in turn simplified.
  • bearing elements 32 are preferably provided in the support device 30, since the same support means 30 can advantageously be used for a plurality of different receptacles 20 or 28.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

Procédé d'usinage d'un élément, de préférence d'assemblage d'un élément avec au moins un autre élément, selon lequel a) un robot récepteur (3) maintient, au moyen d'un logement (20; 28) fixé sur un bras du robot, l'élément placé dans le logement (20; 28) en une position d'usinage (15), b) l'élément placé dans le logement (20; 28) est usiné au moyen d'un outil d'usinage (10) qui, lors de l'usinage, exerce une force d'usinage sur le logement (20; 28), cette force d'usinage devant être soutenue à l'extérieur du logement (20; 28) afin de maintenir l'élément en position d'usinage (15), c) le logement (20; 28) ou le bras du robot, en position d'usinage (15), est soutenu par un dispositif de support (30), à l'encontre de la force d'usinage, de sorte que le bras du robot est au moins sensiblement déchargé de la sollicitation exercée par la force d'usinage.
PCT/EP2010/055616 2009-04-27 2010-04-27 Support de robot Ceased WO2010125057A2 (fr)

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DE200910018619 DE102009018619B4 (de) 2009-04-27 2009-04-27 Roboterabstützung
DE102009018619.0 2009-04-27

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WO2010125057A2 true WO2010125057A2 (fr) 2010-11-04
WO2010125057A3 WO2010125057A3 (fr) 2010-12-23

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