DE102009018619B4 - robot support - Google Patents

Abstract

Method for machining a component, in which a) a receiving robot (3) with a holder (20; 28) attached to a robot arm holds the component received in the holder (20; 28) in a processing position (15), b) during the Component in the receptacle (20; 28) is processed by means of a processing tool (10) which, during processing, exerts a machining force on the receptacle (20; 28) which has to be supported outside the receptacle (20; 28) in order to produce the component to hold in the machining position (15), c) and the receptacle (20; 28) or the robot arm in the machining position (15) is or are supported on a support device (30) against the machining force, so that the robot arm is supported by the Machining force generated load is at least substantially relieved, d) the receptacle (20, 28) on its back facing away from the component or directly the robot arm of the receiving robot (3) in front of a region of the robot arm the back of the receptacle (20; 28) is supported by the support device (30), the receiving robot (3) not undocking the receptacle (20; 28) and docking on the support device (30).

Description

The invention relates to a method and a device for processing components, in particular in mass production of vehicles, preferably automobiles.

In the mass production of vehicles, 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. Thus, in roll-folding, a preferred processing process for the invention, it is common to add components in stationary folding beds to composite components, for example to vehicle attachments such as doors, hoods and tailgates. A particularly efficient process will be in the WO 2008/138503 A1 described.

If, in addition to the demand for the shortest possible cycle times, ie high component throughput, flexibility with respect to the type of components to be machined required, several processing stations can be provided, one processing station per component type. However, the effort to be made increases in proportion to the number of different types of components. In order to reduce the effort, for example by using the same processing robot for different types of components, processing stations with changing devices for different component recordings are known. So that beats WO 2009/098285 A1 prior to arranging a plurality of adapted to different types of component component recordings on a turntable, so that in the case of a type change using the turntable only the respectively matching component holder must be moved to a processing position in which each edit the same processing robot components. However, such changing devices are also still expensive and therefore expensive, also the flexibility limits, since the component receptacles fixed in advance in the removable device and must be connected to the necessary media for operation, such as electricity, signaling and compressed air. The changing facilities also require considerable space.

Components are also machined while being held in a component receptacle by a robot, such as the WO 2007/110235 A1 in a tenter or frame, such as the particular WO 2009/140 977 A1 disclosed. In reversal of the conditions in the conventional handling during processing beats the DE 103 38 170 A1 to arrange the machining tool stationary and instead to move the component holder with the recorded therein component group by means of a robot according to the machining process in space relative to the machining tool.

The DE 196 52 465 A1 relates to a method and an apparatus for processing a workpiece in a processing station with an industrial robot. In this case, the workpiece is guided by a robot in the processing station and the robot supports the workpiece against the machining direction of the tools in the processing station.

The US 2009/0 038 361 A1 relates to a method for folding a sheet by means of a robot holding the workpiece to be machined, a support device for the workpiece, wherein the robot presses the workpiece to be machined against the support device, and another robot that holds and guides the tool. With the tool, the workpiece clamped between the robot arm and the supporting device is machined.

The WO 00/71 292 A1 relates to a positioning device for workpiece carriers and workpieces. The workpiece to be machined is clamped on a workpiece carrier and this then clamped between a one-armed manipulator and a frame with a centering. Between the manipulator and the centering a recording device is positioned, on which the manipulator can support the workpiece carrier in one or more axes.

The JP 2005 014 069 A relates to a crimping device and a method for crimping a sheet edge. In this case, a workpiece in a workpiece holder is held by a robot, while a second robot, which guides the hemming tool, and a third robot, which carries a support roller for the hemming tool, machine the workpiece.

The US 2006/0 245 901 A1 relates to a provision device for, for example, a car body part for welding. The apparatus includes a robot having a robotic arm and a tool adapted to grip and connect the carabiner part to a stationary retention mechanism. After the connection, the robot can move the car frame part to a desired position by means of the holding mechanism, whereby the car frame part can be rotated and / or raised or lowered by the robot arm and the holding mechanism for welding.

The JP S62-238 099 A relates to a holding device for holding an object to be welded. The object is connected via a spot weld to a frame that is covered by a Robot is held for welding and stored on a storage device. If a welding robot can not reach a part of the object to be welded, the robot can lift and rotate the frame with the object from the depositing device.

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. Further, the component pickup is inherently compliant, thereby increasing the blur in the machining position.

It is an object of the invention, in the machining of components, in particular in mass production of vehicles with high throughput, a change of the type of components in a short time in a simple manner and thus flexible to allow, but still to ensure the machining accuracy of such machining processes, in which considerable machining forces are exerted on the respective component and the component receiving as external, not absorbed in the tool itself forces.

This object is achieved by a method according to claim 1 and an article according to claim 12.

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.

In a method for processing a component, the component received in a component receptacle is held by a pickup robot in a processing position in which the component is processed by means of a processing 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 holder, which is also referred to below simply as a receptacle, 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. In the prior art, such an operating force, which not only acts within a force flow which is closed in the tool via the component and the receptacle, but also produces an outward effect, is supported by the robot with the disadvantages mentioned in the introduction.

According to the invention, 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 learns by this processing power, at least substantially no burden. Conveniently, 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 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 from the each concrete context can not exclusively give only one of these two meanings. With regard to 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. Preferred embodiments, however, it corresponds, if it directly supports only the recording and the recording and thus indirectly the robot arm.

The fact that the pick-up robot does not undock the receptacle and docks on the support device, the recording rather remains on the robot arm, increases the flexibility in terms of component type change. For a change from a component of a first type to a component of another, second type, the pickup robot does not have to first pick up the receptacle adapted to the component of the first type, but can move it without delay to a tray, place it in the tray, preferably automatically undock it , And record instead of the stored recording another, adapted to the component of the second type recording, preferably automatically dock. He can take the new picture right after the support move and position relative to this, so that the new receptacle is supported by the support means in the manner explained. Preferably, 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 is supported on its side facing away from the recorded component rear side of the support means, since the processing forces act in many applications mainly from the component facing the receiving side to the opposite rear side of the recording. 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.

In simple embodiments, 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. In such embodiments, 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. If the machining position for the machining is to be changed, 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. In particularly simple embodiments, 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.

In preferred developments, the support device movably supports the receptacle in the machining position, thus supporting it in a movable manner. The recording robot can also record the recording preferably during the processing, d. H. under the action of the external machining force, either continuously or discontinuously or intermittently continuously or intermittently discontinuously, while the support means constantly supports the pickup during movement with respect to the main load of machining forces. Also in the further development, 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. In particular, the distribution of tasks between the support device and the pickup robot may be such that the pickup robot holds the pickup with respect to any degree of freedom of movability that the support means of the pickup leaves in the supported state. If the component is not moved during the processing or between individual processing steps or should be fixed immovably for the entire processing in the support means, the receiving robot holds within the scope of said task distribution the recording relative to the support means and if this is arranged as preferred stationary and fixed, so unmoved, in the room of the processing station. If the support device movably supports the receptacle so that it has at least one degree of freedom of movability in the supported state, the receiving robot holds the receptacle stationary with respect to this degree of freedom of movability or moves it in this degree of freedom in the processing position, for example between two processing steps or under the influence of the external processing force, while the support device supports the recording. In preferred embodiments, in which the receptacle rests on the support means, the support means of the receptacle preferably leaves exactly two degrees of freedom of translation and a single degree of freedom of rotation with respect to which the receiving robot fixes the receptacle or in which it moves relative to the support means and stops at the movement. 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).

In addition to the method, the invention also relates to a device for machining a component, comprising a picking robot with a robot arm, a housing for the component fastened 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 support means for supporting the receptacle attached to the robotic arm of the pickup robot or directly the robotic arm of the pickup robot, the support being against one from the processing tool acting on the recording external processing power acts during processing. The machining force, as already mentioned, 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. With support only directly of the robot arm, this is expediently supported as close as possible during the recording, so that such a support comes close at least with respect to the load and resilience of the robot arm, preferably 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. In preferred embodiments, for this purpose, 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 furthermore comprises at least two different receptacles, namely the receptacle to be jacked off for the components of the first type in each case and a further receptacle for components of the second type in each case. 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 can also be quite 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. For the change, only one home-use flexible and not least in terms of the cost of cheaper pickup robot is needed, which can advantageously correspond to the usual industrial robots. 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.

In preferred embodiments, 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. If it has the passage, 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 picking 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. If the support device has only one recess in a contact surface, so that the robot arm can not reach through the support device from the rear side, then 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.

Although 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 picking 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.

In order to movably support the receptacle in the machining position, 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. In an alternative embodiment, 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 storage area can For example, act as a pneumatic bearing by nozzles in the storage area for ejecting a compressed gas and formation of a gas cushion, preferably air cushion are provided. 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.

However, 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. In a first extension 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. If 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.

In 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 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.

As already mentioned, the invention can be advantageously used, in particular, in such machining processes in which appreciably external machining forces act on the component mounting, ie. H. Machining forces that are introduced via the component holder in the robot arm when a support according to the invention is not performed. Examples of such 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. Particularly preferably, 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 umgelegt 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. If 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 visible 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. When joining two or more components, the roll flanging becomes roll-folding. However, roll flanging can also be used to only partially or completely reposition an edge of a component without a joining process. 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. In addition to or instead of a plurality of pickup robots or a plurality of processing robots, the device may have one or more processing or pickup robots downstream of the processing flow of the processing position in order to remove the processed component or the processed component assembly from the receptacle and to process it further, if necessary. 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 several additional Handling robot can or can be set up to arrange the component or several 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. However, 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.

Hereinafter, embodiments of the invention will be explained with reference to figures. The features which become apparent on the figures form each individually and in each combination of features the subject-matter of the claims and also the embodiments explained above. Show it:

1 an inventive device of a first embodiment,

2 a receptacle for components,

three a support device with a support for components supported thereon,

4 a device according to the invention of a second embodiment,

5 a support device with a support supported thereon for the device of the second embodiment and

6 one of the support means of 5 modified support device and supported thereon of the recording 5 ,

1 shows a first 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. In combination, 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 becomes at a machining position 15 carried out. In a the actual joining process 15 upstream stage, 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. In the upstream processing stage are two handling robots 1 and 2 arranged. The handling robot 1 each takes a first component from one of several component trays 11i . 11j and 11k and transfers the recorded component into an adhesive area 12 , In the gluing area 12 Adhesive is applied along a joining edge of the component. After applying the adhesive, the handling robot moves 1 the component in a box area 13 and put it there positioned. Parallel takes the other handling robot 2 a second component from one of several further component trays 14m and 14n , moves the received second component into the box area 13 and positions it there, preferably on the one previously handled by the handling robot 1 stored first component in the intended for the composite to be created situation. The components are now loosely nested, wherein the provided with the adhesive joining flange of the first component overlaps with a joining flange of the second component.

Either during positioning of the second component or subsequently in a separate step takes the handling robot 2 The nested components move them into the processing area 15 and positioned there on a component receptacle, which on a robot arm of a recording robot three is attached. The pickup robot three is in 1 shown without component recording, however, assumes a position which he also in the processing of the handling robot 2 would take the received nesting composite. The component holder was omitted in the illustration, to look at one in the processing area at the machining position 15 stationary support device 30 release.

In the access area of the recording robot three By way of example, at its rear side facing away from the processing area are the receiving robot three several different component recordings 20a . 20b . 20c and 20d arranged so that the picking robot three Optionally, each of the shots 20a to 20d automatically dock in the shortest time at the end of his robotic arm, move into the processing area, there relative to the support device 30 position and bring in contact with the support means. The docked and thus on the robot arm of the recording robot releasably secured recording, for example, the recording 20a , is from the capture robot three relative to the support device 30 positioned so that they are from the support device 30 is supported to processing forces occurring during processing not from the picking robot three to have to take, but at the support device 30 support.

The processing is as I said in the example, a Rollfalzprozess or includes at least one Rollfalzprozess. In the processing area are processing robots 4 and 5 arranged on the respective robot arm, a machining tool 10 is fixed, for example, each one Rollfalzwerkzeug. It would also be conceivable, for example, that a Rollfalzwerkzeug 10 only with one of the processing robots 4 and 5 is provided while the other carries a machining tool of a different kind, for example, a stamping, punching, milling, drilling, riveting or screwing. 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 editing tools 10 is in any case a tool of the type that exerts on the or only one of the components a resulting external machining force that is not in the tool 10 itself is caught by the flow of processing power in the tool 10 closes, but in the receptacle and this in the support device 30 is initiated. Would be the support device 30 not available, would have the recording robot three absorb this resulting external processing power. The machining robots 4 and 5 are exemplary next to each other and the recording robot three over the support device 30 Seen opposite arranged. Different arrangements relative to the pickup robot three However, 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 on the pickup robot three attached recording, for the following representative of each of the different recording 20a to 20d alike the reference number 20 is used, is supported in a plant structure 31 the support device 30 at. The investment structure 31 forms at one of the editing tools 10 facing plant side a contact surface, at the supported state in the robot arm of the recording robot three attached picture 20 with its back resting. In the investment structure 31 are bearing elements 32 rotatably arranged. At the bearing elements 32 it may be rotatable rollers or in particular be balls that are rotatable relative to the investment structure. The bearing elements 32 form the actual contact surface of the support device 30 ie the positioned recording 20 lies on the bearing elements 32 on. The recording 20 can therefore in the supported state by means of the recording robot three with relatively little effort relative to the support device 30 be moved while they are directly attached to the bearing elements 32 supported. This movable support advantageously allows rotational movements about an axis orthogonal to the abutment surface, in the example the vertical axis Z, and also translational movements parallel to the abutment surface, in the example case in the XY plane of the plan view. The machining robots 4 and 5 work with their tools 10 primarily in a direction parallel to the Z-axis direction of action on the component assembly and thus on the recording 20 on the support device 30 , The of the bearing elements 32 formed contact surface, in the positioned state during processing recording 20 rests with its back, has orthogonal to this direction of action Z and thus absorbs most of the processing forces.

To the recording 20 To be able to attach to a robotic arm favorable for handling point, has the investment structure 31 a penetration 33 for the robot arm. The penetration 33 extends in the Z direction through the investment structure 31 , and also opens to a page. The robot arm can therefore move from the side, by a movement orthogonal to the Z-axis a little way into the investment structure 31 be moved to the preferably held in a central location recording 20 to the contact surface 32 to create. In the applied, supported in the Z direction state therefore optional movements of the recording from a central location 20 through the recording robot three be effected. In particular, the recording 20 at the investment structure 31 from the pickup robot three be held in a favorable position for processing. The support device 30 , more precisely, the investment structure 31 , allows movements parallel to the contact surface 32 , ie translational movements in the X and Y directions as well as rotational movements about the Z axis. In terms of these three degrees of freedom is the recording 20 from the pickup robot three held, either fixed or controlled, optionally regulated, moved.

The device also includes a removal robot 6 that the component composite after machining in the machining position 15 from the recording remaining there 20 takes and in a filing 16 stores. Optionally, the removal robot 6 additionally for further processing of the Component composite used, for example, for another Rollfalzprozess or a solidification process for the adhesive. To indicate the optional additional usability is with 17 another editing area shown. This is how the picking robot can do it 6 in particular, carry a folding bed on its robot arm in order to receive the component composite in this folding bed and in cooperation with one in the processing area 17 For example, to place fixedly arranged Rollfalzwerkzeug in a downstream Rollfalz- or other joining process on before the component composite in the tray 16 is filed.

The device can perform a type change of components quickly and flexibly. So can in the shelves 11i . 11j and 11k first components i, j and k are each of a different type, one type per shelf, be stored or constantly transported to the beat of a series production of a larger production line. The same applies to the shelves 14m and 14n for second components of different types, one type m in the tray 14m and another guy in the bin 14n , The device also has gripper shelves 18 for the handling robots 1 and 2 so that they can automatically replace a gripper for the one component type against another gripper for the other component type in adaptation to the respective component type. For the machining robots 4 and 5 can be in the access area of the respective robot 4 or 5 one or more change tools 10 according to the different grippers in the gripper shelves 18 be provided.

The component pictures 20a to 20d are adapted to the different component composites that can be produced with the different component types, ie in each case one receptacle 20a . 20b . 20c or 20d per producible component group. Because of the pickup robot three the component composite accordingly selected and automatically docked recording 20 ie one of the images shown 20a to 20d while editing a particular part compound type on the pickup robot three remains, through an exchange, the picking robot three can quickly and flexibly perform themselves, be changed from a composite of one type to another, for a suitable recording 20 is held up. The device is thus also suitable for low-volume type changes for any or some of the component types or composite types. The pickup robot three can be between the different shots 20a to 20d change quickly and automatically. To be able to edit or produce even more different types of components or composite types, only need further recordings 20 be kept. The replacement of the recordings currently in the device 20a to 20d against others is easy and quick, since the recordings only need to be kept in a position suitable for automatic docking.

2 shows one on the robotic arm of the recording robot three attached picture 20 in a first variant. The recording 20 is by means of a clutch 9 detachable on the robotic arm of the recording robot three attached. The coupling 9 includes a coupling half fixedly connected to the robot arm 9a and one with the recording 20 connected coupling half 9b , The coupling halves 9a and 9b work together so that the picking robot three with the coupling half 9a by a straight approach movement along the Z-axis and by a directed in the Z direction pressure the recording 20 can automatically dock. When docked and thereby attached, the robot can take the picture 20 in his extreme wrist joint 8th rotate back and forth around the Z axis.

The recording 20 is exemplified for the execution of a Rollfalzprozesses. It comprises a support structure 21 with a robot arm facing back, on which the coupling half 9b is arranged. At the opposite front is a folding bed 22 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 component in question, which follows the course of the joint flange. The recording 20 is a lightweight structure, but generally has a considerable weight of at least several times 10 kg, possibly also over 100 kg.

At the robot arm facing back of the support structure 21 is a running plate 23 arranged on its surface facing the robot arm a tread 24 forms, with which the admission 20 to the support device 30 namely their investment structure 31 is created. Will the investment area of the investment structure 31 as preferred and assumed in the exemplary embodiment of movably mounted bearing elements 32 formed, is the recording 20 positioned in the support device 30 supported condition with the tread 24 on the bearing elements 32 so that the pickup robot three the recording 20 with low friction over the contact surface 32 move and thereby on the one hand can 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 be used to advantage, the recording 20 with the recorded component group during processing by means of the recording robot three to move, ie, while a supported by the support means working force acts. The pickup robot three turns the recording 20 this around the Z-axis, parallel to the processing forces mainly act, if necessary, he can take the recording 20 also over the contact area 32 move, so translate in the XY plane.

The investment area of the investment structure 31 , For example, a movably mounted bearing elements 32 formed contact surface, does not have to be flat, although this is preferred. The contact surface can for example be shaped so that the recording 20 when positioning using the recording robot three automatically centered on the contact surface and then possibly only rotatably or in the applied state relative to the support device 30 is no longer mobile.

The recording 20 has a fixing device 25 for fixing the recorded component group. The fixing device is provided by a plurality of suckers 25 formed by a common suction line 26 connected to each other. The suction line 26 leads through the clutch 9 so that the suckers 25 on the one hand by means of the recording robot three operated and connected to the other when docking the same automatically. The suckers 25 are over the course of the folding bed 22 arranged and distributed through simple suction openings on the surface of the folding bed 22 educated. The suction line 26 expediently runs along a side edge of the folding bed 22 so that the suckers or suction openings 25 from the material of the folding bed 22 outwards to the suction line 26 are guided.

three shows a support device 30 in a section in the sectional plane of which extends the Z-axis. The support device 30 includes an investment structure 31 to which the above statements apply. While the contact surface 32 at the in 1 The apparatus shown is a horizontal surface, has the contact surface 32 the in three illustrated support device 30 with a tilt to the horizontal. The angle of inclination is about 60 °. The cut of the three passes through the robotic arm of the recording robot three and thus also through the penetration 33 , The inclined investment structure 31 is at its back by means of a prop 34 supported 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 recording 20 is in the area of the folding bed 22 equipped with a fixing device, which in the example as a clamping device with mechanical clamping members 27 is executed. In the recordings 20 In principle, also in other types of recordings for other types of processing, suction devices and clamping devices can also in combination a fixing device of the respective recording 20 form. Of the differences mentioned with regard to the fixing device and the inclined orientation of the contact surface 32 apart from the recording 20 of the three the recording 20 of the 2 and the support device 30 that of the 1 , so that the statements there also apply and also the same reference numerals are used.

The contact surface of the support device 30 can be like in 1 be aligned horizontally. Alternatively, a vertical orientation can be realized. The vertical orientation is advantageous in terms of space requirements, but requires the picking robot three the application of a larger holding force to the recording 20 to hold on the contact surface. To the pickup robot three In this regard, to relieve, in vertical alignment of the contact surface, the support means on aids for holding the recording 20 have, for example, one or more stops, the weight of the recording 20 support. The inclined orientation, like three By way of example, it shows the two extremes of horizontal and vertical alignment. First, a component of the weight in the direction of the contact surface 32 , So in the direction of action Z of the processing forces, and on the other hand, the area required in the vertical plan view is still reduced compared to the horizontal orientation. Furthermore, a further advantage compared to the horizontal orientation is not entirely irrelevant, namely that the loading of the processing robot can be kept within a narrower fluctuation range. With horizontal alignment, the difference in the extension or extension of the robot arms, ie the distance between the robot base and the machining tool 10 , largest, so that the compliance of the machining robot 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.

4 shows in a vertical plan view of an inventive device of a second embodiment. In contrast to the first embodiment, a pickup robot now acts three and a hold-down robot 7 together to components to be joined in the machining position 15 to fix relative to each other.

The pictures 20 of the first embodiment are each provided with its own fixing device, for example, the suction device 25 . 26 and the clamping device 27 Both types of fixing device can also be realized in combination. The clamping device 27 is too known as so-called piano clamping technique. Unlike recordings 20 with such fixing come in the second embodiment recordings 28 used, which do not have their own fixing or do not have a sufficient own fixing device. Rather, the components to be joined in the respective recording 28 inserted, similar to the boxes in the first embodiment, and in the inserted state by means of a hold-down 29 clamped relative to each other and thereby fixed. The hold down 29 replaced in the first embodiment directly in the recordings 20 provided fixing device 25 or 27 , The hold down 29 turn is on another robot, the robot arm of a Niederhalteroboters 7 , attached. The hold down 29 is advantageously by means of a coupling 9 according to the coupling 9 of the first embodiment of the robot arm of the hold-down robot 7 attached. For the connection apply to the clutch 9 made statements. In particular, is also for the hold-down 29 a completely automatic, quick change in case of a component type change possible.

5 shows a picture 28 and a hold-down 29 , which fix the components together in the required position for the joining process relative to each other. Shown is the situation in the supported state of the recording 28 , The arranged in the processing area support device is again with 30 designated. The support device 30 has in contrast to the support means of the first embodiment, no penetration 33 but a recess 35 on, in which the end of the robotic arm of the recording robot three in the supported state of the recording 28 is included. The recess 35 is not formed as a passage, but nevertheless open to the side, leaving the robot arm to the side of the recess 35 can protrude while recording 28 with its back on the contact surface 32 the investment structure 31 is applied. From the recess 35 apart from the support device corresponds 30 that of the first embodiment. For receiving 28 From the mentioned difference with regard to the fixing technique, the statements made under the first embodiment also apply, for example with regard to the folding bed 22 and the connection with the robotic arm of the robot three , The handling is similar to that of the first embodiment and differs only insofar as this by the interaction with the hold-down 29 is initiated. This leaves the robot arm of the recording robot three during machining of components or component groups of the same type, ie between two component type changes, with the receptacle 28 at the contact surface 32 the support structure 30 ,

By means of a handling robot, not shown, in each case a first component in the processing area at the time of manufacture 15 in the supported state of the pickup robot three presented shot 28 inserted. In a first variant of the method, the associated second component of a further, not shown handling robot also in the recording 28 inserted, in the predetermined relative position to the first component. Then the holding robot places 7 the hold down 29 in direction -Z against the inserted components and clamps 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. In a second process variant, the hold-down robot takes 7 with his downholder 29 in each case a second component from one of the shelves 14l to 14n and positions this in the processing area relative to the inserted first component. In the positioned state d, the hold-down robot presses 7 the hold down 29 towards the recording 28 , whereby the components are fixed relative to each other. In the fixed state, the components by means of the processing tools 10 the machining robot 4 and 5 processed. In this regard, the comments on the first embodiment also apply. Differences arise primarily only in the second embodiment, two robots three and 7 , which are required for fixing the components per component group.

The hold-down robot 7 and the hold-down 29 are used in preferred embodiments to the joined component composite from the recording 28 so that these immediately after execution of the machining process in the machining position 15 free again for the next first component. Shown is next to the hold-down robot 7 an optional processing station through which the hold-down robot 7 the component composite comparable to the removal robot 6 of the first embodiment for storage 16 move and can put in this. Then the hold-down robot moves 7 in the second process variant the hold-down 29 to the respective filing 14l . 14m or 14n to pick up the matching next second component there. Regarding the editing area 17 apply the statements made to the first embodiment.

In the illustrated examples, the recording remains 20 of the first embodiment and also the recording 28 of the second embodiment in the processing area on the support means 30 until a respective component type change is made. In an alternative procedure, the picking robot three also by means of the recording 20 or the recording 28 actively record the next first component instead of the respective recording 20 or 28 only to be presented. However, the alternative procedure is limited to cases in which the intake 20 or 28 only has a low weight. In addition, the recording would have 28 at least to the extent that they are equipped with their own recording technology so that they themselves can at least transport a first component at least. Here, for example, would be a suction device in question. In this context, another advantage of the hold-down clamping technique is to mention. If the components are fixed relative to each other with so-called piano clamping technique, the fixing means of the recording 20 hinder the editing 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 embodiment in which the hold-down in a central region of the hold-down robot 7 is docked and surrounded the areas to be processed such as when Rollfalzen, the central mounting area. Alternatively, a shot could 28 and a hold-down 29 be used as they are WO 2007/110235 disclosed in this regard.

In 6 is a variant for the support device 30 shown. In the variant do not form the bearing elements 32 immediately the contact surface for the recording 20 or 28 , Rather, the modified support means 30 an internal pivot on with the Z axis as the hinge axis. The modified support device 30 is divided into two hinge elements, namely a basic structure 36 and an investment structure 37 the one simple, non-movable contact surface for recording 20 or 28 forms. These two joint elements, namely basic structure 36 and investment structure 37 , are relative to each other by means of bearing elements 38 rotatable. Instead of additional bearing elements 38 to use could be the basic structure 36 and the investment structure 37 also form a rotary plain bearing with each other.

In yet another variant, in the first and second embodiments, they are on the side of the support device 30 provided bearing elements 32 or 38 at the back of the picture 20 or 28 intended. This will be the recording 20 or 28 more complex, the support device 30 again simplified. Preferred are such bearing elements 32 but with the support device 30 provided as the same support device 30 advantageously for a plurality of different recordings 20 or 28 can be used.

LIST OF REFERENCE NUMBERS

1

handling robots

2

handling robots

3

picking robot

4

processing robot

5

processing robot

6

removal robot

7

Hold-robot

8th

Articulated robotic arm

9

clutch

10

processing tool

11i-k

Storage of first components

12

adhesive area

13

box area

14l-n

Tray second components

15

processing position

16

Shelf component composite

17

editing area

18

gripper storage

19

20a-d

Recordings

21

support structure

22

folding bed

23

running plate

24

tread

25

Fixing device, sucker

26

suction

27

Fixing device, clamping members

28

admission

29

Stripper plate

30

support means

31

investment structure

32

Contact surface, bearing elements

33

penetration

34

support

35

recess

36

base structure

37

investment structure

38

bearing elements

Z

Effective axis, effective direction

Claims (23)

Method for processing a component, in which a) a pick-up robot ( three ) with a receptacle attached to a robot arm ( 20 ; 28 ) that in the recording ( 20 ; 28 ) received component in a processing position ( 15 b) while the component in the receptacle ( 20 ; 28 ) by means of a processing tool ( 10 ) that is being edited on the recording ( 20 ; 28 ) carries out a processing outside the recording ( 20 ; 28 ) to support the component in the machining position ( 15 ), c) and recording ( 20 ; 28 ) or the robot arm in the machining position ( 15 ) on a support device ( 30 ) is or are supported against the processing force, so that the robot arm of the burden generated by the machining force is at least substantially relieved, whereby d) the recording ( 20 . 28 ) on its rear side facing away from the component or directly the robot arm of the recording robot ( three ) in a region of the robot arm in front of the rear side of the receptacle ( 20 ; 28 ) by the support device ( 30 ) is supported, wherein the receiving robot ( three ) the recording ( 20 ; 28 ) undocks and at the support device ( 30 ). Method according to the preceding claim, in which the picking robot ( three ) for a change from a component of a first type to a component of another, second type, the receptacle adapted to the component of the first type ( 20 ; 28 ) stores in a storage, preferably automatically undocked, and instead of the stored recording ( 20 ; 28 ) another, adapted to the component of the second type second receptacle ( 20 ; 28 ), preferably automatically docked, and relative to the support device ( 30 ), so that the second recording ( 20 ; 28 ) or the robot arm again from the support device ( 30 ) is supported. Method according to one of the preceding claims, in which the preferably stationary arranged supporting device ( 30 ) and several pictures ( 20 ; 28 ) are adapted to each other and the recordings ( 20 ; 28 ) in each case by the same support means ( 30 ) are supported. Method according to one of the preceding claims, in which the receptacle ( 20 ; 28 ) of the support device ( 30 ) in the machining position ( 15 ) is movably mounted, the receiving robot ( three ) the recording ( 20 ; 28 ) during machining, either unchanged in the same machining position ( 15 ) or continuously or discontinuously moved, and in which the recording ( 20 ; 28 ) while holding in the same or changing machining position ( 15 ) of the support device ( 30 ) is supported, preferably on the support means ( 30 ) is present. Method according to one of the preceding claims and one of the following method steps: (i) the pickup robot ( three ) keeps the recording ( 20 ; 28 ) in which the support device ( 30 ) supported state while the component in the receptacle ( 20 ; 28 ) is inserted; (ii) the pickup robot ( three ) moves the recording ( 20 ) to a component shelf, picks up the component there and positions the receptacle ( 20 ) again in the machining position ( 15 ) in one of the support means ( 30 ) supported state. Method according to one of the preceding claims, in which the picking robot ( three ) the recording ( 20 ; 28 ) with the component during machining relative to the support device ( 30 ), while the support device ( 30 ) the recording ( 20 ; 28 ) constantly or intermittently only intermittently, but always during a machining operation producing the outer machining, supports, wherein the machining tool ( 10 ) preferably also machined the component during its movement. Method according to one of the preceding claims, in which the support device ( 30 ) of the recording ( 20 ; 28 ) in the supported state leaves at least one degree of freedom of mobility and the picking robot ( three ) the recording ( 20 ; 28 ) holds in the same machining position during machining with respect to this or this degree of freedom of movability or the machining position by moving the recording ( 20 ; 28 ), while the support device ( 30 ) the recording ( 20 ; 28 ) is supported. Method according to one of the preceding claims, in which the machining tool ( 10 ) on a robot arm of a processing robot ( 4 . 5 ), which is the machining tool ( 10 ) moved during machining in space, the tool ( 10 ) Preferably, the component also processed during the movement. Method according to one of the preceding claims, in which the machining tool ( 10 ) the component crimps, embosses, stamps or works by machining, for example drilling or milling, or with one of the receptacle ( 20 ; 28 ) added added component, preferably by folding. Method according to one of the preceding claims, wherein the component by means of a fixing device ( 25 . 26 ; 27 ) of the recording ( 20 ) at the recording ( 20 ) is fixed. Method according to one of claims 1 to 9, wherein the component by means of a hold-down ( 29 ) at the recording ( 28 ), wherein the hold-down ( 29 ) preferably on a robot arm of another holding-down robot ( 7 ) and the pickup robot ( three ) and the hold-down robot ( 7 ) cooperatively hold the picked-up component in the machining position, either unchanged in the same machining position or moved continuously or discontinuously. Device for processing a component, preferably for joining the component with at least one further component, the device comprising: a) a receiving robot ( three ) with a robot arm, b) a receptacle attached to the robot arm ( 20 ; 28 ) for the component, c) a machining robot ( 4 . 5 ) with a robot arm, d) a on the robot arm of the machining robot ( 4 . 5 ) fixed machining tool ( 10 ) for machining the component e) and a support device ( 30 ) for supporting the robot arm of the recording robot ( three ) attached recording ( 20 ; 28 ) or directly of the robotic arm of the host robot against one of the processing tool ( 10 ) while editing on the recording ( 20 ; 28 ) exerted external processing force, which without supporting on the recording ( 20 ; 28 ) on the robot arm of the recording robot ( three ), where f) the support device ( 30 ) the recording ( 20 . 28 ) on its side facing away from the component back or directly the robot arm of the recording robot ( three ) in a region of the robot arm in front of the rear side of the receptacle ( 20 ; 28 ), wherein the picking robot ( three ) the recording ( 20 ; 28 ) undocks and at the support device ( 30 ). Device according to the preceding claim, characterized in that the support device ( 30 ) on an investment side a contact surface ( 32 ) to create the recording ( 20 ; 28 ) and in the contact surface ( 32 ) a penetration ( 35 ) or a recess ( 35 ) for the robotic arm of the recording robot ( three ), so that the robot arm through the passage ( 35 ) or from the recess ( 35 ) the recording ( 20 ; 28 ) at the contact surface ( 32 ) can hold. Device according to one of the preceding claims, characterized in that the support device ( 30 ) stationary on one for the pickup robot ( three ) and the processing robot ( 4 . 5 ) is arranged. Device according to one of the preceding claims, characterized in that the support device ( 30 ) the recording ( 20 ; 28 ) is movably supported in the machining position. Device according to one of the preceding claims, characterized in that the support device ( 30 ) for receiving ( 20 ) a contact surface ( 32 ) forming the support (3) in the supported state ( 20 ; 28 ) in the machining position ( 15 ) in preferred embodiments with respect to two mutually orthogonal axes (X, Y) translationally and about a third axis (Z) orthogonal to these two axes rotatably supported and fixed in the three other degrees of freedom of mobility. Device according to the preceding claim, characterized in that the support device ( 30 ) a joint ( 36 . 37 ), preferably rotary joint or rotary and sliding joint, or one of at least one movable bearing element ( 32 ) or a nozzle field for blowing out a gas formed contact surface ( 32 ) to which the receptacle ( 20 ; 28 ) can be applied, so that the recording ( 20 ; 28 ) in the joint ( 36 . 37 ) or relative to the contact surface ( 32 ) by means of the recording robot ( three ) is movable in the supported state in the machining position. Device according to one of the preceding claims, characterized in that the support device ( 30 ) a fixing device, preferably a stop device, a suction device or a clamping device, for receiving ( 20 ; 28 ) having. Device according to one of the preceding claims, characterized in that the receptacle ( 20 ) a fixing device ( 25 . 26 ; 27 ), preferably a suction device ( 25 . 26 ) or a clamping device ( 27 ), by means of which the component at the receptacle ( 20 ; 28 ) is fixable. Device according to one of the preceding claims, comprising a holding-down robot ( 7 ) with a robot arm on which a hold-down ( 29 ) is attached, with which the component alone or together with another component relative to the receptacle ( 28 ) is fixable, wherein the receiving robot ( three ) and the hold-down robot ( 7 ) are set up to co-operate with each other in order to 28 ) and the hold-down ( 29 ) in the fixed state together in the processing position, either unchanged in the same processing position or continuously or discontinuously moved. Device according to one of the preceding claims, characterized in that the receptacle ( 20 ; 28 ) by means of a coupling ( 9 ) on the robot arm of the recording robot ( three ) and can be automatically docked by the robotic arm to automatically dock another 21 ) to make a component type change automatically. Device according to one of the preceding claims, comprising at least one other receptacle ( 20 ; 28 ) for a component of a different type to be picked up by the picking robot ( three ) can be automatically docked to the robot arm. Device according to one of the preceding claims, comprising a controller which is adapted to control the robots ( three . 4 . 5 . 7 ) according to one of claims 1 to 11 in an automated sequence to control.

Images