DE102004049332A1 - Method for automated positioning of parts to be joined, comprising use of robots provided with sensor units - Google Patents
Method for automated positioning of parts to be joined, comprising use of robots provided with sensor units Download PDFInfo
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- DE102004049332A1 DE102004049332A1 DE200410049332 DE102004049332A DE102004049332A1 DE 102004049332 A1 DE102004049332 A1 DE 102004049332A1 DE 200410049332 DE200410049332 DE 200410049332 DE 102004049332 A DE102004049332 A DE 102004049332A DE 102004049332 A1 DE102004049332 A1 DE 102004049332A1
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- positioning
- robot
- component
- sensor unit
- joining
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0452—Orientable fixtures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zum automatisierten Positionieren mindestens zweier Bauteile mittels einer Mehrzahl an Industrierobotern, wobei ein erster Positionierroboter ein erstes Bauteil in eine erste Fügestellung positioniert und ein zweiter Positionierroboter ein zweites Bauteil in eine zweite Fügestellung positioniert, gemäß dem Oberbegriff des Anspruchs 1.The The invention relates to a method for automated positioning at least two components by means of a plurality of industrial robots, wherein a first positioning robot a first component in a first joining position positioned and a second positioning robot, a second component in a second joining position positioned according to the preamble of claim 1.
Verfahren
der eingangs genannten Art sind bekannt. Beispielsweise offenbart
die
Es ist Aufgabe der Erfindung, ein alternatives Verfahren der eingangs genannten Art vorzuschlagen.It Object of the invention, an alternative method of the above to propose this type.
Die Aufgabe wird gelöst durch ein Verfahren mit den Merkmalen des Anspruchs 1. Das erfindungsgemäße Verfahren zeichnet sich dadurch aus, dass während der Positionierung des zweiten Bauteils mittels einer Sensoreinheit der wenigstens zeitweise variierende Abstand des zweiten Bauteils zum ersten Bauteil ermittelt wird und dass mittels einer Regeleinheit, die mit der Sensoreinheit und mit mindestens einem Positionierroboter verbunden ist, eine fügegenaue Positionierung der Bauteile zueinander in eine jeweilige Fügestellung erfolgt durch geregeltes Positionieren mindestens eines Positionierroboters. Hierdurch ist es möglich, ein freies Fügen von Bauteilen in jeweils geometrisch definierter Lage zu gewährleisten, ohne dass stationäre Bauteil-Fixiereinrichtungen, die verhältnismäßig teuer, mechanisch aufwendig und unflexibel sind, oder mechanisch gekoppelte Greifsysteme von Greifrobotern eingesetzt werden müssten, wobei derartige Greifsysteme durch einen relativ aufwendigen Greiferaufbau gekennzeichnet sind. Die Sensoreinheit des zweiten Positionierroboters ermöglicht die Erzielung einer an die jeweilige Fertigungsaufgabe angepassten, hinreichend präzisen Positioniergenauigkeit der Bauteile zueinander, die durch einen jeweils zugehörigen Positionierroboter in ihre jeweiligen Fügestellungen positioniert werden können. Mittels der Sensoreinheit kann somit in Kooperation mit der Regeleinheit eine Positioniergenauigkeit zwischen den zwei Positionierrobotern erzielt werden, die vergleichbar präzise mit derjenigen bei Einsatz eines mechanisch gekoppelten Greifersystems an den zwei Positionierrobotern ist. Dabei können die zwei Positionierroboter mittels der Regeleinheit miteinander kooperieren. Das erfindungsgemäße Verfahren ist durch eine besonders hohe Flexibilität hinsichtlich einer fügegenauen und freien Bauteilpositionierung unter Einsatz von zueinander unabhängigen Positionierrobotern geeignet. Bei den Industrierobotern handelt es sich insbesondere um frei programmierbare Knickarmroboter mit sechs Bewegungsachsen.The Task is solved by a method having the features of claim 1. The method according to the invention is characterized by the fact that during the positioning of the second component by means of a sensor unit of at least temporarily determined varying distance of the second component to the first component and that by means of a control unit connected to the sensor unit and is connected to at least one positioning robot, an exact match Positioning of the components to each other in a respective joining position takes place by controlled positioning of at least one positioning robot. This makes it possible a free joining of components in each geometrically defined position, without being stationary Component fixing devices that are relatively expensive, mechanically complex and inflexible, or mechanically coupled gripping systems of Gripping robots would have to be used, such gripping systems are characterized by a relatively complex gripper structure. The sensor unit of the second positioning robot allows the Achievement of an adapted to the respective production task, sufficiently precise Positioning accuracy of the components to each other, by a respectively associated Positioning robot are positioned in their respective joining positions can. By means of the sensor unit can thus in cooperation with the control unit a positioning accuracy between the two positioning robots achieved with comparable precision to those used a mechanically coupled gripper system on the two positioning robots is. It can the two positioning robots with each other by means of the control unit cooperate. The inventive method is due to a particularly high degree of flexibility with regard to joint precision and free component positioning using independent positioning robots suitable. The industrial robots are in particular Freely programmable articulated robot with six axes of motion.
Entsprechend einer möglichen Ausführungsform sind beide Positionierroboter mit der Regeleinheit verbunden und werden beide Bauteile mittels der Regeleinheit zueinander in eine jeweilige Fügestellung gebracht werden. Es erfolgt somit mittels Bewegungen beider Bauteile eine fügegenaue Positionierung derselben zueinander.Corresponding a possible embodiment Both positioning robots are connected to the control unit and Both components by means of the control unit to each other in a respective joining position to be brought. It thus takes place by means of movements of both components a precise match Positioning the same with each other.
Entsprechend einer weiteren möglichen Ausführungsform ist lediglich der zweite Positionierroboter mit der Regeleinheit verbunden zur fügegenauen Positionierung des zweiten Bauteils mittels des zweiten Positionierroboters in eine zweite Fügestellung relativ zum ersten Bauteil, das in einer erste Fügestellung positioniert ist. Hier kann sich das erste Bauteil auch in einer verhältnismäßig ungenauen ersten Fügestellung befinden, während das zweite Bauteil bewegt werden kann zur fügegenauen Erzielung einer zweiten Fügestellung relativ zum ersten Bauteil.Corresponding another possible embodiment is only the second positioning robot with the control unit connected to precise positioning of the second component by means of the second positioning robot in a second joint position relative to the first component, which is positioned in a first joining position. Here, the first component can also be in a relatively inaccurate first connection while, while the second component can be moved to achieve accurate joining a second joining position relative to the first component.
Die Sensoreinheit kann eine Punktsensoreinheit oder eine Lichtschnittsensoreinheit oder eine bildgebende Sensoreinheit sein. Dabei ist die Sensorauswahl insbesondere werkstückabhängig, wobei bei einem Werkstück mit einer messtechnisch verwendbaren Fläche eine Punktsensoreinheit (z. B. Lasereinheit) eingesetzt werden kann, während bei einem Werkstück mit messtechnisch nicht verwendbaren Flächen eine Lichtschnittsensoreinheit, beispielsweise zur Kantenbestimmung, oder eine bildgebende Sensoreinheit, z. B zur Konturbestimmung, mittels einer Kamera eingesetzt werden kann.The Sensor unit may be a point sensor unit or a light section sensor unit or an imaging sensor unit. Here is the sensor selection in particular workpiece-dependent, with at a workpiece with a metrologically usable surface, a point sensor unit (For example, laser unit) can be used while with a workpiece with metrological unusable surfaces a light section sensor unit, for example for edge determination, or an imaging sensor unit, e.g. B for contouring, can be used by a camera.
Die Sensoreinheit kann am zweiten Positionierroboter in einer zum zweiten Bauteil lagestabilen Position angeordnet werden. Dabei kann die Sensoreinheit in der Nähe eines Fügebereichs des zweiten Bauteils angeordnet sein. Hierdurch wird eine hinreichend genaue und reproduzierbar wiederholbare Positionierung des zweiten Bauteils mittels des zweiten Positionierroboters relativ zum ersten Bauteil ermöglicht.The Sensor unit can at the second positioning robot in one to the second Component position-stable position can be arranged. It can the Sensor unit nearby a joining area be arranged of the second component. This will be sufficient accurate and reproducible repeatable positioning of the second Component by means of the second positioning robot relative to the first Component allows.
Der variierende Abstand kann kontinuierlich oder in Intervallen mittels der Sensoreinheit ermittelt werden. Die Form der Abstandsermittlung des zweiten Bauteils relativ zum ersten Bauteil kann von der Bauteilgeometrie und/oder der Abstandsgröße und/oder der Bewegungsgeschwindigkeit der Positionierroboter zueinander abhängen.The varying distance can be determined continuously or at intervals by means of the sensor unit. The form of determining the distance of the second component relative to the first component may depend on the component geometry and / or the distance size and / or the speed of movement of the position depend on each other robot.
Die Sensoreinheit ist vorzugsweise derart ausgebildet, dass sie in sechs unterschiedlichen Freiheitsgraden den variierenden Abstand ermitteln kann. Hierdurch ist es möglich, eine räumlich exakte Positionierung des zweiten Bauteils relativ zum ersten Bauteil zu erzielen bei Auswertung der entsprechenden Messwerte der Sensoreinheit durch die Regeleinheit.The Sensor unit is preferably designed so that in six different degrees of freedom can determine the varying distance. This makes it possible a spatially exact positioning of the second component relative to the first component to be achieved by evaluating the corresponding measured values of the sensor unit through the control unit.
Die Bauteile können Blechbauteile und insbesondere Fahrzeug-Karosseriebauteile sein. Ferner können die Bauteile in ihren Fügestellungen mittels mindestens eines Fügeroboters miteinander verbunden werden. Als Fügeroboter kann beispielsweise ein Schweißroboter oder ein Kleberoboter oder auch ein Roboter zum Stanznieten oder zum Durchsetzfügen eingesetzt werden. Allerdings sind auch andere Arten von Fügerobotern, beispielsweise zur Herstellung einer Nietverbindung, denkbar. Der Einsatz des Verfahrens in einer automatisierten Fahrzeug-Karosseriemontage ist aufgrund der hohen Flexibilität und Positioniergenauigkeit der miteinander kooperierenden Positionierroboter und/oder Fügeroboter besonders vorteilhaft.The Components can Be sheet metal components and in particular vehicle body parts. Furthermore, the Components in their joints by means of at least one joining robot be connected to each other. As a joining robot, for example, a welding robots or a glue robot or even a robot for punch riveting or to enforce be used. However, other types of joining robots are also for example, for producing a riveted joint, conceivable. Of the Use of the method in an automated vehicle body assembly is due to the high flexibility and positioning accuracy the cooperating positioning robot and / or joining robot especially advantageous.
Weitere Vorteile der Erfindung ergeben sich aus der Beschreibung.Further Advantages of the invention will become apparent from the description.
Die Erfindung wird anhand eines bevorzugten Ausführungsbeispiels unter Bezugnahme auf eine schematische Zeichnung erläutert.The Invention will be with reference to a preferred embodiment with reference explained on a schematic drawing.
Dabei zeigen:there demonstrate:
Der
Fügeroboter
Die
Regeleinheit
Mittels des beschriebenen Verfahrens und mittels der flexiblen Fertigungsvorrichtung lassen sich in der Praxis Fügetoleranzen von ca. 0,2 mm bei einer Regelzeit von ca. 5 Sekunden erzielen.through the described method and by means of the flexible manufacturing device can be in practice joint tolerances of approx. 0.2 mm with a control time of approx. 5 seconds.
Claims (11)
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DE200410049332 DE102004049332A1 (en) | 2004-10-09 | 2004-10-09 | Method for automated positioning of parts to be joined, comprising use of robots provided with sensor units |
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DE200410049332 DE102004049332A1 (en) | 2004-10-09 | 2004-10-09 | Method for automated positioning of parts to be joined, comprising use of robots provided with sensor units |
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Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008031948A1 (en) * | 2006-09-14 | 2008-03-20 | Abb France | Workstation with robot comprising a positioning head and a fixing head, and fixing method using such a station |
FR2906742A1 (en) * | 2006-10-10 | 2008-04-11 | Renault Sas | Sheet metal parts assembling and transporting method for motor vehicle, involves unlocking locking unit to permit one of robots to transport sheet metal parts towards station in support tool of robots |
DE102009014766A1 (en) * | 2009-03-25 | 2010-09-30 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Device for machining work piece, particularly for milling, deburring, laser cutting, laser welding and drilling of work piece, has handling unit for receiving tool or work piece to be machined |
EP2537642A1 (en) * | 2011-06-23 | 2012-12-26 | Raytheon BBN Technologies Corp. | Robot fabricator |
DE102012112025A1 (en) * | 2012-12-10 | 2014-06-12 | Carl Zeiss Ag | Method for determining position of kinematics, such as multi-axis kinematics as robot arm, involves positioning kinematics for interaction with object, and positioning another kinematics in line of sight to former kinematics |
EP2824526A3 (en) * | 2008-05-21 | 2017-01-04 | FFT Produktionssysteme GmbH & Co. KG | Clamping frame-less joining of components |
US20170050277A1 (en) * | 2015-08-19 | 2017-02-23 | GM Global Technology Operations LLC | Component assembly system and method of assembling a component |
WO2018219876A1 (en) * | 2017-05-30 | 2018-12-06 | Wisco Lasertechnik Gmbh | Method for orienting two workpieces to form a joining connection and manipulator |
US10150213B1 (en) | 2016-07-27 | 2018-12-11 | X Development Llc | Guide placement by a robotic device |
DE102018104475A1 (en) * | 2018-02-27 | 2019-08-29 | Benteler Automobiltechnik Gmbh | Method for welding components |
DE102020101959A1 (en) * | 2019-02-15 | 2020-08-20 | GM Global Technology Operations LLC | FIXING DEVICE-LESS COMPONENT ASSEMBLY |
DE102020101817A1 (en) * | 2019-02-15 | 2020-08-20 | GM Global Technology Operations LLC | COMPONENT MOUNTING SYSTEM |
DE102020101927A1 (en) * | 2019-02-15 | 2020-08-20 | GM Global Technology Operations LLC | COORDINATED ROBOT-TO-ROBOT ASSEMBLY |
DE102019114070B4 (en) * | 2018-07-10 | 2020-12-10 | Sungwoo Hitech Co., Ltd. | Method for controlling a robot system for assembling components |
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Cited By (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2905887A1 (en) * | 2006-09-14 | 2008-03-21 | Abb Mc Soc Par Actions Simplif | WORKING STATION WITH ROBOT HAVING A POSITIONING HEAD AND A FIXING HEAD |
WO2008031948A1 (en) * | 2006-09-14 | 2008-03-20 | Abb France | Workstation with robot comprising a positioning head and a fixing head, and fixing method using such a station |
FR2906742A1 (en) * | 2006-10-10 | 2008-04-11 | Renault Sas | Sheet metal parts assembling and transporting method for motor vehicle, involves unlocking locking unit to permit one of robots to transport sheet metal parts towards station in support tool of robots |
EP2824526A3 (en) * | 2008-05-21 | 2017-01-04 | FFT Produktionssysteme GmbH & Co. KG | Clamping frame-less joining of components |
DE102009014766A1 (en) * | 2009-03-25 | 2010-09-30 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Device for machining work piece, particularly for milling, deburring, laser cutting, laser welding and drilling of work piece, has handling unit for receiving tool or work piece to be machined |
DE102009014766B4 (en) * | 2009-03-25 | 2012-02-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Superimposed axes in a device for machining a workpiece with a tool |
EP2537642A1 (en) * | 2011-06-23 | 2012-12-26 | Raytheon BBN Technologies Corp. | Robot fabricator |
DE102012112025A1 (en) * | 2012-12-10 | 2014-06-12 | Carl Zeiss Ag | Method for determining position of kinematics, such as multi-axis kinematics as robot arm, involves positioning kinematics for interaction with object, and positioning another kinematics in line of sight to former kinematics |
DE102012112025B4 (en) * | 2012-12-10 | 2016-05-12 | Carl Zeiss Ag | Method and devices for determining the position of a kinematics |
US20170050277A1 (en) * | 2015-08-19 | 2017-02-23 | GM Global Technology Operations LLC | Component assembly system and method of assembling a component |
CN106466847A (en) * | 2015-08-19 | 2017-03-01 | 通用汽车环球科技运作有限责任公司 | Component assembly system and the method for assembling parts |
US10099375B2 (en) * | 2015-08-19 | 2018-10-16 | GM Global Technology Operations LLC | Component assembly system and method of assembling a component |
CN106466847B (en) * | 2015-08-19 | 2019-03-08 | 通用汽车环球科技运作有限责任公司 | The method of component assembly system and assembling parts |
US10967501B1 (en) | 2016-07-27 | 2021-04-06 | X Development Llc | Guide placement by a robotic device |
US10150213B1 (en) | 2016-07-27 | 2018-12-11 | X Development Llc | Guide placement by a robotic device |
WO2018219876A1 (en) * | 2017-05-30 | 2018-12-06 | Wisco Lasertechnik Gmbh | Method for orienting two workpieces to form a joining connection and manipulator |
DE102017111800A1 (en) * | 2017-05-30 | 2018-12-06 | Wisco Lasertechnik Gmbh | Method for aligning two workpieces to form a joint connection and manipulator |
CN111225771A (en) * | 2017-05-30 | 2020-06-02 | 宝钢激光技术有限公司 | Method and manipulator for orienting two workpieces for producing a joint connection |
CN111225771B (en) * | 2017-05-30 | 2024-04-30 | 宝钢激光技术有限公司 | Method and manipulator for orienting two workpieces for producing a joint connection |
US11590653B2 (en) | 2017-05-30 | 2023-02-28 | Baosteel Lasertechnik Gmbh | Method for orienting two workpieces to form a joining connection and manipulator |
DE102018104475A1 (en) * | 2018-02-27 | 2019-08-29 | Benteler Automobiltechnik Gmbh | Method for welding components |
US11014244B2 (en) | 2018-07-10 | 2021-05-25 | Sungwoo Hitech Co., Ltd. | Robot system for assembling component and control method thereof |
DE102019114070B4 (en) * | 2018-07-10 | 2020-12-10 | Sungwoo Hitech Co., Ltd. | Method for controlling a robot system for assembling components |
DE102020101817B4 (en) * | 2019-02-15 | 2021-01-14 | GM Global Technology Operations LLC | Component assembly system |
US10899012B2 (en) | 2019-02-15 | 2021-01-26 | GM Global Technology Operations LLC | Coordinated robot to robot component assembly |
DE102020101927A1 (en) * | 2019-02-15 | 2020-08-20 | GM Global Technology Operations LLC | COORDINATED ROBOT-TO-ROBOT ASSEMBLY |
US11034024B2 (en) | 2019-02-15 | 2021-06-15 | GM Global Technology Operations LLC | Fixtureless component assembly |
DE102020101927B4 (en) | 2019-02-15 | 2022-03-31 | GM Global Technology Operations LLC | Coordinated robot-to-robot assembly |
DE102020101959B4 (en) | 2019-02-15 | 2022-03-31 | GM Global Technology Operations LLC | Fixture-less component assembly |
US11364623B2 (en) | 2019-02-15 | 2022-06-21 | GM Global Technology Operations LLC | Component assembly system |
DE102020101817A1 (en) * | 2019-02-15 | 2020-08-20 | GM Global Technology Operations LLC | COMPONENT MOUNTING SYSTEM |
DE102020101959A1 (en) * | 2019-02-15 | 2020-08-20 | GM Global Technology Operations LLC | FIXING DEVICE-LESS COMPONENT ASSEMBLY |
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