CN100509277C - 对工件进行加工的方法 - Google Patents

对工件进行加工的方法 Download PDF

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CN100509277C
CN100509277C CNB2005800274369A CN200580027436A CN100509277C CN 100509277 C CN100509277 C CN 100509277C CN B2005800274369 A CNB2005800274369 A CN B2005800274369A CN 200580027436 A CN200580027436 A CN 200580027436A CN 100509277 C CN100509277 C CN 100509277C
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workpiece
support member
manipulator
workbench
parts
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CN101031387A (zh
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D·柏德奥德
G·平切昂
B·奈格
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ABB France SAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/4984—Retaining clearance for motion between assembled parts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49895—Associating parts by use of aligning means [e.g., use of a drift pin or a "fixture"]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49998—Work holding
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53313—Means to interrelatedly feed plural work parts from plural sources without manual intervention
    • Y10T29/53383—Means to interrelatedly feed plural work parts from plural sources without manual intervention and means to fasten work parts together
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/534—Multiple station assembly or disassembly apparatus
    • Y10T29/53417—Means to fasten work parts together

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
  • Braking Arrangements (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)

Abstract

本发明涉及一种在工作台上操作至少一个工件以将至少两个工件紧固在一起的方法，该方法的特征在于包括以下步骤：通过支撑件(4)将工件放置在工作台上；开始紧固；一旦紧固进行到足以固定所述两工件的相对位置，就使用操作机械手(6)来接管支撑功能；一旦操作机械手接管，将新工件安装在支撑件上；以及在紧固在一起结束时，使用操作机械手将紧固在一起的工件这样从工作台上移除。

Description

对工件进行加工的方法
技术领域
本发明涉及一种在工作台上操作工件以将至少两个工件通过如焊接、卷边、铆接等操作紧固在一起的方法。
背景技术
已知工作台包括进行加工时用于将工件放置在工作台上的支撑件，以及一旦工作完成用于将工件从工作台移除的操作机械手。支撑件安装在滑动件上使得支撑件可从工作台拉出以将工件装载在上面，同时将设置有工件的支撑件插入工作台以使可以在上面进行加工。当要进行加工时将工件装载在支撑件上。但是，这使得必须有至少两个支撑件和一个滑动件系统。此外，操作机械手并不是在整个循环期间使用。
发明内容
因此具有使用于在这种工作台上装载和卸载工件所需元件简化的装置是很有益的。
为了该目的，本发明提供一种在工作台上操作至少一个工件以将至少两个工件紧固在一起的方法，该方法包括以下步骤：
通过支撑件将工件放置在工作台上；
开始紧固作业；
一旦紧固作业进行到足以固定两工件的相对位置，就使用操作机械手来接管支撑功能；
一旦被操作机械手接管，就将新工件安装在支撑件上；以及
在紧固在一起的作业结束时，使用操作机械手将以这种方式紧固在一起的工件从工作台上移除。
如此，在加工期间可以更大程度地使用操作机械手，因为它也被用于放置工件。此外，当进行加工时可以将新工件装载在支撑件上。此外，一旦工件由操作机械手握住以进行放置，机械手即可在加工完成后就移除所述工件。从而节省了在操作中用于移除工件的时间。
较佳地，在将新工件安装在支撑件上之前，支撑件先从所述工作台移出。
这样就能够有大的可用面积用于将工件装载在支撑件上，而不存在阻碍正在执行加工的机械手移动的风险。一旦新工件在支撑件上，当前一工件还在加工时，支撑件就可插入工作台。
本发明的其它特征和优点在阅读以下本发明的具体、非限制性说明书中显现出来。
附图说明
对唯一的附图进行参考，其示出了可用于执行本发明方法的工作台。
具体实施方式
在此所述的工作台是焊接工作台，包括两个机械手，给予总体标号1，它们自身是常规的，各具有一端设有焊接夹的臂。焊接机械手1环绕工作区域2(由点划线示出)设置。
该工作台包括用于将工件装载在工作区域2的装载设备3。装载设备3首先包括常规滑动件系统，它允许用于焊接在一起的工件的支撑件能够插入工作区域2，其次包括装载机械手5，以将工件放置在支撑件4上。该支撑件4可在支撑件4位于工作区域外的装载位置和支撑件4在工作区域内的工作位置之间移动。撑件4还包括以常规方式定位用于焊接在一起的工件并防止它们相对彼此移动的装置(这些装置在图中未示出)。
工作台还包括用于从工作区域2卸载工件的设备，该设备包括常规类型的操作机械手6。
根据本发明，操作的方法开始于当支撑件4在其装载位置时将工件装载在支撑件4上的步骤。然后将支撑件4带到它的工作位置，并在该位置放置工件。
然后可开始将工件焊接在一起。
同时，操作机械手握持住至少一个工件，并且一旦焊接进行到工件间相对位置变得固定的点，操作机械手6将工件从支撑件4上分开并接管其支撑作用。为了确保在发生接管时焊接不被打断，对焊接机械手进行程控以考虑工件位置的变化来跟踪工件的移动。
然后支撑件4返回到其装载位置，使得装载机械手5可将接下来的工件放置在支撑件4上，然后支撑件4返回到工作位置。
一旦完成焊接，操作机械手6将工件从工作区域移除，同时焊接机械手1开始将搁置在支撑件4上的工件焊接在一起。
这样，当在操作台上进行加工时用于放置工件的装置包括在加工的最初阶段期间放置工件的支撑件4，以及用于在加工的第二阶段期间放置工件的操作机械手6。
当然，本发明不限于所述实施例，可对其进行改变而不超出由权利要求书限定的本发明的范围。
尤其是，支撑件4可留在工作区域用作装载目的。
此外，也考虑了其它紧固方法，尤其是例如卷边、铆接、装钉、…。

Claims (2)

1.一种在工作台上操作至少一个工件以将至少两个工件紧固在一起的方法，其特征在于，包括以下步骤：
·通过支撑件(4)将工件放置在工作台上；
·开始紧固；
·一旦紧固进行到足以固定所述两工件的相对位置，就使用操作机械手(6)来接管支撑功能；
·一旦被操作机械手接管，将新工件安装在支撑件上；以及
·继续紧固由操作机械手支撑的两个工件，在紧固在一起结束时，使用操作机械手将以这种方式紧固在一起的工件从工作台上移除。
2.如权利要求1所述的方法，其特征在于，在将新工件安装在所述支撑件(4)上之前，将所述支撑件从所述工作台移出。
CNB2005800274369A 2004-08-16 2005-08-11 对工件进行加工的方法 Active CN100509277C (zh)

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FR0408905 2004-08-16
FR0408905A FR2874190B1 (fr) 2004-08-16 2004-08-16 Poste de realisation d'un travail sur une piece

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US (1) US7650679B2 (zh)
EP (1) EP1778435B2 (zh)
CN (1) CN100509277C (zh)
BR (1) BRPI0514417B1 (zh)
CA (1) CA2577170C (zh)
DE (1) DE602005015590D1 (zh)
ES (1) ES2330028T5 (zh)
FR (1) FR2874190B1 (zh)
MX (1) MX2007001910A (zh)
RU (1) RU2351452C2 (zh)
SI (1) SI1778435T2 (zh)
WO (1) WO2006021678A1 (zh)

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JP5653073B2 (ja) 2010-05-19 2015-01-14 キヤノン株式会社 ロボットセル装置及び生産システム
JP5755038B2 (ja) 2010-06-28 2015-07-29 キヤノン株式会社 組立装置及び生産システム
CN102500938B (zh) * 2011-10-27 2014-07-09 山西晋煤集团金鼎煤机矿业有限责任公司 多机器人配合单台变位装置的液压支架结构件自动焊接工艺
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FR3079203B1 (fr) * 2018-03-26 2020-02-21 Psa Automobiles Sa Installation et procede d’assemblage d’elements de carrosserie
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Publication number Publication date
US7650679B2 (en) 2010-01-26
SI1778435T1 (sl) 2009-12-31
FR2874190B1 (fr) 2007-12-28
ES2330028T5 (es) 2018-02-12
RU2007109594A (ru) 2008-09-27
RU2351452C2 (ru) 2009-04-10
MX2007001910A (es) 2007-07-11
US20070245537A1 (en) 2007-10-25
DE602005015590D1 (de) 2009-09-03
CN101031387A (zh) 2007-09-05
EP1778435B2 (fr) 2017-10-25
SI1778435T2 (en) 2018-01-31
WO2006021678A1 (fr) 2006-03-02
EP1778435B1 (fr) 2009-07-22
EP1778435A1 (fr) 2007-05-02
BRPI0514417B1 (pt) 2018-12-18
CA2577170A1 (fr) 2006-03-02
BRPI0514417A (pt) 2008-06-10
ES2330028T3 (es) 2009-12-03
FR2874190A1 (fr) 2006-02-17
CA2577170C (fr) 2008-10-07

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