CN101884260B - A production line and a method for operating a such - Google Patents
A production line and a method for operating a such Download PDFInfo
- Publication number
- CN101884260B CN101884260B CN200880119022.2A CN200880119022A CN101884260B CN 101884260 B CN101884260 B CN 101884260B CN 200880119022 A CN200880119022 A CN 200880119022A CN 101884260 B CN101884260 B CN 101884260B
- Authority
- CN
- China
- Prior art keywords
- work station
- robot
- production line
- people
- job step
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 3
- 230000001052 transient effect Effects 0.000 claims description 2
- 238000012432 intermediate storage Methods 0.000 description 9
- 230000008901 benefit Effects 0.000 description 6
- 239000000047 product Substances 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 229920001821 foam rubber Polymers 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/0053—Arrangements for assisting the manual mounting of components, e.g. special tables or light spots indicating the place for mounting
-
- 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
- Y10T29/49828—Progressively advancing of work assembly station or assembled portion of work
-
- 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
- Y10T29/49828—Progressively advancing of work assembly station or assembled portion of work
- Y10T29/49829—Advancing work to successive stations [i.e., assembly line]
-
- 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
-
- 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
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Abstract
The invention line relates to a production line for manipulating objects. The production line has working stations (1a-e, 2a-e) for performing consecutive working steps on the objects by a stationary operator. At least one working station is arranged to be operated by a stationary operator that is a human and at least one working station is operated by a stationary operator that is a robot. According to the invention a working station arranged to be operated by a human (3a-e) and a working station operated by a robot (4a-e) are sufficient close to each other for allowing the human or the robot to move objects to the other working station. The robot has at least two arms. The invention also relates to a method for operating a production line applying a corresponding concept.
Description
Technical field
The present invention relates to a kind of production line for manipulating objects in first aspect, described production line comprises a plurality of work stations that in succession arrange, in order to object is carried out continuous job step, each work station is arranged at least one job step of being undertaken by fixing operation person, and at least one work station is arranged for as people's fixing operation person and at least one work station and has fixing operation person as robot.
In second aspect, the present invention relates to a kind of method for the operation production line, described production line comprises a plurality of work stations that in succession arrange, wherein object is carried out continuous job step, wherein carry out at least one job step at each work station, and wherein at least one job step is carried out by the people, and at least one job step is carried out by robot.
Background technology
Usually, its production of making the product that needs a plurality of job steps is carried out at custom-designed production line, and wherein different job steps is carried out with the order of regulation at continuous work station.Described job step can be processing object, checked object, it is first-class that optional feature is assembled to object.When manufacture process was labor-intensive and comprises different types of multiple job step, arranging of this production line was particularly useful.This production line is useful and be for assembling by the typical case of frequent application, especially assembles electronic product.Long ago, production line is operated by the people, a people at each work station place carries out independent job step, then usually by two people all accessible intermediate storage facility (intermediate storage) give adjacent people with object transfer, to carry out next job step.This manually operated production line is still very general in the low country of labor cost.
Because labor cost increases, especially in industrialized country, the production line that has developed in decades with industrial robot manipulation replaces manually operated production line.
Yet the robot automation of traditional production line is faced with variety of issue.It is dumb, and designer's spended time is long.Activity consuming time comprise design safety equipment such as protection and emergent stopping chain, be used for the accurately fixture of location, and design supply scheme is such as being used for the part taking-up and putting into robot cell's conveyer belt and feeder.
Exist and to have by the work station of people's operation and by the various examples of the production line of robot manipulation's work station.
DE 43 20 704 discloses the production line with three sequential cells, and wherein two unit are that manually-operated unit and one are the unit of automation.By rotary table object is moved on to next work station from a work station.
In the device of EP 737 543, all be automation along all working station of production line.The 51-59 that stands is called as fitting machine.Then, there are a plurality of middle secondary load device 61-68.Each (seeing Fig. 2) in these loaders of artificial loading.Yet the part that consists of each secondary load device of the work station in the production line does not relate to manual operation.Therefore, can think as production line only comprise Automation workstation.In addition, do not mention and work station is set is used for the robot manipulation.At last, do not carry out the movement of object by fixing operation person but bring the movement of carrying out object by transmission.
In US 2,002,/15 7241, also come transmission object by conveyer belt rather than by fixing operation person.Fixing operation person work station is not set so that can move on to next work station from a work station with object.Especially, manually-operated station is in the work station away from the robot manipulation.
In EP 174 545, not by fixing operation person but by such as the endless conveyor among the L1 of Figure 10 or by coming transmission object such as the alternative loader among the L2 of Figure 10.In addition, do not mention the applied robot and do not have manually with Automation workstation between mix.In L1, all working station all is automation, yet in L2, all working station all is artificial.
In the situation that the human and computer people mixes mutually in production line, according to prior art they are set and are separated from each other larger distance.For example referring to above-mentioned US 2,002,/15 7241.This is because safety reasons.If robot and people be mutually near work, so that they are in the mutual palp scope, the risk that exists so the people to be injured by robot.Yet robot and people are separated from each other position far away and bring shortcoming, take larger zone and need certain conveyor-belt apparatus such as production line.
The purpose of this invention is to provide the production line that people and robot mix mutually, it has tight security and has solved the problem relevant with the production line of known mixing.
Summary of the invention
According to a first aspect of the invention, it is that this production line that is original definition comprises following special characteristic that this purpose is achieved: be set up by the work station of people's operation with by mutual abundant the approaching of robot manipulation's work station, be used for to allow people and/or robot with object from and/or move to another work station, and be that robot has at least two arms.
By robot and people being mixed mutually the operator as production line, largely reduced the above-mentioned activity relevant with the production line that is operated separately by robot.Because the work station position that is operated respectively by people and robot approaches, so interpersonal being convenient to alternately of machine be sent to another work station with object from a work station, and greatly reduced the engineering that realizes that this is required.In addition, can optimize each work station, so that carry out the operation that is fit to automation by robot, and carry out the operation that is fit to artificial execution by the people.It is highly important that robot has at least two arms.Compare with the one armed robot with identical speed operation, multi-arm arrange allow robot to utilize on each arm significantly lower power operates.Such reason is, suppose the process of the operation task of assembling for example comprise can parallelization several operations, so much arm robot can walk abreast mobile, it provides much lower speed and accumulates kinetic energy and finish the task identical with single armed.
When tow-armed robot can walk abreast when picking up two parts, the one armed robot must do two and pick up continuously.This can illustrate by typical example.Robots arm's quality of supposing to be regarded as equivalent transfer point quality is 1.9kg, part quality is 0.1kg, pick-up delays (namely, in place until catch the time of parts fully from robot) be 0.1s, and total operating time (robot must finish this two total times of picking up) is 1s.
Calculating the required maximum power that is used for the one armed robot will be 758W, yet the required maximum power that can calculate for tow-armed robot is every arm 80W, represents altogether 160W.Therefore, the power difference of every arm is almost 10 times.This has very large impact to fail safe, and is for the critical aspects that allows people and robot work close to each other.If be used for executing tasks parallelly, so this effect even more remarkable more than two arms.
Compare with the production line that is operated by the people separately, the present invention makes labor cost lower.
Therefore, the result is a kind of like this production line, and its cost efficiency than conventional production lines is higher, and fail safe, reliability and the flexibility of height are provided.
According to preferred embodiment, production line of the present invention is assembly line, and wherein at least one in the work station is arranged for to each object increases parts.
Assembling is a kind of course of work that usually needs to carry out many consecutive steps, and wherein each step usually comprises the accurate manipulation that changes complexity.Therefore, production line of the present invention is meaningful especially in this application, because its advantage is highly utilized at this.Thereby the present invention provides very large benefit to the field such as the electronic product assembling.
In addition, assembling is a kind of following operation: be about to occur parallel work-flow, thereby and consider the aspect of the required arm power of reduction and the fail safe of the raising that obtains, the multi-arm robot is therefore particularly useful.
In the assembling of production line of the present invention is used, usually, more than one, typically be great majority or or even whole work stations be provided for increasing one or more parts to each object.
According to another preferred embodiment, each robots arm has seven or more freedom (DOF).
Use the benefit of seven DOF arms (the preferably arm of Characteristics of mankind type) to be that by means of the suitable location of robot elbow, all robots arms in the tow-armed robot can remain in the robot workstation always fully.When people and robot work close to each other, this has further improved fail safe, and has improved the tightness that robot is installed.
According to another preferred embodiment, the robots arm is at least part of to be covered by cushion.Cushion is the material of absorbing vibration, such as foam rubber etc.
Although the low-power of arm is so that reduced the risk of the injury that bumps between arm and the people, cushion will further reduce this risk.
According to another preferred embodiment, with each arm of power drive that is lower than 80W.
As mentioned above, when carrying out same task, multi-arm robot's power demand is far below one armed robot's power demand.By this embodiment, utilize this fact to come the low-down robot of design power, in order to utilize the fail safe of thus obtained raising.
According to another preferred embodiment, at least one in the described work station is configured to be operated by robot or people.
Obtain thus the flexibility of height.
According to another preferred embodiment, the working range of at least one robot is corresponding to people's accessible working range in the situation of the position that is positioned at this robot.
This has represented the related design robot and has made its apish another step.Therefore equally, this embodiment has made things convenient for the cooperation with adjacent people, and provide with at the relevant more high flexibility of the possibility of the work station end user who is discussing or robot.
According to another preferred embodiment, be equipped with the work station of robot to comprise at least one component stores facility and at least one fixture, described component stores facility and fixture are configured such that the people can use described component stores facility and fixture being positioned in robot location's the situation.
Thus, work station also is suitable for being operated by people or robot, thereby also helps the flexibility of production line, especially uses for assembling.
The preferred embodiment of above mentioned production line of the present invention describes in detail in being subordinated to the claim of claim 1.Be noted that certainly can be by above preferred embodiment may make up arbitrarily to realize further preferred embodiment.
In a second aspect of the present invention, realize that this purpose is that the method for original definition type comprises following concrete measure: the work station operation that people and robot are fully approaching mutually, with allow people and/or robot with object from and/or move to another work station, and be to be carried out by two robots arms the operation of robot.
According to the preferred embodiment of the inventive method, it comprises assembly work, and wherein the job step at least one work station comprises to object increases parts.
According to another preferred embodiment, product temporarily is stored between the adjacent work station, and be in two adjacent work stations put down respectively or pick up the object of temporary transient storage as robot or people's operator.
According to another preferred embodiment, work station is controlled aspect fail safe, so that stop the contact between robot and the people, and perhaps so that the action of the restriction of the contact between robot and people robot.
The above preferred embodiment of the inventive method describes in detail in being subordinated to the claim of claim 11.
The inventive method and preferred embodiment thereof have the advantage similar with the advantage that is obtained by production line of the present invention and preferred embodiment thereof, and these advantages are described in the above.
The present invention is by further specifying below in conjunction with the detailed description of accompanying drawing to its example.
Description of drawings
Fig. 1 schematically illustrates production line according to example of the present invention from top observation.
Embodiment
In Fig. 1, from top observation indicative icon according to the production line of example of the present invention.In this example, production line is made of ten work station 1a-e, 2a-e being arranged to two parallel lines.Each work station is by operating such as the people 3a-e in work station 1a-e, perhaps by operating such as the 4a-e of robot in work station 2a-e.
Will be by the operator, namely the object handled of people or robot arrives production line at the arrow A place.Described object leaves production line at the arrow B place.Object is as finished product or leave production line as semi-finished product and transmit, so as in the workshop or other place further operate.
The object that enters temporarily is stored among the first intermediate storage facility 5a.In this example, the first work station 1a is operated by people 3a.Job step in this first work station can for example be the first assembly manipulation, and wherein the parts from component stores facility 6a are added on the object.Thereby the people picks up an object from the first intermediate storage facility 5a, and 6a picks up one or more parts from the component stores facility, and parts are installed on the object.After finishing, he will put into the second intermediate storage facility 5b with the object of installing component to some extent, then next object be repeated this circulation.
The 4a of robot in the second work station 2a picks up object from the second intermediate storage facility 5b, in order to carry out one or more job steps at the second work station 2a.In this example, work station has two component stores facility 6b, 6c for two base parts.The parts that the 4a of robot in this work station will come from parts of component stores facility 6b and come from component stores facility 6c are installed on the object of picking up from middle storage facility 5b.After it finished these, the 4a of robot put into the 3rd intermediate storage facility 5c with object, and the new object that comes from intermediate storage facility 5b is repeated this circulation.
Then, pick up object by the people 3b at the 3rd work station 1b, in order to carry out the job step relevant with this work station etc.
It is unique job step that each work station can have for this work station.Can there be very similar job step at a few thing station.When as pure assembly line, all job steps can be to increase parts to product.The a few thing station, for example work station 1b can be set up separately, so that control and tested object.Other work station can comprise the processing parts.
Each robot in the example that illustrates has two arms 10.
Although all 4a-e of robot are Dual-arms among the figure, do not get rid of yet and to use the one armed robot at one or more work stations.
In work station 4b, provide fixture 7, be used for assisting the job step of carrying out at this work station.
Production line can be such, and namely the 4a-e of robot of some or all for good and all is installed on its station separately.Yet in many cases, preferably robot is arranged to be easy to move, so that robot can be replaced by the people or vice versa, thereby realizes greater flexibility.
Be understood that from figure robot and adjacent people's working range overlaps each other.For example, people 3a and the 4a of robot both reach intermediate storage facility 5b.This will bring the risk that the people is come to harm.
The robots arm can be embedded in the cushion.An arm at the 4d of robot is provided with such pad 9.
Work is preferably located by vision guide by robot, therefore can not use fixture.
Expection is the restriction of mechanical robot's scope, software robot restriction, software robot's pad and drive system of robot energy and speed restriction for increasing the other measure of fail safe.
In order to limit the power on each arm, for example be limited in 80W, the drive system of arm has such fuse, and this fuse is calibrated the maximum power for the altogether 80W of the motor of arm.The software that instead, robot controller can be set is with the power of restricted arm thus.
Claims (11)
1. production line that is used for manipulating objects, comprise a plurality of work station (1a-e that in succession arrange, 2a-e), in order to described object is carried out continuous job step, each work station (1a-e, 2a-e) be arranged for (3a-e by fixing operation person, at least one job step of 4a-e) carrying out, at least one work station is arranged for as people's (3a-e) fixing operation person and at least one work station and is operated by the fixing operation person as robot (4a-e), it is characterized in that, be arranged for as the first work station in described at least one work station of people's (3a-e) fixing operation person with by being configured such that as second work station adjacent with described the first work station in described at least one work station of fixing operation person's operation of robot (4a-e) the work station of object from described the first work station and described the second work station carried out by one among the described fixing operation person or both to the transmission of another work station, the working range of people in the working range of the robot in described the second work station and described the first work station is overlapping, and is that the robot (4a-e) in described the second work station has at least two arms (10).
2. production line according to claim 1 is characterized in that, described production line is assembly line, and at least one work station in the described work station (1a-e, 2a-e) is arranged for to each object and increases at least one parts.
3. production line according to claim 1 and 2 is characterized in that, each robots arm (10) has at least 7 degree of freedom.
4. production line according to claim 1 and 2 is characterized in that, described robots arm (10) is at least part of to be covered by cushion (9).
5. production line according to claim 1 and 2 is characterized in that, has each robots arm (10) in the robot of at least two arms with the power drive that is lower than 80W.
6. production line according to claim 1 and 2 is characterized in that, at least one work station in the described work station (1a-e, 2a-e) is configured to operate by robot or by the people.
7. production line according to claim 1 and 2 is characterized in that, the working range of at least one robot (2a-e) is corresponding to people's accessible working range in the situation of the position that is positioned at described robot.
8. production line according to claim 7, it is characterized in that, be equipped with the work station (2a-e) of robot (4a-e) to comprise at least one component stores facility (6d) and at least one fixture (7), described at least one component stores facility and at least one fixture are configured such that to be positioned in the situation of position of described robot the people, and they can be used by described people.
9. method that is used for the operation production line, described production line comprises a plurality of work stations that in succession arrange, wherein object is carried out continuous job step, wherein carry out at least one job step at each work station, and wherein the job step at least one work station is carried out by the operator as the people, and the job step at least one work station is carried out by the operator as robot, it is characterized in that, the first work station at least one work station that job step is wherein carried out by the operator as the people and wherein job step is overlapping by the working range that is arranged so that the robot in described the second work station as second work station adjacent with described the first work station at least one work station of operator's execution of robot and the people's in described the first work station working range, be that further the work station of object from described the first work station and described the second work station carried out by one in described people and the described robot or both to the transmission of another work station, and be to carry out the operation that the robot in described the second work station carries out by at least two robots arms.
10. method according to claim 9 is characterized in that, described method comprises assembly work, and wherein the described job step of at least one work station in described work station comprises to described object increases parts.
11. the described method of any one according to claim 9-10, it is characterized in that, described object temporarily is stored between the adjacent work station, and puts down respectively or pick up the object of temporary transient storage at two adjacent work stations as robot or people's operator.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EPPCT/EP2007/063330 | 2007-12-05 | ||
| CN200710196589.7 | 2007-12-05 | ||
| EPPCT/EP2007/063330 | 2007-12-05 | ||
| PCT/EP2008/066676 WO2009071567A1 (en) | 2007-12-05 | 2008-12-03 | A production line and a method for operating a such |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101884260A CN101884260A (en) | 2010-11-10 |
| CN101884260B true CN101884260B (en) | 2013-01-23 |
Family
ID=39683570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200880119022.2A Expired - Fee Related CN101884260B (en) | 2007-12-05 | 2008-12-03 | A production line and a method for operating a such |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101884260B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5761239B2 (en) * | 2013-03-19 | 2015-08-12 | 株式会社安川電機 | Workpiece assembly line and workpiece manufacturing method |
| FR3043928B1 (en) * | 2015-11-24 | 2018-05-18 | Psa Automobiles Sa. | INDUSTRIAL MANUFACTURING LINE |
| CN105463458B (en) * | 2016-01-11 | 2018-01-09 | 安徽工业大学 | A kind of automatic application of slip device |
| CN106065930A (en) * | 2016-07-29 | 2016-11-02 | 苏州高通机械科技有限公司 | A kind of symmetrical expression mechanical actuating mechanism |
| CN108608405A (en) * | 2018-03-16 | 2018-10-02 | 深圳市大合森林科技有限公司 | A kind of operation station and automatic production line |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6804880B2 (en) * | 2001-04-26 | 2004-10-19 | Fuji Photo Film Co., Ltd. | Assembly apparatus |
| CN1903504A (en) * | 2005-07-25 | 2007-01-31 | 康茂股份公司 | A cell for assembly of components and/or execution of operations on a piece on an industrial production line, and its robot |
-
2008
- 2008-12-03 CN CN200880119022.2A patent/CN101884260B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6804880B2 (en) * | 2001-04-26 | 2004-10-19 | Fuji Photo Film Co., Ltd. | Assembly apparatus |
| CN1903504A (en) * | 2005-07-25 | 2007-01-31 | 康茂股份公司 | A cell for assembly of components and/or execution of operations on a piece on an industrial production line, and its robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101884260A (en) | 2010-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8627558B2 (en) | Production line and method for operating such | |
| CN101884260B (en) | A production line and a method for operating a such | |
| CN104400267B (en) | Cabin welding production line sent out by a kind of automobile | |
| EP3056454A1 (en) | Transfer robot system | |
| Thomas et al. | Human‐robot collaboration–new applications in industrial robotics | |
| EP2199719B1 (en) | Assembly for cladding an internal wall of a casing, particularly of a converter, with stone masonry | |
| CN106002236A (en) | Reconfigurable assembly work station | |
| CN103332487B (en) | Tire sorting equipment and method for sorting | |
| CN106114906A (en) | The automatic assembling of jigsaw airframe | |
| JP5741618B2 (en) | Workpiece assembly apparatus and assembly method | |
| Grahn et al. | Potential advantages using large anthropomorphic robots in human-robot collaborative, hand guided assembly | |
| CN102233527A (en) | Flexible automatic conveyance system between processes | |
| US20200398870A1 (en) | Matrix track structue and system, production line with associated loops and production method using the production line | |
| Pini et al. | A systematic approach to the engineering design of a HRC workcell for bio-medical product assembly | |
| CN102729248A (en) | Yarn-grabbing robot | |
| CN101450749A (en) | Production line and operation method thereof | |
| CN110277712A (en) | Harness forms feeding device | |
| CN106607515B (en) | Workpiece rivets production system | |
| CN110203638A (en) | Feeding production line and tunnel type vacuum drying system | |
| Salah et al. | Improving the performance of a new storage and retrieval machine based on a parallel manipulator using FMEA analysis | |
| CN205904675U (en) | Automatic assembly equipment of robot | |
| CN205366782U (en) | Automatic machine people selects | |
| EP2223584B1 (en) | A production line and a method for operating a such | |
| Kostka et al. | Using the simulation program for the design and optimization of the production line | |
| CN205765201U (en) | Lathe feeding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200228 Address after: Baden, Switzerland Patentee after: ABB Switzerland Co.,Ltd. Address before: Zurich Patentee before: ABB RESEARCH Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 |