CN109475988A - 装配设备和用于控制装配设备的方法 - Google Patents

装配设备和用于控制装配设备的方法 Download PDF

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Publication number
CN109475988A
CN109475988A CN201780037174.7A CN201780037174A CN109475988A CN 109475988 A CN109475988 A CN 109475988A CN 201780037174 A CN201780037174 A CN 201780037174A CN 109475988 A CN109475988 A CN 109475988A
Authority
CN
China
Prior art keywords
axis robot
assembly equipment
linear
axle system
axis
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.)
Pending
Application number
CN201780037174.7A
Other languages
English (en)
Chinese (zh)
Inventor
吕根·熊劳
迈克·本德尔
马克·莱韦伯
延斯·斯托克施兰德
迈克·赛恩
斯蒂芬·施皮斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thomas Magnete GmbH
Original Assignee
Thomas Magnete GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thomas Magnete GmbH filed Critical Thomas Magnete GmbH
Publication of CN109475988A publication Critical patent/CN109475988A/zh
Pending legal-status Critical Current

Links

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 program control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control the units stationary whilst being composed
    • 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
    • B23P19/04—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 for assembling or disassembling parts
    • 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 program 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 program control the units passing two or more work-stations whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32397—Machining cells
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Quality & Reliability (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
CN201780037174.7A 2016-06-14 2017-06-12 装配设备和用于控制装配设备的方法 Pending CN109475988A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016007192.3 2016-06-14
DE102016007192.3A DE102016007192A1 (de) 2016-06-14 2016-06-14 Montagevorrichtung und Verfahren zur Steuerung der Montagevorrichtung
PCT/DE2017/100494 WO2017215708A1 (de) 2016-06-14 2017-06-12 Montagevorrichtung und verfahren zur steuerung der montagevorrichtung

Publications (1)

Publication Number Publication Date
CN109475988A true CN109475988A (zh) 2019-03-15

Family

ID=59315358

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780037174.7A Pending CN109475988A (zh) 2016-06-14 2017-06-12 装配设备和用于控制装配设备的方法

Country Status (5)

Country Link
EP (1) EP3448623B1 (https=)
JP (1) JP2019520224A (https=)
CN (1) CN109475988A (https=)
DE (1) DE102016007192A1 (https=)
WO (1) WO2017215708A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201900006552A1 (it) 2019-05-06 2020-11-06 Ima Spa Apparato e metodo per la gestione automatizzata di una camera di lavorazione ad atmosfera controllata.
WO2022011162A1 (en) * 2020-07-08 2022-01-13 Milara Incorporated Flexible modular assembly system
CN112719838A (zh) * 2020-12-30 2021-04-30 安徽航大智能科技有限公司 一种减速器自动翻转机
IT202100021320A1 (it) * 2021-08-05 2023-02-05 Idea Prototipi Srl Cella di lavoro
CN115635297A (zh) * 2022-10-20 2023-01-24 东莞市冠佳电子设备有限公司 360°旋转垂直组装设备
CN117680946B (zh) * 2023-12-28 2025-10-10 安徽万航轨道交通装备有限公司 一种轨道矿车轮对辅助装配装置

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4890241A (en) * 1987-10-26 1989-12-26 Megamation Incorporated Robotic system
US5894657A (en) * 1994-12-08 1999-04-20 Matsushita Electric Industrial Co., Ltd. Mounting apparatus for electronic component
WO2001089774A2 (en) * 2000-05-25 2001-11-29 Burleigh Automation, Inc. Manipulator/end effector for robotic assembly
US20020185359A1 (en) * 2001-06-06 2002-12-12 Livingston John Scott Robot having interlock mechanism
JP2003159679A (ja) * 2001-11-27 2003-06-03 Juki Corp 複軸ロボット
CN103240591A (zh) * 2012-02-03 2013-08-14 佳能株式会社 装配设备和装配方法
JP2015008339A (ja) * 2014-10-17 2015-01-15 富士機械製造株式会社 製造作業機
CN204748031U (zh) * 2015-07-09 2015-11-11 徐州华恒机器人系统有限公司 龙门打磨、抛光、去毛刺机器人工作站
CN105458646A (zh) * 2014-09-30 2016-04-06 佳能株式会社 自动组装设备、自动组装系统和自动组装方法

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JPH04210392A (ja) * 1990-12-13 1992-07-31 Mitsubishi Electric Corp 産業用ロボット装置
JP3311397B2 (ja) * 1992-11-11 2002-08-05 三洋電機株式会社 部品装着ヘッド衝突回避方法及びそれを使用した部品装着装置
JPH06179136A (ja) * 1992-12-15 1994-06-28 Mazda Motor Corp 組付装置
JP3230453B2 (ja) * 1997-03-31 2001-11-19 日本鋼管株式会社 大型構造物の溶接ロボット装置
JP4316336B2 (ja) * 2003-09-26 2009-08-19 パナソニック株式会社 部品実装ヘッド及び部品実装装置
DE102004056493A1 (de) * 2004-06-25 2006-01-12 Dürr Systems GmbH Beschichtungsanlage und zugehöriges Betriebsverfahren
JP4731903B2 (ja) * 2004-12-24 2011-07-27 パナソニック株式会社 部品実装用実装ヘッド、及び該実装ヘッドを備えた部品実装装置
US8434414B2 (en) * 2009-09-09 2013-05-07 Rimrock Automation, Inc. Multi-directional mobile robotic cell
JP5656804B2 (ja) * 2011-11-07 2015-01-21 三菱電機株式会社 組立ロボット装置
JP6500328B2 (ja) * 2014-02-06 2019-04-17 日産自動車株式会社 組み立て装置
US9452500B2 (en) * 2014-03-24 2016-09-27 The Boeing Company System and method for assembly manufacturing
JP2016058605A (ja) * 2014-09-11 2016-04-21 パナソニックＩｐマネジメント株式会社 部品実装方法
DE202015000787U1 (de) 2014-10-05 2016-01-07 Thomas Magnete Gmbh Produktionsanlage und deren Teile
JP5970659B2 (ja) * 2015-06-26 2016-08-17 パナソニックＩｐマネジメント株式会社 電子部品実装システムおよび電子部品実装方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4890241A (en) * 1987-10-26 1989-12-26 Megamation Incorporated Robotic system
US5894657A (en) * 1994-12-08 1999-04-20 Matsushita Electric Industrial Co., Ltd. Mounting apparatus for electronic component
WO2001089774A2 (en) * 2000-05-25 2001-11-29 Burleigh Automation, Inc. Manipulator/end effector for robotic assembly
US20020185359A1 (en) * 2001-06-06 2002-12-12 Livingston John Scott Robot having interlock mechanism
JP2003159679A (ja) * 2001-11-27 2003-06-03 Juki Corp 複軸ロボット
CN103240591A (zh) * 2012-02-03 2013-08-14 佳能株式会社 装配设备和装配方法
CN105458646A (zh) * 2014-09-30 2016-04-06 佳能株式会社 自动组装设备、自动组装系统和自动组装方法
JP2015008339A (ja) * 2014-10-17 2015-01-15 富士機械製造株式会社 製造作業機
CN204748031U (zh) * 2015-07-09 2015-11-11 徐州华恒机器人系统有限公司 龙门打磨、抛光、去毛刺机器人工作站

Also Published As

Publication number Publication date
JP2019520224A (ja) 2019-07-18
DE102016007192A1 (de) 2017-12-14
EP3448623A1 (de) 2019-03-06
WO2017215708A1 (de) 2017-12-21
EP3448623B1 (de) 2019-10-09

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Application publication date: 20190315