DE10055185A1 - Assembly device for mounting components and sub-assemblies on a free-form surface of a workpiece, includes obliquely positioned pallet for preparing components and sub-assemblies in work-space - Google Patents

Assembly device for mounting components and sub-assemblies on a free-form surface of a workpiece, includes obliquely positioned pallet for preparing components and sub-assemblies in work-space

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Publication number
DE10055185A1
DE10055185A1 DE10055185A DE10055185A DE10055185A1 DE 10055185 A1 DE10055185 A1 DE 10055185A1 DE 10055185 A DE10055185 A DE 10055185A DE 10055185 A DE10055185 A DE 10055185A DE 10055185 A1 DE10055185 A1 DE 10055185A1
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DE
Germany
Prior art keywords
workpiece
assemblies
carrier
components
parallel
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.)
Withdrawn
Application number
DE10055185A
Other languages
German (de)
Inventor
Juergen Heikenwaelder
Michael Schramm
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.)
INST INNOVATIVE TECHNOLOGIEN T
Original Assignee
INST INNOVATIVE TECHNOLOGIEN T
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.)
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Publication date
Application filed by INST INNOVATIVE TECHNOLOGIEN T filed Critical INST INNOVATIVE TECHNOLOGIEN T
Priority to DE10055185A priority Critical patent/DE10055185A1/en
Publication of DE10055185A1 publication Critical patent/DE10055185A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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—Programme-control systems
    • G05B19/02—Programme-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]
    • G05B19/41805—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 assembly
    • 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
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • 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
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • 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
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40267—Parallel manipulator, end effector connected to at least two independent links
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45064—Assembly robot
    • 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)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Operations Research (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

An assembly device for assembling components and sub-assemblies on a free-form surface of a workpiece utilizes parallel-kinematics which consist of a carrier (10 with a movable platform (2) below and which is joined via electronically controlled length-variable struts (3), with passive hinges (4) at their ends, to the carrier (1). The platform (2) carries an assembly unit (5), the latter being rotatably arranged. In the working space of the parallel-kinetics, on the basic frame (6) arranged parallel to the carrier (1) is arranged a workpiece carrier (7) for the workpiece having the free-form surface, and which electronically controlled to swivel about its central axis. An image processing system is integrated into the assembly unit for looking after various test-, measurement-, detection- and monitoring-tasks. At least one pallet (8) can be arranged in an oblique position relative to the carrier (1) for preparing the components and subassemblies in the work-space of the parallel-kinematics.

Description

Die Erfindung betrifft eine Montageeinrichtung zur Montage von Bauelementen und Baugruppen auf eine Freiformfläche eines Werkstückes.The invention relates to an assembly device for assembling components and assemblies on a free-form surface of a workpiece.

Aus der DE 198 10 333 A1 ist ein Automat zur Positionierung eines Werkzeuges bekannt, wobei das Werkzeug an beliebigen Punkten innerhalb eines Bearbeitungszeitraumes positionierbar ist. Der Automat umfasst u. a. eine Bearbeitungsebene, mindestens zwei zueinander parallele Längsführungen, einen U-förmigen Portalaufbau, der sich über die Bearbeitungsebene erhebt, einen Werkzeugarm mit einer im wesentlichen senkrecht zur Bearbeitungsebene verlaufenden Vertikalführung, eine Drehmoduleinheit, die an dem der Bearbeitungsebene zugewandten Ende des Werkzeugarmes befestigt ist, ihrerseits bestehend aus einem ersten Drehmodul und einem zweiten Drehmodul, welches drehbar am ersten Drehmodul befestigt ist. Die Drehachse des zweiten Drehmodules verläuft senkrecht zur Drehachse des ersten Drehmodules. Ein Werkzeugträger, der drehbar am zweiten Drehmodul befestigt ist, trägt das Werkzeug. Dieser Automat zur Positionierung weist den Nachteil auf, dass die volle Beweglichkeit in fünf Achsen nur im unmittelbaren Fügeprozess zur Verfügung steht. Der Positionsautomat kann nicht um die X-, Y- oder Z-Achse schwenken, um beispielsweise Montageelemente aus schräg liegenden Paletten zu entnehmen oder falsch orientierte Montageteile zu manipulieren. Die DE 196 36 100 A1 beschreibt eine Vorrichtung zum Positionieren einer Arbeitseinheit, bei welcher zwischen der Arbeitseinheit und einer feststehenden Einheit eine Koppeleinheit angeordnet ist, die aus sechs längsverschiebbar gelagerten Streben besteht. Es ist dadurch ein Bewegungsmechanismus für die Arbeitseinheit mit drei translatorischen und drei rotatorischen Freiheitsgraden geschaffen. Die Streben sind über Kardangelenke oder Kugelgelenke mit der Arbeitseinheit und der feststehenden Einheit verbunden.DE 198 10 333 A1 describes an automatic machine for positioning a tool known, the tool at any point within a Processing period is positionable. The machine includes a. a Working plane, at least two parallel longitudinal guides, a U-shaped portal structure that rises above the processing level, a tool arm with a substantially perpendicular to the Machining level vertical guide, a rotary module unit, the at the end of the tool arm facing the machining plane is attached, in turn consisting of a first rotary module and one second rotary module, which is rotatably attached to the first rotary module. The The axis of rotation of the second rotary module is perpendicular to the axis of rotation of the first rotary module. A tool carrier that rotates on the second rotary module attached, carries the tool. This positioning machine has the Disadvantage that full mobility in five axes only in the immediate Joining process is available. The position machine cannot move around the X, Swivel the Y or Z axis, for example, at an angle from assembly elements to remove lying pallets or incorrectly oriented assembly parts manipulate. DE 196 36 100 A1 describes a device for Position a unit of work in which between the unit of work and a fixed unit a coupling unit is arranged, which consists of six struts mounted for longitudinal displacement. It is a Movement mechanism for the work unit with three translational and three  rotational degrees of freedom created. The struts are over universal joints or ball joints with the work unit and the fixed unit connected.

Aufgabe der Erfindung ist es, eine Montageeinrichtung zur Montage von Bauelementen und Baugruppen auf eine Freiformfläche eines Werkstückes zu entwickeln, mit der es möglich ist, Werkstücke auf einer vorzugsweise schräg liegenden Palette zu entnehmen oder falsch arretierte Montage zu manipulieren, um sie auf der Freiformfläche zu montieren.The object of the invention is to provide a mounting device for mounting Components and assemblies towards a free-form surface of a workpiece develop with which it is possible to work on a preferably inclined workpiece remove the lying pallet or manipulate incorrectly locked assembly, to mount them on the freeform surface.

Erfindungsgemäß wird die Aufgabe dadurch gelöst, dass eine Parallelkinematik verwendet wird, die aus einem Träger mit einer darunter relativ dazu beweglichen Plattform besteht, die über elektronisch steuerbare längenveränderliche Streben mit passiven Gelenken an ihren Enden mit dem Träger verbunden ist, die Plattform eine Montageeinheit, die drehbar angeordnet ist, trägt; im Arbeitsraum der Parallelkinematik, auf einem parallel zum Träger angeordneten Grundgestell, ein Werkstückträger für das Werkstück mit der Freiformoberfläche angeordnet ist, der um seine Mittelachse elektronisch gesteuert schwenkbar ist, und ein Bildverarbeitungssystem zur Wahrnehmung unterschiedlicher Prüf-, Mess-, Detektions- und Überwachungsaufgaben in der Montageeinheit integriert ist, der Werkstückträger mittels Transfereinrichtung mit einem weiteren Werkstückträger wechselbar angeordnet ist, und weiterhin mindestens eine Palette, die vorzugsweiser in schräger Lage zum Träger angeordnet sein kann, zur Bereitstellung der Bauelemente und Baugruppen im Arbeitsraum der Parallelkinematik angeordnet ist. Weitere Ausführungsformen der Erfindung zeigen die Unteransprüche 2 bis 4.According to the invention, the object is achieved in that parallel kinematics is used, which consists of a carrier with one underneath relative to it movable platform, which is electronically controllable length-adjustable struts with passive joints at their ends with the Carrier is connected to the platform an assembly unit that is rotatable is arranged, carries; in the parallel kinematics workspace, on a parallel base frame arranged to the carrier, a workpiece carrier for the workpiece is arranged with the free-form surface, which is electronic about its central axis controlled swivel, and an image processing system for perception different testing, measuring, detection and monitoring tasks in the Assembly unit is integrated, the workpiece carrier with a transfer device another workpiece carrier is arranged interchangeably, and still at least one pallet, preferably in an inclined position to the carrier can be arranged to provide the components and assemblies in the Working area of the parallel kinematics is arranged. Other embodiments the invention show subclaims 2 to 4.

Nachfolgend wird die Erfindung anhand eines Ausführungsbeispieles näher erläutert. Die dazugehörige Zeichnung zeigt eine schematische Darstellung einer Montageeinrichtung zur Montage von Bauelementen und Baugruppen auf eine Formfläche eines Werkstückes. Fig. 1 zeigt eine Parallelkinematik, bestehend aus einem Träger 1 mit einer darunter relativ dazu beweglichen Plattform 2. Die Plattform 2 ist über sechs elektronisch steuerbare längenveränderliche Streben 3 mit passiven Gelenken 4 an ihren Enden mit dem Träger 1 verbunden. An der Plattform 2 ist eine Montageeinheit 5, die drehbar angeordnet ist, angebracht. Die Montageeinheit 5 kann beispielsweise ein Greifer oder ein Manipulator sein. Die Parallelkinematik ist in sechs Freiheitsgraden bewegbar. Somit lassen sich Manipulationen von Bauelementen und Baugruppen für Montageoperationen in allen Richtungen des Raumes, d. h. in beliebigen Montageebenen, ausführen. Die Bewegung der Plattform 2 wird durch das gesteuerte Aus- bzw. Einfahren der Streben 2 realisiert. Für die Drehbewegung in der Ebene parallel zum Träger 1 der Parallelkinematik ist ein Werkstückträger 7 für das Werkstück 12 auf einem Grundgestell 6 der Montageeinrichtung um seine Mittelachse elektronisch gesteuert schwenkbar angeordnet. Jede Strebe 3 wird durch einen elektronisch geregelten Antrieb 10 bewegt, so dass sich die Plattform 2 in sechs Freiheiten im Arbeitsraum positionieren lässt. Die erforderlichen Antriebsbewegungen werden mit einer numerischen Steuerung ausgeführt. In der Montageeinrichtung ist ein Bildverarbeitungssystem zur Wahrnehmung unterschiedlicher Prüf-, Mess-, Detektions- und Überwachungsaufgaben integriert. Dazu dient u. a. eine Kamera 10, die an einem Portal 11 des Grundgestells 6 verfahrbar angeordnet ist. Die Bestückung des Werkstückträgers 7 mit dem Werkstück 12 erfolgt außerhalb des Arbeitsraumes der Montageeinrichtung auf einer separaten Station, die durch eine Transfereinrichtung mit der Montageeinrichtung verbunden ist. Da sich die Parallelkinematik beliebig im Arbeitsraum bewegen kann, können ohne zusätzliche Rüstaufwände unterschiedliche Werkstücke 12 mit Montageebenen auf beliebigen Freiformflächen nacheinander montiert werden. Die Darstellung der Montageeinrichtung zeigt zwei Paletten 8, 9; eine Palette 8 dient beispielsweise zur Bereitstellung der Bauelemente und eine zweite Palette 9 zur Bereitstellung der Baugruppen. Die Paletten 8, 9 können sowohl in einer Ebene parallel als auch in einer Winkellage schräg zum Träger 1 der Parallelkinematik im Arbeitsraum angeordnet werden. The invention is explained in more detail below using an exemplary embodiment. The accompanying drawing shows a schematic representation of an assembly device for assembling components and assemblies on a shaped surface of a workpiece. Fig. 1 shows a parallel kinematic mechanism consisting of a support 1 with an underlying movable relative to the platform 2. The platform 2 is connected to the support 1 via six electronically controllable struts 3 with passive joints 4 at its ends. A mounting unit 5 , which is arranged rotatably, is attached to the platform 2 . The assembly unit 5 can be, for example, a gripper or a manipulator. The parallel kinematics can be moved in six degrees of freedom. This means that components and assemblies can be manipulated for assembly operations in all directions in the room, ie in any assembly level. The movement of the platform 2 is realized by the controlled extension or retraction of the struts 2 . For the rotational movement in the plane parallel to the carrier 1 of the parallel kinematics, a workpiece carrier 7 for the workpiece 12 is arranged on a base frame 6 of the assembly device so that it can be pivoted electronically about its central axis. Each strut 3 is moved by an electronically controlled drive 10 so that the platform 2 can be positioned in six working spaces. The necessary drive movements are carried out with a numerical control. An image processing system for performing different testing, measuring, detection and monitoring tasks is integrated in the assembly device. For this purpose, a camera 10 is used , which is arranged to be movable on a portal 11 of the base frame 6 . The workpiece carrier 7 is loaded with the workpiece 12 outside the working space of the assembly device on a separate station which is connected to the assembly device by a transfer device. Since the parallel kinematics can move as desired in the work area, different workpieces 12 with assembly levels can be assembled in succession on any free-form surfaces without additional setup work. The representation of the assembly device shows two pallets 8 , 9 ; a pallet 8 serves, for example, to provide the components and a second pallet 9 to provide the assemblies. The pallets 8 , 9 can be arranged in the working area both in a plane parallel and in an angular position obliquely to the carrier 1 of the parallel kinematics.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

11

Träger
carrier

22

Plattform
platform

33

Streben
pursuit

44

Gelenke
joints

55

Montageeinheit
assembly unit

66

Grundgestell
base frame

77

Werkstückträger
Workpiece carrier

88th

Palette zur Bereitstellung der Bauelemente
Pallet for the provision of the components

99

Palette zur Bereitstellung der Baugruppen
Pallet for the provision of the assemblies

1010

Kamera
camera

1111

Portal
portal

1212

Werkstück
workpiece

Claims (4)

1. Montageeinrichtung zur Montage von Bauelementen und Baugruppen auf eine Freiformfläche eines Werkstückes, dadurch gekennzeichnet, dass eine Parallelkinematik verwendet wird, die aus einem Träger (1) mit einer darunter relativ dazu beweglichen Plattform (2) besteht, die über elektronisch steuerbare längenveränderliche Streben (3) mit passiven Gelenken (4) an ihren Enden mit dem Träger (1) verbunden ist, die Plattform (2) eine Montageeinheit (5), die drehbar angeordnet ist, trägt; im Arbeitsraum der Parallelkinematik, auf einem parallel zum Träger (1) angeordneten Grundgestell (6), ein Werkstückträger (7) für das Werkstück (12) mit der Freiformoberfläche angeordnet ist, der um seine Mittelachse elektronisch gesteuert schwenkbar ist, und ein Bildverarbeitungssystem zur Wahrnehmung unterschiedlicher Prüf-, Mess-, Detektions- und Überwachungsaufgaben in der Montageeinheit integriert ist, der Werkstückträger (7) mittels Transfereinrichtung mit einem weiteren Werkstückträger wechselbar angeordnet ist, und weiterhin mindestens eine Palette (8), die vorzugsweise in schräger Lage zum Träger (1) angeordnet sein kann, zur Bereitstellung der Bauelemente und Baugruppen im Arbeitsraum der Parallelkinematik angeordnet ist.1. Mounting device for mounting components and assemblies on a free-form surface of a workpiece, characterized in that a parallel kinematics is used, which consists of a carrier ( 1 ) with a platform ( 2 ) that can be moved relative to it below, which via electronically controllable struts ( 3 ) with passive joints ( 4 ) at their ends to the support ( 1 ), the platform ( 2 ) carries a mounting unit ( 5 ) which is rotatably arranged; In the parallel kinematics work area, on a base frame ( 6 ) arranged parallel to the support ( 1 ), a workpiece support ( 7 ) for the workpiece ( 12 ) with the free-form surface is arranged, which can be pivoted electronically about its central axis, and an image processing system for perception different testing, measuring, detection and monitoring tasks are integrated in the assembly unit, the workpiece carrier ( 7 ) is arranged to be exchangeable with another workpiece carrier by means of a transfer device, and furthermore at least one pallet ( 8 ), which is preferably in an inclined position relative to the carrier ( 1 ) can be arranged to provide the components and assemblies in the working space of the parallel kinematics. 2. Montageeinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Montageeinheit (5) ein Greifer oder ein Manipulator ist.2. Mounting device according to claim 1, characterized in that the mounting unit ( 5 ) is a gripper or a manipulator. 3. Montageeinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass im Arbeitsbereich der Parallelkinematik eine Palette (8) zur Bereitstellung der Bauelemente und eine Palette (9) zur Bereitstellung der Baugruppen angeordnet sind. 3. Mounting device according to claim 1, characterized in that a pallet ( 8 ) for providing the components and a pallet ( 9 ) for providing the assemblies are arranged in the working area of the parallel kinematics. 4. Montageeinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass eine Kamera (10) des Bildverarbeitungssystems an einem Portal (11) des Grundgestells (6) verfahrbar angeordnet ist.4. Mounting device according to claim 1, characterized in that a camera ( 10 ) of the image processing system on a portal ( 11 ) of the base frame ( 6 ) is arranged to be movable.
DE10055185A 2000-11-07 2000-11-07 Assembly device for mounting components and sub-assemblies on a free-form surface of a workpiece, includes obliquely positioned pallet for preparing components and sub-assemblies in work-space Withdrawn DE10055185A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE10055185A DE10055185A1 (en) 2000-11-07 2000-11-07 Assembly device for mounting components and sub-assemblies on a free-form surface of a workpiece, includes obliquely positioned pallet for preparing components and sub-assemblies in work-space

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE10055185A DE10055185A1 (en) 2000-11-07 2000-11-07 Assembly device for mounting components and sub-assemblies on a free-form surface of a workpiece, includes obliquely positioned pallet for preparing components and sub-assemblies in work-space

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DE10055185A1 true DE10055185A1 (en) 2002-05-08

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DE10055185A Withdrawn DE10055185A1 (en) 2000-11-07 2000-11-07 Assembly device for mounting components and sub-assemblies on a free-form surface of a workpiece, includes obliquely positioned pallet for preparing components and sub-assemblies in work-space

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1480507A1 (en) * 2003-05-21 2004-11-24 Esec Trading S.A. Semiconductor mounting apparatus
WO2006087199A1 (en) * 2005-02-17 2006-08-24 Semcosyst Handels- Und Vertriebs Gmbh Device and method for assembling electronic components on a component reservoir
US7146718B2 (en) 2003-05-21 2006-12-12 Esec Trading Sa Apparatus for mounting semiconductors
CN105339140A (en) * 2013-03-15 2016-02-17 波音公司 Method and apparatus for positioning automated processing systems
CN111746819A (en) * 2020-07-10 2020-10-09 中国航空制造技术研究院 Automatic assembly equipment for helicopter hub
WO2020245598A1 (en) 2019-06-07 2020-12-10 Renishaw Plc Manufacturing method and apparatus

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1480507A1 (en) * 2003-05-21 2004-11-24 Esec Trading S.A. Semiconductor mounting apparatus
US7146718B2 (en) 2003-05-21 2006-12-12 Esec Trading Sa Apparatus for mounting semiconductors
WO2006087199A1 (en) * 2005-02-17 2006-08-24 Semcosyst Handels- Und Vertriebs Gmbh Device and method for assembling electronic components on a component reservoir
CN105339140A (en) * 2013-03-15 2016-02-17 波音公司 Method and apparatus for positioning automated processing systems
WO2020245598A1 (en) 2019-06-07 2020-12-10 Renishaw Plc Manufacturing method and apparatus
EP4383977A2 (en) 2019-06-07 2024-06-12 Renishaw PLC Manufacturing method and apparatus
EP4383977A3 (en) * 2019-06-07 2024-08-28 Renishaw PLC Manufacturing method and apparatus
CN111746819A (en) * 2020-07-10 2020-10-09 中国航空制造技术研究院 Automatic assembly equipment for helicopter hub
CN111746819B (en) * 2020-07-10 2022-02-15 中国航空制造技术研究院 Automatic assembly equipment for helicopter hub

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