DE102005059426A1 - Machining station of manufacturing plant for machining of workpiece, has handling robot for handling of workpiece whereby machining robot comprises base, drive unit and control device for rotating base around rotation axis - Google Patents

Abstract

Machining station has a machining robot (7), which comprises a base (13) mounted so as to rotate around a rotation axis (11) and a drive unit and a control device for rotating the base around the rotation axis. Many tools (9) are arranged on the base.

Description

The The invention relates to a processing station of a production plant for machining a workpiece with a handling robot for handling the workpiece as well at least one machining robot for machining the workpiece, the For editing several tools are assigned.

Such a processing station is for example from the DE 203 04 022 U1 known.

In The known production plant are several processing stations arranged along a production line. The individual processing stations have at least one handling robot and at least one Processing robot, wherein the handling robot handling and the transport of the workpiece serve and the processing robot to work on the workpiece.

The Machining robots can Have replaceable couplings, if necessary, the connected To change tools, whereby a processing robot different processing of the workpiece carry out can. The tools associated with a processing robot are typically arranged on a shelf in a workspace of the processing robot, so that these change the tools independently can.

One Disadvantage of the known processing station is that the processing robot and the tools must be equipped with interchangeable couplings. Furthermore, it is disadvantageous that a carrying capacity of the processing robot is an upper limit for the tool weights pretends. Furthermore, it is disadvantageous that tool change times in the order of magnitude of 10-20 seconds are relatively large and bring about a cycle time loss.

task The invention is to provide a processing station, the one fast tool change possible and can carry tools with a high weight.

The Task is characterized in a generic processing station solved, in that the at least one processing robot has one around an axis of rotation rotatably mounted body, where the plurality of tools are arranged, and a drive unit and a control device for rotating the main body to includes the axis of rotation.

Of the Handling robot advantageously has at least two rotational joints on.

Further the handling robot advantageously has at least two torsion joints on.

Prefers the plurality of tools are arranged along a circumference of the base body.

Prefers is the main body essentially flat.

Advantageous indicates the basic body a radially retracted peripheral portion to a handling area for the Handling robot with workpiece provide.

Prefers indicates the basic body at least one processing room that is at least partially extends into a recess in the body and a tool for machining the workpiece or cooperating tool parts for Machining the workpiece is assigned from two sides.

Advantageous is the main body about the rotational axis by less than 360 °, preferably by 340 °, rotatable.

In an advantageous embodiment comprises the processing station two processing robots.

Advantageous the axis of rotation of the at least one machining robot is tangential arranged to a working area of the handling robot.

Advantageous is the at least one processing robot a sensor to distinguish from to be machined workpieces assigned. Dependent from the recognized workpiece the processing robot can then different edits the same carry out.

Prefers the drive unit is an electric motor.

Prefers is a central control unit for controlling the handling robot and the at least one processing robot provided.

Advantageous are to the main body Supply lines led to the operation of the tools.

The Invention will now be described with reference to an embodiment with reference explained on a drawing. Show it:

1 a perspective view of a processing station of a manufacturing plant according to the present invention;

2 a top view of the processing station of 1 ;

3 a side view of the processing station of 1 ;

4 a perspective view of an enlarged section of the processing station of 1 ;

5 a perspective view of two processing robots of the processing station of 1 ;

6 a first side view of a processing robot of the processing station of 1 ; and

7 a second side view of the machining robot of 6 ,

A workstation 1 in the 1 to 3 includes a handling robot 5 and two processing robots 7 , The handling robot 5 each takes a workpiece to be machined 3 from a workpiece removal point 33E and this leads to editing the processing robots 7 to. The handling robot 5 Holds the workpiece 3 suitable for processing and changes the position of the workpiece if necessary 3 for the following processing steps by the processing robot 7 corresponding. Is the processing of the handling robot 5 held workpiece 3 completed, so puts the handling robot 5 the machined workpiece 3 on a tool tray 33A from.

The processing station 1 is not directly accessible for reasons of safety at work. To the workstation 1 is a protective fence 35 , in this case made of Plexiglasscheiben, which are held by a metal frame, provided by several cabinets 37 is interrupted, being in the protective fence 35 a door 39 is provided, through which the processing station 1 is accessible. For larger systems, several doors can be provided.

The handling robot 5 here has several rotational joints 19 and torsion joints 21 on to the workpiece 3 to be able to hold in as many different positions as possible. In general, the handling robot may be the processing station 1 Any robot that handles the workpiece 3 suitable is.

In the processing station 1 are two processing robots 7 provided, however, are identical (mirror-symmetrical), so that subsequently only the structure of a processing robot 7 is described.

With reference to the 5 to 7 has every machining robot 7 a basic body 13 on, around a rotation axis 11 is rotatable. Along a circumference 13U of the basic body 13 are several tools 9 arranged. The tools 9 For example, stamping, bending, stamping, clinching, welding or riveting may be performed. The tools 9 be via utility lines 31 energized, being in the supply lines 31 Compressed air, a hydraulic fluid or electricity can be performed.

Every machining robot 7 is associated with a drive unit, not shown, to the main body 13 about the axis of rotation 11 to turn by a predetermined angle. The drive unit is activated and deactivated for this purpose by a central control unit. The central control unit also controls the drive unit of the second processing robot 7 as well as the operation of the tools 9 the machining robot 7 and the operation of the handling robot 5 ,

Every machining robot 7 has a radially retracted peripheral area 17 on, whereby in the radial direction a free handling area 23 is formed, which provides a freedom of movement for the workpiece 3 forms, if this exclusively from the other processing robot 7 is processed. The radially retracted peripheral region 17 thus forms a freedom of movement, in which the workpiece 3 can be moved freely without tools 9 or at the base body 13 the unused editing robot 7 to initiate.

In the main body 13 are depressions 27 each provided with a tool 9 assigned. In the present case, there are the tools 9 each from a tool shell 9O and a tool lower part 9U to a machining of the workpiece 3 from two sides. Therefore, each recess points 27 at one end a tool part 9O . 9U and at the other opposite end, the other tool part 9U . 9O of the tool 9 on.

Every well 27 forms a processing room 25 which is needed to the workpiece 3 suitable relative to the associated tool 9 to position for editing. Is a workpiece 3 far radially in the body 13 to introduce for editing, so is a corresponding recess 27 in the main body 13 provided.

As in the 2 and 4 shown, are the axes of rotation 11 the machining robot 7 tangential to a circular workspace 29 of the handling robot 5 arranged, creating a particularly space-saving arrangement of the processing robot 7 is possible.

In general, the processing robot 7 be constructed differently from each other. Furthermore, the tools of a machining robot 7 those of another machining robot 7 differ. The processing station 1 can any number of editing robots 7 exhibit. Several processing robots 7 can be in any arrangement in the workstation 1 be arranged, which makes sense for a favorable workflow.

The basic body 13 may generally have any shape necessary for an arrangement of the tools 9 makes sense. For example, for tools with a large longitudinal extent (along the axis of rotation 11 ) a body of cubic shape be useful.

Every basic body 13 is preferably less than 360 ° about its associated axis of rotation 11 rotatable to provide a special guide for the supply lines 31 to avoid.

1

processing station a manufacturing plant

3

workpiece

5

handling robots

7

processing robot

9

Tool

9O

Upper die

9U

Tool part

11

axis of rotation

13

body

13U

scope of the basic body

17

radial retracted peripheral area

19

rotary joint

21

torsion

23

handling area

25

working space

27

deepening in the main body

29

Workspace of the handling robot

31

supply line

33E

Workpiece removal space

33A

Tool space

35

Safety fence

37

cabinet

39

door

Claims (14)

Processing station ( 1 ) of a production facility for processing a workpiece ( 3 ) with a handling robot ( 5 ) for handling the workpiece ( 3 ) and at least one processing robot ( 7 ) for machining the workpiece ( 3 ), which has several tools ( 9 ), characterized in that the at least one processing robot ( 7 ) one about a rotation axis ( 11 ) rotatably mounted body ( 13 ) where the multiple tools ( 9 ) are arranged, and a drive unit and a control device for rotating the main body ( 13 ) about the axis of rotation ( 11 ). Processing station according to claim 1, characterized in that the handling robot ( 5 ) at least two rotational joints ( 19 ). Processing station according to claim 1 or 2, characterized in that the handling robot ( 5 ) at least two torsion joints ( 21 ). Processing station according to one of the preceding claims, characterized in that the plurality of tools ( 9 ) along a circumference ( 13U ) of the basic body ( 13 ) are arranged. Processing station according to one of the preceding claims, characterized in that the basic body ( 13 ) is substantially flat. Processing station according to one of the preceding claims, characterized in that the basic body ( 13 ) a radially retracted peripheral region ( 17 ) to a handling area ( 23 ) for the handling robot ( 5 ) with workpiece ( 3 ). Processing station according to one of the preceding claims, characterized in that the basic body ( 13 ) at least one processing room ( 25 ), which at least partially into a depression ( 27 ) in the body ( 13 ) and a tool ( 9 ) for machining the workpiece ( 3 ) or cooperating tool parts ( 9O . 9U ) for machining the workpiece ( 3 ) is assigned from two sides. Processing station according to one of the preceding claims, characterized in that the basic body ( 13 ) about the axis of rotation ( 11 ) is rotatable by less than 360 °, preferably by 340 °. Processing station according to one of the preceding claims, characterized by two processing robots ( 7 ). Processing station according to one of the preceding claims, characterized in that the axis of rotation ( 11 ) of the at least one processing robot ( 7 ) tangent to a workspace ( 29 ) of the handling robot ( 5 ) is arranged. Processing station according to one of the preceding claims, characterized in that the at least one processing robot ( 7 ) a sensor for distinguishing workpieces to be machined ( 3 ) assigned. Processing station according to one of the preceding Claims, characterized in that the drive unit is an electric motor is. Processing station according to one of the preceding claims, characterized by a central control unit for controlling the handling robot ( 5 ) and the at least one processing robot ( 7 ). Processing station according to one of the preceding claims, characterized in that to the main body ( 13 ) Supply lines ( 31 ) for the operation of the tools ( 9 ) are guided.