DE102019129723A1 - Human-robot assembly system for the robot-assisted collaborative assembly of a large-dimensional assembly object - Google Patents

Abstract

Human-robot collaboration assembly system for robot-assisted collaborative assembly, in particular pre-assembly or final assembly, of a large-dimensional assembly object, comprising an assembly platform with at least one frame unit, which has a guide rail with an open or closed trajectory, preferably in a preferably vertical plane, at least one handling device for Recording of a component of an assembly object and an associated moving device for the controlled movement of the handling device on the guide rail, and a control device for the handling device.

Description

The present invention relates to a human-robot collaboration assembly system (also called a cooperative assembly system) for robot-supported collaborative assembly, in particular pre-assembly or final assembly, of a large-dimensional assembly object. Large-scale assembly objects are understood to be those which, due to their geometric dimensions, mass and / or other properties, cannot be lifted, held and / or changed in their position and / or orientation by a single worker without aids. This also includes assembly objects that do not have inherent stability (e.g. several components that can move freely with respect to one another within the assembly object or limp components) or that only reach them after assembly has been completed. The assembly object can be, for example, an assembly in the aviation industry, such as landing flaps or wings of aircraft, and, for example, in the automotive industry, such as bumpers or engine blocks, as well as in the assembly of household appliances (for example refrigerators or washing machines). act.

• In der Montage großdimensionaler Baugruppen werden Anforderungen an eine ergonomische Gestaltung von Handhabungsgeräten bislang nicht ausreichend berücksichtigt. Ein Großteil der Flugzeugmontage erfolgt bislang von Hand und ergonomische Handhabungsgeräte werden nur sporadisch eingesetzt. Bestehende Vorrichtungen, die innerhalb der Montage eingesetzt werden, wie zum Beispiel spezielle Hubwagen, mit denen Komponenten für einen Fügevorgang unter der Tragfläche ausgerichtet werden, sind maßgeschneiderte Lösungen unterschiedlicher Unternehmen und dienen nur für einen Anwendungsfall. Ihre Gestaltung ist durch die Erfüllung der technischen Montagefunktion getrieben und berücksichtigt nur unzureichend eine Anpassungsfähigkeit an die ergonomischen Bedürfnisse des Menschen.

Using the example of the aviation industry, the problem on which the present invention is based is to be demonstrated:

• In the assembly of large-scale assemblies, requirements for an ergonomic design of handling devices have so far not been sufficiently taken into account. A large part of aircraft assembly has so far been done by hand and ergonomic handling devices are only used sporadically. Existing devices that are used within assembly, such as special lift trucks with which components for a joining process are aligned under the wing, are tailor-made solutions from different companies and are only used for one application. Their design is driven by the fulfillment of the technical assembly function and only insufficiently takes into account an adaptability to the ergonomic needs of people.

For moving and holding components with properties such as large dimensions or heavy masses, balancers or crane techniques are often used, which carry out lifting and relocating processes under gravity compensation. These devices are often to be used stationary and offer limited accessibility for assembly due to the few degrees of freedom that can be implemented with them.

Some aircraft manufacturers use automated aircraft assembly to reduce construction time by using articulated robots. For example, automated aircraft assembly is used in the labor-intensive manufacture of wings. Stationary articulated robots automatically attach sheet metal elements made of aluminum alloy to the spars of wings with stringers to ensure the strength of the wings. However, the assembly takes place behind a work area that is cordoned off from people, so that the robot can move on programmed paths and without sensors. A direct collaboration (collaboration) with humans is not possible.

In the areas of production automation or intelligent production systems, the use of human-robot collaboration (HRC) -capable assistant robots in aircraft construction shows a new trend. Assistant robots are robots that have the ability to interact and collaborate directly with humans. The term cobot or cobot, which is made up of collaborating or cooperating robots, is also derived for these assistance robots. This HRC combines the advantages of man and machine (robot). With the abilities of humans, for example perception, the ability to adapt to new tasks, and of the robot, for example high precision and payloads, an improvement in the ergonomics of the handling process is achieved.

The present invention is based on the object of providing an assembly system for human-robot collaboration / cooperation which, in addition to improving assembly processes, also enables ergonomics to be improved in the assembly of large-dimension assembly objects (assemblies (large assemblies)), for example in the aviation industry.

• - eine Montageplattform mit
  • • mindestens einer Gestelleinheit, die eine Führungsschiene mit einer offenen oder geschlossenen Bahnkurve vorzugsweise in einer vorzugsweise vertikalen Ebene aufweist,
  • • mindestens einer Handhabungseinrichtung zur Aufnahme eines Bauteils eines Montageobjekts und
  • • einer zugehörigen Verfahreinrichtung zum gesteuerten Verfahren der Handhabungseinrichtung auf der Schiene und
• - mindestens eine Steuereinrichtung für die Handhabungseinrichtung.

According to the invention, this object is achieved by a human-robot collaboration assembly system for the robot-supported, collaborative assembly of a large-dimensional assembly object, comprising

• - a mounting platform with
  • • at least one frame unit, which has a guide rail with an open or closed path curve, preferably in a preferably vertical plane,
  • • at least one handling device for receiving a component of an assembly object and
  • • an associated moving device for the controlled movement of the handling device on the rail and
• - At least one control device for the handling device.

In a particular embodiment, the assembly system further comprises a measuring device for dynamic determination of the position of the displacement device and / or the pose of the associated handling device.

The data obtained in this way can be used in the control device (s) of the handling device to monitor the position and orientation of the assembly object in the workspace of the person and to enable the movement of the moving device and / or handling device to be regulated. In a further special embodiment, additional sensor data describing the posture of the person can be used (e.g. by means of an image-evaluating method) to change the position and orientation of the assembly object in such a way that the person is guided into an ergonomically favorable posture.

Furthermore, it can be provided that the guide rail is an open or closed circular path. For example, it can be a circular path that only extends over, for example, 90 °, 180 ° or 270 °. However, the guide rail can also have a path that deviates from an open or closed circular path, such as an open or closed elliptical path or, for example, have at least one linear section. It is also conceivable that it is designed in the form of a U or an inverted U or, for example, in the form of a V or an inverted V.

The guide rail is advantageously rotatable about the central axis of the circular path. If it is not a circular path, the guide rail can be rotatable about a corresponding axis of a different curve shape.

According to a further particular embodiment of the present invention, it can be provided that the assembly system has a prime mover (for example an electric motor or a cable pull) for moving the displacement device (s) along the guide rail. The engine can, for. B. be assigned individually to the respective moving device. The engine can e.g. B. be mounted directly on the traversing device or z. B. be attached to the frame unit or the assembly platform and drive the moving unit via a traction device (e.g. cable, toothed belt).

The handling device is expediently multi-articulated.

In particular, it can be provided that the handling device is passive. For example, it can comprise profiles with (e.g., lockable) joints.

It is also conceivable that the handling device is active. For example, it can be an articulated arm robot.

According to a further particular embodiment of the present invention, the assembly system comprises a plurality of handling devices, at least one of which is active and at least one is passive. Among other things, all handling devices can also be active or passive.

In particular, it can be provided that the assembly system comprises one control device for each of the active handling device (s).

The assembly platform is expediently movable.

In particular, it can be provided that the mounting platform has omnidirectionally movable wheels.

Finally, according to a particular embodiment of the present invention, it can be provided that the assembly system further comprises a laser scanning device for detecting objects and obstacles in order to avoid collisions.

The present invention is based on the surprising finding that by means of the assembly system, at least in one particular embodiment, ergonomic assembly positions can be generated for a respective worker, for example during pre-assembly or final assembly. This can improve working conditions. In particular, an assembly position that is individual to the respective worker and for the respective assembly step can be generated. This is achieved in that an assembly object can be rotated, shifted and / or aligned with respect to a worker or tool. The alignment of the assembly object can take place via a variable positioning of a respective handling device, for example as a result of an articulated movement of the handling device and / or a movement along the guide rail. As a result of the kinematic System redundancy (movement of the handling device 9 , 11 compensates for the movement of the moving unit), the handling devices can be arranged in the assembly room in such a way that the worker has the best possible accessibility to the assembly object. The relative position of the handling device 9 , 11 to the mounting object can be changed without changing the position and orientation of the mounting object in space.

At least in one particular embodiment, a maximally variable workpiece alignment is achieved over all steps of the assembly process. While the collaborative handling devices provide the components of the assembly object in a desired pose, a worker can carry out further assembly processes via versatile accessibility.

At least in one particular embodiment, an ergonomic height adjustment for different workers and / or a physical and cognitive relief of the workers and / or an increase in accessibility through changing free spaces for barrier-free assembly and / or individual positioning of the assembly object through evasive movements of multi-articulated robots and / or or support for assembly activities is achieved through handing movements by, for example, multi-joint robots.

The possibility given by the invention, at least in one particular embodiment, of freely orienting and positioning the assembly object in space reduces permanent postural stresses during assembly, since, for example, overhead work or activities in a bent or stooped posture are avoided.

• 1 eine Seitenansicht eines Mensch-Roboter-Kollaborations-Montagesystems gemäß einer besonderen Ausführungsform der vorliegenden Erfindung zeigt;
• 2 eine weitere Seitenansicht des Montagesystems von 1 aus Sicht von rechts in 1 zeigt;
• 3 eine Antriebseinrichtung für die Gestelleinheit des Montagesystems von 1 zeigt;
• 4 eine Lager- und Führungseinrichtung für die Gestelleinheit des Montagesystems von 1 zeigt;
• 5 eine Verfahreinrichtung für die Gestelleinheit des Montagesystems von 1 zeigt;
• 6 eine Seitenansicht wie 1 von dem Montagesystem mit anders positionierten Handhabungseinrichtungen zeigt;
• 7 eine perspektivische Ansicht des Montagesystems von 6 zeigt;
• 8 eine Seitenansicht wie 1 von dem Montagesystem mit wiederum anders positionierten Handhabungseinrichtungen und mehreren Werkern zeigt;
• 9 eine Seitenansicht eines Mensch-Roboter-Kollaborations-Montagesystems gemäß einer weiteren besonderen Ausführungsform der vorliegenden Erfindung zeigt; und
• 10 unterschiedliche beispielhafte Gestaltungen einer Gestelleinheit eines Montagesystems gemäß besonderen Ausführungsformen der vorliegenden Erfindung zeigt.

Further features and advantages of the invention emerge from the attached claims and from the following description of exemplary embodiments with reference to the schematic drawings, in which:

• 1 shows a side view of a human-robot collaboration assembly system according to a particular embodiment of the present invention;
• 2 another side view of the mounting system of FIG 1 from the right in 1 shows;
• 3 a drive device for the frame unit of the assembly system of 1 shows;
• 4th a storage and guide device for the frame unit of the assembly system from 1 shows;
• 5 a traversing device for the frame unit of the assembly system from 1 shows;
• 6th a side view like 1 shows of the assembly system with differently positioned handling devices;
• 7th FIG. 3 is a perspective view of the mounting system of FIG 6th shows;
• 8th a side view like 1 shows of the assembly system with again differently positioned handling devices and several workers;
• 9 shows a side view of a human-robot collaboration assembly system according to another particular embodiment of the present invention; and
• 10 shows different exemplary designs of a frame unit of a mounting system according to particular embodiments of the present invention.

1 Figure 10 shows a side view of a human-robot collaboration assembly system 100 for robot-assisted, collaborative assembly, in particular pre-assembly or final assembly, of a large-scale assembly object. The assembly system 100 includes a mounting platform 1 , on which a circular frame unit, which in this example extends in a vertical plane 5 is stored. The rack unit 5 has a guide rail 6th which forms a closed circular path. In this example, the closed circular path runs in a vertical plane. The guide rail 6th is in this example as a profile rail guide on both narrow sides of the circular frame unit 5 educated.

On the guide rail 6th In this example, the two profile rails are two carriage cars 8th and 10 Arranged (as moving devices) and can be moved by means of a respective drive device by 360 ° around the center of the circular path. In this example, the drive device has two curved toothed racks 7th on the outer peripheral side of the rack unit 5 on. The curved racks 7th extend over 360 ° in the circumferential direction and are spaced from one another (see Fig. 5 ). Alternative to the curved racks 7th For example, toothed belts could be provided.

The sleigh car 8th and 10 become a mounting system by means of a 100 corresponding electric motor 19th and a respective pinion driven thereby 17th Set in motion via the rack (s) 7, so that they move along the guide rail 6th around the rack unit 5 can drive.

On each of the sleigh wagons 8th and 10 is a respective handling device 9 or. 11 to Arranged inside the circular path. The handling equipment 9 and 11 act advantageously synchronously with each other.

The assembly platform 1 is designed to be movable and thus offers additional freedom of movement during assembly and transport between workstations. In the present example, the movability is made possible by omnidirectional moveable wheels 2 reached. The omnidirectional moveable wheels 2 leave the mounting platform 1 move translationally and rotationally in a confined space.

For an environment-independent use are high-performance batteries 4th provided (see also 2 ), which guarantee a self-sufficient energy supply.

The assembly platform 1 should preferably be designed for heavy loads and / or enable control and maneuvering in both fully automatic and manual mode.

A variable alignment of an assembly object can be achieved by positioning the respective handling devices 9 and 11 as a result of, for example, a joint movement and / or a corresponding movement along the circular path with the carriage 8th and 10 respectively.

In addition, the frame unit 5 themselves are set in rotation, whereby a separate movement of the handling devices 9 and 11 is not required. This adjusts the accessibility to the assembly object. The free positioning and orientation by rotating and turning the assembly object creates an ergonomic working posture for different assembly operations. So that the assembly object is centered in the frame unit for the worker during rotation 5 remains arranged, is the frame unit 5 in a special embodiment to a part in the assembly platform 1 let in (see 7th ). This is in the assembly platform 1 a recess 15th provided which is of sufficient width and depth for immersion of the sled carriage 8th , 10 including electric motors 19th shows (see 7th ).

For rotating the rack unit 5 instructs the mounting system 100 in the assembly platform 1 integrated drive pinion 12th (please refer 3 ) on. These are via a respective drive shaft 13th driven. For sufficient stability of the dynamic system, the frame unit 5 over in the recess 15th Laterally attached guide carriages 14th stored (see 4th ).

The assembly system 100 also has a control device (not shown) in particular for controlling the handling devices 9 and 11 , but also for the other controllable components. The handling devices are advantageously 9 and 11 as well as the associated electric motors 19th controlled in such a way that the accessibility to the assembly object through changing free spaces in the assembly room 20th (please refer 6th ) be improved. The handling devices 9 and 11 in the assembly room 20th advantageously arranged in such a way that a worker can easily be reached without having to change the position of the assembly object (cf. 1 ). As a result, the optimally set working height can be maintained, since the assembly object is subject to movement or inclination of the handling devices 9 and 11 gives way by this when moving by means of the carriage 8th and 10 at the same time perform a countermovement, for example using your own joints This kinematic redundancy enables the assembly system to be adapted to the needs of a worker, whereas the worker often has to adapt to the conditions of the system with other assembly devices.

In addition, the work of several workers in one work area is encouraged, as an adaptation of the assembly area 20th granted without moving the assembly object out of its position (see 8th ).

9 Figure 10 shows a side view of a human-robot collaboration assembly system 100 for robot-assisted collaborative assembly according to a further particular embodiment of the present invention. The mounting system differs from the mounting system 100 essentially that the rack unit 5 and the guide rail 6th have a different geometry, that is, do not have a circular path shape. Rather, the path is in one direction (right like 9 ) open. This can of course depend on the installation object. This adaptation of the assembly space 20th has the advantage that bulky assembly objects can be fed to a workpiece holder more easily.

Further variants of the geometry of the frame unit are exemplified in 10 shown. In the two variants shown on the left, the frame unit and the guide rail are in the form of a half or three-quarter circular path, while in the two variants shown on the right, the frame unit 5 and the guide rail consist of three linear track sections arranged at right angles to one another or two vertical linear track sections that are not connected to one another.

At least in one particular embodiment, the concept takes into account large-scale assembly objects, which up to now have largely been manufactured by manual assembly.

Since humans and robots share the work area with the assembly system, safety precautions are sensible. In order to detect unwanted contact between robot and human as quickly as possible and to be able to initiate an evasive movement, collaborative robotics makes sense, since the special safety requirements for collaborative cooperation with humans are required. Using suitable sensors, for example a light barrier, an evasive movement of the robot arms when reaching into the worker's work area could be guaranteed.

One operation of the assembly system 100 can take place via, for example, finger pressure-based operating elements (for example electromechanical pushbuttons, touch-sensitive display) and / or for example voice control and / or for example gesture control.

With large components, there can often be more than one rack unit, for example one behind the other and / or next to one another, on the platform 1 be provided. Also the synchronized use of several assembly systems 100 that take up a mounting object together is useful for large-scale mounting objects.

The features of the invention disclosed in the present description, in the drawings and in the claims can be essential both individually and in any combination for the implementation of the invention in its various embodiments.

List of reference symbols

1

Mounting platform

2

bikes

3

Safety laser scanner

4th

High-performance batteries

5

Rack unit

6th

Guide rail

7th

Racks

8.10

Sleigh carriage

9, 11

Handling equipment

12th

Drive pinion

13th

drive shaft

14, 16

Guide carriage

15th

Recess

17th

pinion

18th

Sprocket cover

19th

Electric motors

20th

Assembly room

21

Assembly object

100

Human-robot collaboration assembly system

Claims (14)

Human-robot collaboration assembly system (100) for the robot-supported collaborative assembly of a large-dimensional assembly object (21), comprising - an assembly platform (1) • with at least one frame unit (5) which has a guide rail (6) with an open or closed path curve, preferably in a preferably vertical plane, • at least one handling device (9, 11) for receiving a component of an assembly object (21) and • an associated moving device (8, 10) for the controlled movement of the handling device (9, 11) on the guide rail (6), and - At least one control device for the handling device (9, 11). Mounting system (100) Claim 1 , further comprising a measuring device for dynamic determination of the position of the displacement device (8, 10) and / or the pose of the associated handling device (9, 11). Mounting system (100) Claim 1 or 2 , wherein the guide rail (6) is an open or closed circular path. Mounting system (100) Claim 3 , wherein the guide rail (6) is rotatable about the central axis of the circular path. Mounting system (100) according to one of the preceding claims, comprising a power machine for moving the displacement unit (8, 10) along the guide rail (6). Mounting system (100) according to one of the Claims 1 to 4th , comprising a manually driven power transmission device for moving the displacement unit (8, 10) on the guide rail (6). Mounting system (100) according to one of the preceding claims, wherein the handling device (9, 11) is multi-articulated. Mounting system (100) Claim 7 , wherein the handling device (9, 11) is passive. Mounting system (100) Claim 7 , wherein the handling device (9, 11) is active. Mounting system (100) according to one of the preceding claims, comprising a plurality of handling devices (9, 11), at least one of which is active and / or at least one is passive. Mounting system (100) Claim 10 , each comprising a control device for the active handling device (s) (9, 11). Mounting system (100) according to one of the preceding claims, wherein the mounting platform (1) can be moved. Mounting system (100) Claim 12 , wherein the mounting platform (1) has omnidirectionally movable wheels (2). Mounting system (100) according to one of the preceding claims, further comprising a laser scanning device for detecting objects and obstacles in order to avoid collisions.

Images