DE102019208921A1 - Method and device for arranging process stations of a production facility - Google Patents

Abstract

Method for arranging process stations (1, 2, 3, 4) of a production facility, characterized by the following features: - an initial arrangement of the process stations (1, 2, 3, 4) is carried out (11), - the arrangement becomes a new one Arrangement (17) transformed (12), - the new arrangement (17) is checked for boundary conditions of the production facility (13) and - the arrangement is redesigned (18) until a current arrangement (19) meets the boundary conditions.

Description

The present invention relates to a method for arranging process stations of a production facility. The present invention also relates to a corresponding device, a corresponding computer program and a corresponding storage medium.

State of the art

In the field of machine tools and plant construction, multi-machine systems for machining workpieces in individual machining or process stations (palettes) are summarized under the collective term of flexible manufacturing systems (FFS; flexible manufacturing systems, FMS).

In DE102016204174A1 an automation system for automating production steps, production steps and applications is proposed, whereby the automation system can be redesigned particularly easily. The proposed automation system comprises at least one functional module and at least one evaluation unit, the at least one functional module being able to be arranged in a system area, the at least one functional module comprising a sensor unit for recording environmental data, the evaluation unit for determining an absolute position of the functional module in the system area is formed on the basis of the environmental data.

Disclosure of the invention

The invention provides a method for arranging process stations of a production facility, a corresponding device, a corresponding computer program and a corresponding storage medium according to the independent claims.

The proposed approach is based on the knowledge that the arrangement (layout) of several non-location-specific process units within a flexible production machine is conventionally determined by experts. Since several factors, such as working areas of robots or interfering contours of process units, have to be taken into account, this optimization is very time-consuming. In addition, this optimization often does not lead to a possible maximum of the cycle time optimization.

Against this background, one aspect of the invention consists in implementing improvements for the optimization of the non-location-bound process stations within a production facility with regard to the cycle time and any interference contours using AI-based layout optimization compared to the manual approach.

One advantage of this solution is the creation of a versatile and flexible production machine for the implementation of cycle time optimization and collision avoidance.

The measures listed in the dependent claims enable advantageous developments and improvements of the basic idea specified in the independent claim.

Figure list

• 1 das Flussdiagramm eines Verfahrens gemäß einer ersten Ausführungsform.
• 2 die Ausgangspositionen der Prozessstationen im Arbeitsraum des Roboters.
• 3 ein mögliches Ergebnis der vorgeschlagenen Kl-basierten Layoutoptimierung (Konfiguration in einer Linie).
• 4 die zur Vermeidung einer Arbeitsraumüberschreitung angepasste Anordnung.
• 5 eine Abstraktion der Prozessstationskontur im Hinblick auf mögliche Kollisionen.
• 6 eine Umbildung durch Rotation oder parallele Verschiebung einer Prozessstation.
• 7 eine Arbeitsstation gemäß einer zweiten Ausführungsform.

Exemplary embodiments of the invention are shown in the drawings and explained in more detail in the description below. It shows:

• 1 the flow chart of a method according to a first embodiment.
• 2 the starting positions of the process stations in the working area of the robot.
• 3 a possible result of the proposed Kl-based layout optimization (configuration in one line).
• 4th the arrangement adapted to avoid exceeding the working space.
• 5 an abstraction of the process station contour with regard to possible collisions.
• 6th a transformation by rotation or parallel displacement of a process station.
• 7th a workstation according to a second embodiment.

Embodiments of the invention

In the context of the following statements, the assumption applies that all interfering contours of process stations and other elements are known. These can be available, for example, as a 3D CAD model or abstracted as the collision direction. A complete model of the robot kinematics used is also desirable. In order to obtain valid results of the optimization, it is also expedient to provide a description of the environmental limitations or the manipulated component.

Illustrated on the basis of these assumptions 1 a possible course of the proposed procedure.

In a first step (process 11 ) in view of the application sequence intended to achieve the desired configuration ( 14th ) of industrial robot skills first the process stations that are required for this product and then their desired processing sequence ( 16 ) abstracted. The positions of the process stations can be arranged as in the processing sequence ( 16 ) the waypoints to be passed by the robot can be understood during processing.

2 shows an example with four process stations ( 1 , 2 , 3 , 4th ) and a robot manipulator. The aim is to produce a product with the individual components by picking from the correct process station and placing it at a desired process station. The order of the process stations to be used ( 1 , 2 , 3 , 4th ) is based on the order of application ( 14th - 1 ) abstracted from the skills of the industrial robot.

In a second step (process 12th - 1 ) the current arrangement of the process stations ( 1 , 2 , 3 , 4th ) in an effort to create a new arrangement ( 17th ) in such a way that the processing of the process stations by the industrial robot ( 1 , 2 , 3 , 4th ) in the processing sequence ( 16 ) the distance to be covered is minimized. In this case the process stations ( 1 , 2 , 3 , 4th ) according to 3 be arranged in a single line in order to achieve the aforementioned optimization goal.

1. 1. den Arbeitsraum (20, 30, 40) des Industrieroboters. Dies hängt mit der Beschränkung des verfügbaren Platzes zusammen, um diese Prozessstationen (1, 2, 3, 4) zu finden. So ist beispielsweise die zuvor beschriebene einzeilige Anordnung im Anwendungsfall gemäß 4 nicht passend.
2. 2. den kollisionsfreien Bewegungspfad des Industrieroboters. Dies hängt mit der Ausführungstrajektorie des Roboters beim Wechsel von einer Prozessstation (1, 2, 3, 4) zur anderen zusammen, um zu prüfen, ob er mit statischen Hindernissen oder anderen Prozessstationen (1, 2, 3, 4) kollidiert. Vorteilhafterweise wird eine solche Überprüfung in der physikbasierten Simulation durchgeführt, die die Bewegung des Roboters innerhalb seines Arbeitsraumes (20, 30, 40) anhand der aktuellen Anordnung simuliert.
3. 3. den Zeitbedarf für die Bearbeitung durch den Industrieroboter, also die Ausführungszeit des Roboters beim Wechsel von einer Prozessstation (1, 2, 3, 4) zur anderen. Dies ist wichtig, wenn die Distanz in der Ebene nicht widerspiegelt, wie schnell jede Fertigkeit aufgrund der dynamischen Einschränkungen des Roboters erreicht werden kann.

In a third step (process 13 - 1 ) the new arrangement ( 17th ) checked for compliance with the following boundary conditions of the production facility:

1. 1. the work area ( 20th , 30th , 40 ) of the industrial robot. This is due to the limitation of the space available to these process stations ( 1 , 2 , 3 , 4th ) to find. For example, the single-row arrangement described above is in accordance with the application 4th not suitable.
2. 2. the collision-free movement path of the industrial robot. This depends on the execution trajectory of the robot when changing from a process station ( 1 , 2 , 3 , 4th ) to the other to check whether he is dealing with static obstacles or other process stations ( 1 , 2 , 3 , 4th ) collided. Such a check is advantageously carried out in the physics-based simulation, which shows the movement of the robot within its working area ( 20th , 30th , 40 ) is simulated using the current arrangement.
3. 3. the time required for processing by the industrial robot, i.e. the execution time of the robot when changing from a process station ( 1 , 2 , 3 , 4th ) to the other. This is important when the distance in the plane does not reflect how quickly each skill can be achieved due to the dynamic limitations of the robot.

The first two boundary conditions mentioned are preferably to be regarded as mandatory requirements, the last condition as an optional requirement. As soon as the boundary conditions are met, it can be assumed that the current arrangement ( 19th ) is optimal for the present assembly process. Otherwise, the procedure becomes process 12th to open the process stations ( 1 , 2 , 3 , 4th ) as it were to "mix" new and to a new arrangement ( 17th ), which in turn is checked for compliance with the boundary conditions of the production facility (13).

In a fourth step (process 14th ) can also use an analytical solution such as TP-HSMM (see CALINON, Sylvain. A tutorial on taskparameterized movement learning and retrieval. Intelligent Service Robotics, 2016, 9th year, No. 1, pp. 1-29) to trace the trajectory of the End effector can be predicted, which can drastically reduce the number of conceivable arrangements. In addition, for each process station ( 1 , 2 , 3 , 4th ) predefine the possible direction of the collision, e.g. B. as left, right, above (see 5 ) or below. This could further reduce the number of arrangements considered.

6th finally illustrates elementary measures for reshaping (12 - 1 ) the arrangement: the rotation of one of the process stations ( 1 , 2 , 3 , 4th ) and their parallel shift in order to reposition them. Any transformation ( 12th ) includes one or more of these primitive measures. These measures are selected according to a greedy algorithm, so that the measure with the least effort (in technical terms: "costs") is preferably applied first.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a workstation, such as the schematic illustration in FIG 7th clarified.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102016204174 A1 [0003]

Claims (10)

Method for arranging process stations (1, 2, 3, 4) of a production facility, characterized by the following features: - an initial arrangement of the process stations (1, 2, 3, 4) is carried out (11), - the arrangement becomes one new arrangement (17) is transformed (12), the new arrangement (17) is checked for boundary conditions of the production facility (13) and the arrangement is redesigned (18) until a current arrangement (19) meets the boundary conditions. Procedure according to Claim 1 , characterized by the following features: - a desired processing sequence (16) of the process stations (1, 2, 3, 4) is determined and - the arrangement is reorganized in such a way that the process stations (1, 2, 3, 4) in the processing sequence (16) the distance to be covered is minimized. Procedure according to Claim 2 , characterized by at least one of the following features: - the initial arrangement is carried out (11) based on an intended application sequence (14) of the skills of the industrial robot or - the initial arrangement is carried out using a description (15) of the process stations (1, 2, 3, 4) made (11). Procedure according to Claim 2 or 3 , characterized in that the boundary conditions relate to at least one of the following: - a work space (20, 30, 40) of the industrial robot, - a collision-free movement path of the industrial robot, or - a time requirement for processing by the industrial robot. Method according to one of the Claims 1 to 4th , characterized in that the reshaping (12) comprises at least one of the following measures: - a rotation of one of the process stations (1, 2, 3, 4) or - a parallel displacement of one of the process stations (1, 2, 3, 4). Method according to one of the Claims 2 to 5 , characterized by the following feature: - after the application sequence (14) has been determined, a control signal for the industrial robot is provided which is adapted to control the processing of the process stations (1, 2, 3, 4) in the processing sequence (16). Procedure according to Claim 6 , characterized by the following feature: - the industrial robot is controlled by means of the control signal. Computer program which is set up, the method according to one of the Claims 1 to 7th execute. Machine-readable storage medium on which the computer program is based Claim 8 is stored. Device which is set up, the method according to one of the Claims 1 to 7th execute.

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