DE102022203074A1 - Processing system that can be adapted to different products using a handling system - Google Patents

Abstract

The invention relates to a processing system (10) for the serial processing of at least two different products (13), wherein the processing system (10) comprises several separate processing stations (20), each of which is set up to use at least the product (13) currently to be processed of an individual part (21) and/or using at least one processing tool (23). According to the invention, the processing system (10) comprises at least one handling system (40), with which at least one gripping device (45) can be moved within a movement space, the movement space is designed so that it captures several, preferably all, processing stations (20) in such a way that the at least one individual part (21) stored there for use and / or the at least one processing tool (23) stored there for use with the at least one gripping device ( 45) is tangible so that it can be moved within the processing system (10) in order to adapt it to the product (13) currently being processed.

Description

The invention relates to a processing system according to the preamble of claim 1.

From the EP 1 976 664 B 1, a processing system is known which includes several processing stations. The processing stations are each formed by a module insert, which is interchangeably accommodated in a module platform. By replacing the module inserts, this processing system can be flexibly adapted to different products to be manufactured. The module insert is preferably set up for automated processing of a product.

From the catalog “Manual Production Systems” (Edition 8.0) from Bosch Rexroth AG, processing systems are known in which the individual processing stations are each formed by workstations for a person, with the person carrying out the processing on the product. Such processing stations are often used to assemble products from individual parts. An electric screwdriver is often used as a processing tool. The corresponding individual parts are usually stored in containers, with each container containing several identical individual parts. The containers are interchangeably accommodated at the processing station in question, so that the processing station can be efficiently supplied with the required individual parts.

The present invention can be used for both automated and manual processing systems, and can also be used for mixed forms. Up to now, the processing systems have been manually adapted to the product currently being manufactured. For example, by using the module slots of the EP 1 976 664 B1 replaced by a human by hand.

An advantage of the present invention is that the adaptation of the processing system to the product to be processed can be carried out faster and more cost-effectively. This means that the processing system can be operated economically even with small batch sizes. It is also possible to flexibly correct deviations from the planned processing process.

According to claim 1, it is proposed that the processing system comprises at least one handling system with which at least one gripping device can be moved within a movement space, the movement space being designed so that it covers several, preferably all, processing stations in such a way that the at least an individual part and/or the at least one processing tool stored there for use can be grasped with the at least one gripping device, so that it can be moved within the processing system in order to adapt it to the product currently being processed.

Processing within a processing station can be done manually or automatically. Mixed forms are conceivable, i.e. processing takes place by hand in one processing station, with automated processing taking place in another processing station. The processing can consist of assembling individual parts. An electric screwdriver, for example, can be used as a processing tool. Different screwdrivers can be used for different products, which are specially adapted to the screws used.

The processing stations can according to EP 1 976 664 B1 are formed by separate module inserts, which can be installed in a module platform. The module inserts contain the editing tools for editing the product. The handling system with the gripper can be designed to replace the module inserts mentioned. More details of such a modular

Processing system according to EP 1 924 399 B1 , according to EP 1 973 694 B1 , according to EP 1 979 129 B1 , according to DE 10 2007 008 221 A1 , according to DE 10 2007 008 220 A1 and/or according to DE 10 2005 040 998 A1 can also be used within the scope of the present invention. The entire content of the above-mentioned intellectual property rights is referred to and made part of the content of the present application.

For example, gripping devices that could be considered are those that were offered on February 11, 2022 under the internet link https://schunk.com/shop/de/de/Greifsysteme/SCHUNK-Greifer/c/PUB_3900.

Advantageous developments and improvements of the invention are specified in the dependent claims.

It can be provided that the processing system comprises at least one storage station in which at least one individual part and/or at least one processing tool can be stored, the at least one storage station not being set up for processing the products, the movement space of at least one handling system being designed in such a way that that he at least got a train assigned storage station and at least one assigned processing station recorded. Preferably, a single handling system is provided, the movement space of which includes all processing stations and all storage stations.

It can be provided that several identical individual parts can be stored in a respective assigned container, with the at least one gripping device being set up to grip the container. This means that a comparatively simple gripping device can be used. It is not necessary to provide different gripping devices that are adapted to different individual parts.

Several containers can be provided, with different individual parts being able to be stored in the different containers, with all containers having an identical gripping section on which the at least one gripping device can engage. This means that a comparatively simple gripping device can be used. It is not necessary to provide different gripping devices that are adapted to different individual parts. All containers can be designed identically. Several types of containers can be provided, which differ in their capacity.

It can be provided that the processing system comprises at least one automatic transport system, by means of which the product currently to be processed can be transported between at least two processing stations. Accordingly, the processing system has two different devices with which objects can be transported. The product to be processed is transported using the transport system. Objects are transported with the handling system in order to adapt the processing system to different products. Preferably, a single transport system is provided, by means of which the product currently being processed can be transported between all processing stations. The transport system can, for example, according to one of the catalogs “Transfersystem TS1” (Edition 5.4); “Transfer system TS 2plus” (Edition 7.0) or “Chain conveyor system VarioFlow plus” (Edition 3.0), each published by Bosch Rexroth AG.

It can be provided that the processing stations and, if desired, the storage station are arranged next to one another along a straight line, with the at least one handling system comprising a Cartesian robot with which the at least one gripping device can be moved, with a first axis of movement of the Cartesian robot parallel to the said straight line line is aligned. A particularly large range of motion can be achieved with a Cartesian robot. The first movement axis can be made so long that it extends over all processing stations and the storage station.

It can be provided that the Cartesian robot comprises a second and a third movement axis, the first to third movement axes being arranged in pairs perpendicular to one another, with each movement axis being assigned at least one linear module, each linear module comprising a housing on which each a rotor is guided in a linearly movable manner in the direction of the relevant movement axis, an electric drive being assigned to the linear module, which is in motion drive connection with the assigned rotor. In addition, an increase in flexibility can be achieved through appropriate expansion components, such as preferably rotary modules at the intersection of the individual axes or the third movement axis, and the gripping module. The motion drive connection can be effected by means of a ball screw, by means of a toothed belt or by means of a rack. The electric drive can be designed in the form of a linear motor. If a single linear module is assigned to a movement axis, it preferably has its own assigned electric drive. If two parallel linear modules are assigned to a movement axis, they preferably have a common electric drive. The electric drive preferably includes an electric motor, which can be designed as a synchronous or asynchronous motor. Corresponding Cartesian robots are known from the “Multi-axis system” catalog (order number R999001307; edition 2021-03) from Bosch Rexroth AG.

It can be provided that the at least one handling system is arranged above the processing stations with respect to the direction of gravity. If the handling system is not required, the at least one gripping device can be moved into a position in which it does not disrupt the processing process. During the conversion of the processing system, all objects to be moved can be easily reached with the at least one gripping device.

It can be provided that an articulated arm robot or a rotary robot is arranged between the Cartesian robot and at least one associated gripping device. The articulated robot or the rotary robot is preferably designed to be smaller than the Cartesian one Robot. In particular, the volume of the associated movement space is smaller than the volume of the movement space of the Cartesian robot. The articulated arm robot or the rotary robot preferably has exactly three axes of rotation.

It can be provided that at least one gripping device can be replaced automatically by at least one repair tool, wherein repairs to the processing system can be carried out fully or partially automatically using the at least one repair tool and the relevant handling system. The repairs mentioned primarily concern the elimination of deviations from the planned processing sequence. For example, it can happen that a product to be processed becomes jammed with the transport system during transport in such a way that it can no longer be transported further. With the handling system, such a product can be properly positioned on the transport system again, so that undisturbed further transport is possible. The repair can also involve replacing parts on the processing system that have been worn out during the machining process. The repair process can be controlled using artificial intelligence, which includes, for example, a neural network. This means that even unforeseeable deviations from the planned production process can be flexibly identified. The repair can also be carried out by remote control of the handling system by a human operator. This means that the operator does not need to be at the location of the processing system. It is sufficient if he has an internet connection to the processing system to enable remote control. It is advantageous if the processing system is equipped with sensors with which the disruptions mentioned can be detected. A sensor can be a camera, which is preferably set up to record moving images.

It can be provided that the accessibility of all processing stations can be controlled by appropriate sensors in such a way that process instability can be corrected by a human operator who is not present on site.

It can be provided that the error characteristics are remedied independently via a connected artificial intelligence, so that intervention by a human operator is no longer necessary.

It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or alone, without departing from the scope of the present invention.

• 1 eine grobschematische Darstellung einer erfindungsgemäßen Bearbeitungsanlage.

The invention is explained in more detail below with reference to the accompanying drawing. It shows:

• 1 a rough schematic representation of a processing system according to the invention.

1 shows a rough schematic representation of a processing system 10 according to the invention. The Cartesian coordinate system defines a first, a second and a third movement axis x, y, z, which are arranged in pairs perpendicular to one another. The direction of gravity 11 is aligned parallel to the third axis of movement z, with a straight line 12 of the processing sequence being arranged parallel to the first axis of movement x.

In the present case, the processing system 10 comprises three processing stations 20, which are arranged directly next to one another in a straight line 12. These can, for example, be designed as manual workstations in accordance with the “Manual Production Systems” catalog (Edition 8.0) from Bosch Rexroth AG. However, they can also be partially or fully automated processing stations 20.

A semi-finished product 13 is provided at the product input 14, on which, for example, additional individual parts 21 are assembled at each processing station 20 in order to obtain the finished product 13, which is removed at the product output 15. At least one machining tool 23 can be used for the assembly process, which is designed, for example, as an electric screwdriver.

A handling system 40, which includes a Cartesian robot 46, is arranged in the direction 11 of gravity above the processing station 20. Along the first movement axis x, the Cartesian robot 46 includes two first linear modules 41 which are parallel to the first movement axis x and which, for example, are each in accordance with EP 340 751 B2 are trained. The first two linear modules 41 have a common electric drive 44 in the form of an electric motor, whereby they are in rotary drive connection with one another via a shaft 49. A toothed belt can be arranged within the first two linear modules 41, via which the associated rotor 48 is connected to the electric drive 44. This embodiment is particularly suitable when a single gripping device 45 is used. If, as shown, several gripping devices 45 are used, the at least one first linear module 41 can be provided, for example, with a rack drive or with a linear motor drive, so that several runners 48 can be driven independently of one another.

The second and third linear modules 42; 43 can also be used according to the EP 340 751 B2 be trained. The two opposite ends of a second linear module 42 are each attached to a rotor 48 of the two first linear modules 41. A third linear module 43 is attached with its rotor 48 to the rotor 48 of the assigned second linear module 42. An associated gripping device 45 is attached to the end of the housing 47 of a third linear module 43.

The gripping devices 45 are designed so that the processing tools 23 and the containers 22 in which the individual parts 21 are accommodated can be grasped.

In the direction of the straight line 12 of the processing sequence or the first axis of movement x, a storage station 30 is arranged in alignment with the processing stations 20. Containers with individual parts and/or other processing tools that are needed to process another product can be stored in the storage station 30. The first linear modules 41 are designed to be so long that they also extend over the storage station 30. Accordingly, each gripping device 45 can be moved to all processing stations 20 and to the storage station 30. As a result, an automated conversion of the processing system 10 from one product 13 to another product is possible by swapping the required containers 22 with individual parts 21 and the processing tools 23 accordingly. It goes without saying that more complex conversions are also possible, for example by changing the processing stations according to the EP 1 976 664 B 1 are carried out, with the corresponding module inserts being exchanged using the handling system 40. If the handling system 40 more than the three in 1 has the degrees of freedom shown, even more complex conversions of the processing system are possible.

Furthermore, reference should be made to the transport system 50, which in the present case comprises a conveyor belt 51 which extends parallel to the straight line 12 of the processing sequence or to the first axis of movement x. The conveyor belt 51 preferably runs endlessly, frictionally carrying at least one workpiece carrier 52, by means of which the products 13 can be transported between the processing stations 20.

The control of the processing system 10 includes three second subordinate control devices 62, each of which is assigned to a processing station. These are used, for example, to control a processing tool 23 used there. For example, a target torque of an electric screwdriver can be specified by the assigned second subordinate control device 62, whereby the assigned actual torque curve is also recorded and permanently stored during the screwing-in process.

The movement of an associated gripping device 45 is controlled with the first subordinate control devices 61. The first and second subordinate control devices 61; 62 are connected to a database 63, in which it is stored for the various products 13 how the various processing stations 20 are to be equipped with individual parts 21 and processing tools 23. In addition, the settings of the processing tools 23, such as the specified target torque of an electric screwdriver, which are to be used for a specific product 13, can be stored there. The higher-level control device 60 is used to specify which type of product 13 is to be processed, with the corresponding data from the database 63 being sent to the first and second lower-level control devices 61; 62 will be transmitted.

Reference symbols

x

first axis of movement

y

second axis of movement

e.g

third axis of movement

10

Processing facility

11

Direction of gravity

12

straight line of the machining process

13

product

14

Product input

15

Product release

20

Processing station

21

Item

22

container

23

Editing tool

30

Storage station

40

Handling system

41

first linear module

42

second linear module

43

third linear module

44

electric drive

45

Gripping device

46

Cartesian robot

47

Housing of a linear module

48

runner

49

Wave

50

Transportation system

51

conveyor belt

52

Workpiece carrier

60

higher-level control device

61

first subordinate control device

62

second subordinate control device

63

Database

QUOTES INCLUDED IN THE DESCRIPTION

This list of 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.

Cited patent literature

• EP 1976664 [0002, 0031]
• EP 1976664 B1 [0004, 0008]
• EP 1924399 B1 [0009]
• EP 1973694 B1 [0009]
• EP 1979129 B1 [0009]
• DE 102007008221 A1 [0009]
• DE 102007008220 A1 [0009]
• DE 102005040998 A1 [0009]
• EP 340751 B2 [0028, 0029]

Claims (12)

Processing system (10) for the serial processing of at least two different products (13), the processing system (10) comprising several separate processing stations (20), each of which is set up to process the product (13) currently to be processed using at least one individual part (21 ) and / or to process using at least one processing tool (23), characterized in that the processing system (10) comprises at least one handling system (40) with which at least one gripping device (45) can be moved within a movement space, the movement space being so is designed to detect several, preferably all, processing stations (20) in such a way that the at least one individual part (21) stored there for use and/or the at least one processing tool (23) stored there for use with the at least one gripping device (45 ) is tangible so that it can be moved within the processing system (10) in order to adapt it to the product (13) currently being processed. Processing system (10). Claim 1 , wherein the processing system (10) comprises at least one storage station (30) in which at least one individual part (21) and / or at least one processing tool (23) can be stored, wherein the at least one storage station (30) is not used to process the products (13 ) is set up, wherein the movement space of at least one handling system (40) is designed so that it detects at least one assigned storage station (30) and at least one assigned processing station (20). Processing system (10) according to one of the preceding claims, wherein several identical individual parts (21) can be stored in a respective assigned container (22), the at least one gripping device (45) being set up to grip the container (22). Processing system (10). Claim 3 , wherein several containers (22) are provided, different individual parts (21) being able to be stored in the different containers (22), all containers (22) having an identical gripping section on which the at least one gripping device (45) can engage. Processing system (10) according to one of the preceding claims, wherein the processing system (10) comprises at least one automatic transport system (50), by means of which the product (13) currently to be processed can be transported between at least two processing stations (20). Processing system (10) according to one of the preceding claims, wherein the processing stations (20) and, if desired, the storage station (30) are arranged next to one another along a straight line (12), the at least one handling system (40) comprising a Cartesian robot (46), with which the at least one gripping device (45) can be moved, a first axis of movement (x) of the Cartesian robot (46) being aligned parallel to said straight line (12). Processing system (10). Claim 6 , wherein the Cartesian robot (46) comprises a second and a third movement axis (y; z), the first to third movement axes (x; y; z) each being arranged in pairs perpendicular to one another, each movement axis (x; y; z ) at least one linear module (41; 42; 43) is assigned, each linear module (41; 42; 43) comprising a housing (47) on which a rotor (48) is mounted in the direction of the relevant movement axis (x; y; z) is guided in a linearly movable manner, the linear module (41; 42; 43) being assigned an electric drive (44), which is in motion drive connection with the assigned rotor (48). Processing system (10) according to one of the preceding claims, in particular according to Claim 6 or 7 , wherein the at least one handling system (40) is arranged above the processing stations (20) with respect to the direction (11) of gravity. Processing system (10) according to one of the Claims 6 until 8th , wherein an articulated arm robot or a rotary robot is arranged between the Cartesian robot (46) and at least one associated gripping device (45). Processing system (10) according to one of the preceding claims, wherein at least one gripping device (45) can be replaced automatically by at least one repair tool, repairs to the processing system (10) being fully or partially automated using the at least one repair tool and the relevant handling system (40). can be carried out. Processing system (10) according to one of the preceding claims, wherein accessibility of all processing stations (20) can be controlled by appropriate sensors in such a way that process instability can be corrected by a human operator who is not present on site. Processing system (10) according to one of the preceding claims, in particular according to Claim 11 , whereby the error characteristics are corrected independently via a connected artificial intelligence, so that intervention by a human operator is no longer necessary.

Images