DE1527592A1 - Program-controlled assembly device - Google Patents

Description

Pf'ög mmg, controlled assembly device. The invention relates to a Assembly device for the program-controlled assembly of at least three parts.

For simple work in the production of large series are already one in his movements. IvIontagevorrichtungen known purely electronically controlled joining arm. However, these honing devices are extremely expensive, claim one extensive space for yourself and your accessories, and are therefore unwieldy and therefore unsuitable for performing finer work in quick succession. Furthermore are mechanically controlled joining arms known, which, however, rely on a single movement and only switched to a new job through extensive I-measures can be.

Worldwide there is already a program control for controlling hyraulic Actuators have been proposed that allow a piston of a hydraulic The standing cylinder can perform any sequence of movements of any size. to let: The temporal sequence and the size of the movements is determined by a simple, easily adjustable and adjustable program control can be defined.

The invention is based on the object with the aid of the program control a mounting device of the type mentioned above for controlling hydraulic actuators Art to create, which the above-identified shortcomings of the previously known Avoids mounting devices, which are relatively simple in structure takes up little space for itself and its accessories, and is also more difficult to carry out Working: is suitable and a variety of different jobs are completely automatic carry out. can. In addition, the assembly device should very easily be used for new work be changeable and adjustable.

This object is achieved according to the invention daurch that at least one parts-providing in certain trembling at certain locations -x ° ansportvorrichtung and that a joining arm siy_d pre series at least, wherein said at each: one of the parts Montagevotgang grippers f End: _ .. . Pügearm joining the other part by means of __ _ _, standing cylinders, whose hydraulic filling is monitored by program controls for controlling hydraulic actuators of the type already proposed, can be moved and adjusted in several space coordinates.

According to the further invention, the i; ontage device can thereby make particularly cheap that only a program control to control hydraulic Actuators are provided which, with each adjustment process of the FüCearm, are program-controlled Multi-way CD valves, one after the other, the hydraulic filling of the actuating cylinder supervised.

In order to positively grasp different rushes with a joining arm to: can, it is advantageous according to the further invention if the joining arm is a tensionable Has gripping pliers with interchangeable inserts, with each pair of inserts holding the negative impressions has different parts. By positioning the grippers accordingly With a pair of inserts, different parts can be changed in quick succession, be detected positively.

Finally, the inserts according to the further invention can thereby make cheap that they are made of thermoplastic material. It can do this but also other easily meltable or plastifiable materials can be used.

In order to achieve an automatic marriage despite the rough manufacturing tolerances of the parts Assembly of the parts into honing groups. And finally into finished objects enable and thus increase the range of application of the honing device, 'It is useful according to the further invention that to achieve a for. Put together matching overlap of the parts relative to one another by means of vibrating or shaking devices Oscillating movements in several coordinate directions at least shortly before joining be imposed.

To protect the line, according to the further invention, a. '-feel direction, which registers the appropriate cover for joining and triggers the Z joining, be provided.

According to the further invention, it is advantageous if the to be inserted. for sale a double oscillation in two coordinate directions perpendicular to the joining executes while at the same time _in a third 'parallel to the joining direction' Coordinate data direction oscillates with higher frequency when the phssenden is incorrect Overlap with an enlarged mnlitude swings out and with this ver;: romanerten Amplitude controls the start of the assembly movement; Thereby it can be uttering ? i higher scanning demands of the file advantages.naft, if according to the further request to dampen the coupling oscillation n acü to the wrong reach of the matching dherdocaun die Vibrational energy of the döpnelaca ;. in one movement of the file in the direction of assembly at ° -2v.

After further exploration it is to be prepared exactly,, strange the horny in certain La: en advantageous, if at least one of the 1'rälspor tvorricE unions: .i.telplatte widening, in whose curses auainues ;; a r. _ finished Gegativform aer zu tränsportierexaen `.i'ei.e c .ntearbei Set is and the such : We pissed off with the iciles, aan sieze 3urah die _: ttelzüge in the negative form ; shaken and thus brought into a fixed state of mind.

To reduce the price of the vibrating plate can after the further. invention the; reg ativform incorporated into a body made of thermoplastic plastic be and the body bzz ,. the vibrating plate can be arranged so that it can be easily replaced: üenäj the further invention, the central plate can be forwarded or passed on aer cool as a turntable. be designed, so there are four '' .i`` ropes in addition to the orientation at the same time serves external transport.

Finally, it is advantageous according to the further invention if the Transport device for loading the vibrating plate with the parts, a separating device listened to in a manner known per se: This becomes a completely active handing the 'hurry to the F', straight, reached: according to the further invention it to the assembly device favorably in a chain of others, for example the To be able to incorporate machining of the parts serving machines, advantageous if at least one of the transport devices is movable with an oil transfer chain Has pallet, in the surface of which at least one helief-like negative shape of the parts to be transported is incorporated. To reduce the price of the range can the negative mold in a body made of thermoplastic material be incorporated into the pallet.

The versatility of the iontage device can be traced to the other. '' In addition to the simple and cheap construction, the invention is particularly enhanced by, that the: pallet in the assembly device of the transfer chain and by means of at least one of the countries whose hydraulic system is filled by the program control to control hydraulic actuators is monitored, movable and adjustable. As a result of this measure, the possibilities of movement of the joining arm are additional to the d, en Setting coordinates. gained To cope with difficult assembly work with many According to the more detailed invention, several of the listed, individual = iontagestations can share assembly devices represented by one of the transport devices mitenander'zu an assembly line, which is optionally provided with set assembly lines be.

A favorable design can be found here according to the further Achieve the invention in that the 'several installation devices to: the Kontagestraße linking transport device has pallets, which..each several, different Record completed honing groups and which the individual assembly devices the Kontagestrasse cycle by cycle several times pässie-1. ren, at least some of the assemblies successively several different honing work carry out. As a result of this configuration, the object to be assembled passes through several times one after the other in different manufacturing states the Kontagestraße, where the same assembly devices one after the other under .. different F-assembly operations can be carried out. This housing design - is especially for smaller ones Suitable for serial production, as the individual assembly devices are used several times on the objects to be assembled with only a few I assembly devices many Assembly work can be carried out. So there are relative with one cheap and simple Lontagestrasse complex and multi-part objects can be assembled. Furthermore, this configuration enables a corresponding, more favorable breakdown the honing work in individual work elements a particularly good and even one Use of all -iontage facilities on l, ontagestrasse. Let Perner the same type of work, regardless of the order in which they are installed summarize specialized stations.

Roof of the further invention is to simplify aer hontagestrasse and beneficial for the versatility of its uses when running more difficult, for mechanization unsuitable work and for controls at least a human-operated station incorporated into lontagestrasse is. All work elements that cannot be mechanized are then carried out at this station so summarized that they are in one cycle, without interrupted by annoying waiting times to be, can be performed.

In the drawing stone embodiment for the invention / so far it is necessary to understand them, shown schematically.

There are essentially three in the illustrated hone Function groups combined into a uniform device: a) A transport device, the one sorting spiral conveyor with the separating device of known type as well as the vibrating plate as part of the orientation and calibration device for the joining arm, b) the Fügeabschntt, which the joining arm drove with its hydraulic drive, the oscillating device to find the right cover for the parts to be joined and the steep cylinders belong to the hydraulic positioning of the pallets .; -c ) one Another 12transnort device, aer the transfer chain, -which the assembly device finit connects further assembly devices to an assembly line, which from the Transfer chain movable and '' rush or the object to be joined in its pallets and control devices accommodating various stages of manufacture to connect the pallets with the transfer chain or with the storage cylinder, des Joining section belong.

Similar parts are fed into the sorting spiral conveyor 1 as bulk goods to the assembly device. The Üortierwendelförderer 1 arranges the parts in-their Zage. Cached, also known. Separating devices 2 separate all the parts issued by the Gortierwen.delförderer 1 and feed them in a roughly ordered manner via a short 1-sucker 3 to the vibrating plate 4. The requirements for the orientation accuracy of the sorting spiral conveyor 1: are low, since the fine orientation is taken over by the vibrating plate 4. As a result, sorting spiral conveyors 1 with easily exchangeable special devices can be used for differently shaped parts. The vibrating plate 4 is designed as a turntable which is switched cyclically by means of a drive 5 and carries an easily replaceable ring 6 made of thermoplastic or another plasticizable material with embossed negative shapes 7 of the parts. During the clock rotation the ring: 6 is additionally set in vibration by the magnetic vibrator drive 21 so that the parts lying on it and pre-oriented by the sorting spiral conveyor 1 are vibrated into their respective negative shape 7. The gradual arrangement allows even more difficult parts to be handled safely. Due to the cyclical rotations of the vibrating plate -4, the parts are passed to the joining arm 8 as if on a tray, which in turn only has to cover a short lying position and to increase the working speed: is accordingly light. The joining arm 8 is a mechanism that can be moved in several spatial coordinates with a parts gripper designed as gripping tongs 9. According to the various possibilities of movement, several types of joining arms, possibly interchangeable with one another, can be provided. Appropriately = a joining arm should not be movable in more than three degrees of freedom, otherwise: the construction is too clumsy and complicated. The adjustable movement of the pallet 10 Littelelb 'of a Stellzylinaers 11 is an additional degree of irreversibility gained. Each wheel of freedom äes rü, -earriies d requires its own drive cylinder or rotary piston cylinder. In the drawing, two such litell cylinders 1 2 and 13 for the horizontal Läri:; svr @ rsciie'ourig or -zum Leben des füearms 8 are shown. The stable cylinders 11, 13 and 13, which are preferably designed as dor_peltwirz: ende üydrw: eilik <ylinder, are not shown, a tets permanent vol.uLlen iiul @ esenäe _olirverhindungen and a nro: -rartü: räesteüertes i-l'ehrwe "eveLij 1., uas only one outer cylinder (xer ": fit aer even: lls not show:, @ estellen, at any point anoränenae rro ru: .stpuerzng zur @) control of hydraulic actuators of the already proposed Z.rt to üuij - measurement of your lycai @ a «1ikf" illuxiCv: @. banoer_. s @ le ebetifc, .lls Via a 2ro @ .randisteue2: lit. @ `z @ .ile ;; tr @ lgt to the fc? i: acrl @? s = i @@ en Greisen Üer -eile from tiieriiianlastischeri runsts hoff existing bins 1 A which of the. to (ends, parts corresponding recesses 15 a, - "e" are worked out. Through the # minor program control: ' nderuziy: -e made nin üEu, 8-Geiun *. be core can, üreifzan, can ec with, _3- e a single insert pair 1 4 in. a work, szzrx.-lus under echi eäliehe parts form sc: to be grasped ilissig. The fine orientation of the 'line achieved by the vibrating plate 4 remains unchanged. The 21 - position of the insert - e'14 made of thermoplastic synthetic material has the advantage that the depressions 15 are directly connected to the' :, can be produced quickly and cheaply. However, other easily meltable and plasticizable materials can also be used for the lens inserts 14.

Already with two joining arms of which in the drawing only one is shown, and a Prograi @ nsteuerung for controlling üy'draulicher actuators can in a predetermined gripping area s' n imt Liche Raummunkte and angular positions would be achieved. Since n, zr certain angle controls, such as 900 and 180o, are often required for pivoting movements, simplified joining arms with fixed stops and rotary magnets can be used instead of a special barn cylinder that brings about rotary movements. The pallet 10 has an easily replaceable body 17 made of thermoplastic or another plasticizable material, in the surface of which relief-like negative forms 18 of the parts or assembly groups to be picked up by the pallet 10 , into which the parts moved over the Hüttelplatte4 by the joining arm 8 are inserted are incorporated. The pallet 10 can be coupled with a transfer chain 1y to transport it into or out of the assembly device. In the assembly device, the pallet 10 is detached from the transport chain 19 by means of known measures, not shown, with one of the piston of the upright cylinder 11 movable part 20 coupled, and brought izi their @xbeitaststellung.

The dimensional tolerances of the parts to be joined, the vibrating plate 4, the gripping tongs 9, the transfer errors, the elasticity of the poor assembly 8 and the errors and discontinuities In the Püllung.der .Seilylinders 11, 12 and 13 bring in their sum a positioning error the possible tolerance range of the Pügepfit of the to be joined together Can exceed parts. The vibration joining device described below has the task of the parts to be joined by vibrations of high frequency and low amplitude so that they overlap that they are nevertheless pushed into one another can be: in the case of the vibration joining device, at least one of the two is to be joined .eile by means of a vibrating or shaking device, not shown, in several Coordinates in: brought vibration. These vibrations should if possible '. have high frequency and small amplitude. The amplitude only mute larger than the mistake of positioning the parts to be assembled. In that moment, in which the overlap of the two parts is suitable for joining, one speaks in the drawing not shown f, ihlenrichtung and Veranaasst the gathering = -gen the .eile. Sensor and joining device can kotrukt2 = V <- combined in one piece will. It is useful to join the Ener: @ @ vibrating system exploit and. : Lieine IJämpfumg the oscillation exi to reach in order to a - ::> . . .Fü; w = r without overstressing the elements to be added `d @. to achieve. In easier. -Wise this vibration joining device can be made by vibrating devices ,, which force the hydraulic fluid for the adjusting cylinder to vibrate.

To set up an assembly line, some assembly devices of the type described above as stations on Montagestraße by means of a transfer chain be connected to each other. Each mounting device is in accordance with their Equipping with joining tools is particularly suitable for certain work processes. Work that is too difficult to perform for the assembly devices can to be grouped together on individual stations that work with a human worker are occupied.

The assembly groups are located on the pallets 10 which can be moved by the transfer chain, and in fact several differently finished assembly groups can be located on a pallet 10 at the same time. The pallets 10 and thus the individual assembly groups happen when. necessary to cycle through the stations several times until the object to be assembled is completed and can be removed. Work elements of the same type can be combined in the assembly process at the stations that are particularly suitable for certain types of work without having to worry about their sequence. The breakdown of the entire assembly process into individual work elements and the independence in terms of time gained through the management of several, differently completed assembly groups on a pallet 10. Follow the work. represents a significant and advantageous deviation from the conventional contagioning process on assembly lines. In addition, the repeated use of at least some of the lionage devices f comprehensive uni cheap assembly lines for the assembly of complex and multi-part objects can be used. -The assembly line is therefore also well suited for sera production with small quantities.

Performances that are reserved for human manual labor because of their difficulty. must, be after, the same. Principle on one:; station, or in the case of long contagious streets on a few -Stau - r @, summarizedThere these activities can be reduced to their _: _:; t. or. only with too high work elements that can be foreseen with effort, such as complicated handles and. Controls, be restricted. However, the, share of human work remains low and can be done quickly: because several tasks can be combined in one cycle without annoying waiting times: In special cases, the I, -fontage groups can be used on a pallet 10 for better cycle utilization of the stations two completely different objects are processed.

If necessary, between the program-controlled assembly devices also simpler stations that are made from commercially available components without program control are constructed, are arranged. Furthermore, branch roads can also be connected to Nontagestraße: be connected.

The assembly device can be modified without a vibrating plate 4 can also be used as a transfer machine for machine tools. With additional features: - provided, The vontage device can then even be part of an automatic machine tool will.

Claims (5)

_WE 5 9 2 claims l 1. Contaging device for program-controlled Combining several files, but at least 2 files, dadur @ ,.: ri T; elenr. - that 'at least one', 'rarispor-tvorriehtung, e.g. "iel" was several different ".--- hurry in bestii.ii@ter en," ine: tr @ i..ten places ready and that at least an i _ @ ° earr @ (E3) are provided, where the., with each: I.ontagevorgG.x ;; one the parts grasping and joining with the other part :: enjoining FÜgesrm (b), by means of Standing cylinders (12 and 13), their hydraulic filling from: Prograr@imsteuerung.en for _Control of hydraulic actuating cylinders of the type already proposed is monitored, bev: eb-r and is adjustable in several hardly coordinate directions. 2. Assembly device according to claim 1, characterized in that there is only one program control for the control Hydraulic actuators are provided, which are used with each adjustment of the joining arm (8) the hydraulic filling in chronological order via program-controlled multi-way valves the actuating cylinders (12 and 13) are monitored. 3. Mounting device according to claim 1, characterized in that d @ ß the PUgearm with a positionable gripper that in turn, carries interchangeable inserts for the form-fitting gripping of the parts, - so Is equipped that the same pliers inserts with several shape recesses, each are assigned to several specific parts, depending on their position Can take parts. 4. Mounting device according to claim 3, characterized in that, that the inserts (14) made of thermoplastic material or another easily Meltable or plasticizable material exist. 5. Assembly device according to one or more of the preceding claims, characterized in that in order to achieve a suitable overlap for joining the parts relative to one another, vibrating or shaking devices at least shortly before joining in: several coordinate directions are imposed. 6. Mounting device according to claim, characterized in that a sensing device which registers the matching overlap for joining and triggers joining is provided. Assembly device according to claim 6, characterized in that the part to be inserted executes a coupling oscillation in two coordinate directions perpendicular to the joining direction, while at the same time it oscillates at a higher frequency in a third coordinate direction parallel to the joining direction, with an increased amplitude when the appropriate overlap is reached Swings out and controls the start of the assembly movement with this increased amplitude. Mounting device according to claim 7, characterized in that for damping the coupling oscillation after reaching the appropriate covering, the oscillation energy of the coupling oscillation is converted into a movement of the `` parts in the joining direction. " L =. Iionage device according to one of several of the above; m that these are shaken by the shaking movements in the negative mold (7) and thus brought into a fixed frame. 10. Mounting device according to claim 9, characterized in that the negative mold (7) is incorporated in a body (ring 6) made of thermoplastic or other easily meltable or plasticizable material, and that the body (ring 6) be $ K. -the vibrating plate (4) is arranged to be easily exchangeable. 11. ilioiitagevorrichtung according to claim 9 or 109 dadutwh in 'that the vibration plate (4) is designed for supplying or handoff of the parts as a turntable. .,, 1,2. IVionage device according to claim 9, 10 or 11, characterized in that the transport device for loading the vibrating plate (4) with the `` Geile '' includes a separating device (2) of a type known per se. 13. Mounting device according to one or more of the preceding claims, characterized in that at least one of the transport devices.eine with a transfer chain (19) movable pallet (10), incorporated in the surface of several relief-like negative forms (18) of the `.Geile to be transported is. 14. 'ontage device according to claim 13, characterized in that the negative mold (18) is incorporated into a body (17) of the pallet (10) made of thermoplastic or other easily meltable or plasticizable material. 15. Hontagevorrichtung according to claim 13 or 14, characterized in that the pallet (10) in the assembly device of the transfer chain (19) releasably and by means of at least one adjusting cylinder (11) whose hydraulic filling is monitored by the program control for controlling hydraulic actuators, Bewegungsünd is adjustable. . , 16. Assembly device according to one or more of the preceding claims, characterized in that several of the listed T assembly devices representing individual assembly stations are linked to one another by one of the transport devices to form an assembly line which is optionally provided with side assembly lines. 17. Assembly device according to claim 16, characterized in that the several assembly devices linking to an assembly line transport device has pallets which each receive several differently finished V'Iontagegruppen, "" and which the individual assembly devices of the% Iontagestraße pass several times in the cycle, with the sequence of activities, which are attached to the sequence of stations and the. Ihzrchflußrihtung the road is bound, is independent of the sequence of the assembly process of an object, and the summary of the operations in a cycle, is made possible on the station most suitable for their 'execution. 18. Assembly device according to claim 17, characterized in that at least one station occupied by a human worker is incorporated into the assembly line for the execution of difficult to mechanize unsuitable work elements and hontrollex, these works are summarized in a cycle that they are during the cycle of no "waiting times that interfere with the human work rhythm are subdivided.