DE202004003737U1 - Device for three-dimensional cutting of components in particular of car body, comprising robot guided along and inside frame - Google Patents

Device for three-dimensional cutting of components in particular of car body, comprising robot guided along and inside frame Download PDF

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Publication number
DE202004003737U1
DE202004003737U1 DE200420003737 DE202004003737U DE202004003737U1 DE 202004003737 U1 DE202004003737 U1 DE 202004003737U1 DE 200420003737 DE200420003737 DE 200420003737 DE 202004003737 U DE202004003737 U DE 202004003737U DE 202004003737 U1 DE202004003737 U1 DE 202004003737U1
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Germany
Prior art keywords
components
dimensional cutting
industrial robot
guided along
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE200420003737
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German (de)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Benteler Automobiltechnik GmbH
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Benteler Automobiltechnik GmbH
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Filing date
Publication date
Application filed by Benteler Automobiltechnik GmbH filed Critical Benteler Automobiltechnik GmbH
Priority to DE200420003737 priority Critical patent/DE202004003737U1/en
Publication of DE202004003737U1 publication Critical patent/DE202004003737U1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K10/00Welding or cutting by means of a plasma
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • B25J9/026Gantry-type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms

Abstract

Two lateral rails (3) are attached to the upper ends of four vertical posts (2) and supported by two transversal profiles (4). A transversal carrying element (5, 6) can be guided along the rails (3) and is fitted with a horizontally movable holding unit (9) carrying a vertically movable element (10) with a robot holding plate (12) at its lower end. The robot can be moved along the component to be cut using nine different axles.

Description

  • Die Erfindung betrifft eine Vorrichtung zum dreidimensionalen Schneiden von Bauteilen gemäß den Merkmalen im Oberbegriff des Anspruchs.The invention relates to a device for three-dimensional cutting of components according to the characteristics in the preamble of the claim.
  • Zum dreidimensionalen Schneiden von Bauteilen mit Hilfe von Plasmabrennern ist es bekannt, mehrachsige Industrieroboter einzusetzen. Solche Bauteile sind z.B. Rohre oder räumlich verformte Bleche, wie sie in der Automobilfertigung bei der Herstellung von beispielsweise A- oder B-Säulen von Karosserien zum Einsatz gelangen.For three-dimensional cutting of Components using plasma torches are known to be multi-axis To use industrial robots. Such components are e.g. Pipes or spatial deformed sheets, such as those used in automobile manufacturing of, for example, A or B pillars of bodies are used.
  • Im Hinblick auf den Sachverhalt, dass bislang ein Industrieroboter mit diesem zugeordneten Plasmabrenner auf einem Fundament befestigt und das zu schneidende Bauteil neben dieser Vorrichtung lagefixiert wurde, war die Bewegungsfreiheit des Plasmabrenners beschränkt. Das Bauteil konnte nicht in einer Einspannung komplett geschnitten werden. Es musste vielmehr ausgespannt, gehändelt und neu verspannt werden, was nicht nur mit einem hohen vorrichtungstechnischen, sondern auch zeitlichen Aufwand verbunden war.With regard to the facts, that so far an industrial robot with this associated plasma torch fixed on a foundation and the component to be cut next to This device was fixed in position, the freedom of movement of the plasma torch. The component could not be cut completely in one clamping become. Rather, it had to be stretched out, traded and re-tightened, which not only with a high level of device technology, but also was time-consuming.
  • Der Erfindung liegt – ausgehend vom Stand der Technik – die Aufgabe zugrunde, eine Vorrichtung zum dreidimensionalen Schneiden von Bauteilen dahingehend weiter zu entwickeln, dass die Bewegungsfreiheit des Plasmabrenners deutlich erhöht werden kann.The invention is based on from the state of the art - the Task based on a device for three-dimensional cutting of components to further develop the freedom of movement of the plasma torch can be increased significantly can.
  • Diese Aufgabe wird mit den im kennzeichnenden Teil des Anspruchs angegebenen Merkmalen gelöst.This task is characterized by the in Features specified part of the claim solved.
  • Kernpunkt der Erfindung bildet der Sachverhalt, dass nunmehr das Bearbeitungswerkzeug, also der Industrieroboter plus Plasmabrenner, nicht mehr neben dem zu bearbeitenden Werkstück, sondern oberhalb des Werkstücks angeordnet wird. Dazu wird der Industrieroboter an einer nach unten gerichteten Stirnseite eines sich vertikal erstreckenden und verlagerbaren Hubbalkens hängend befestigt. Dieser Hubbalken kann an einer horizontalen Traverse entlang verfahren werden, die ihrerseits wiederum über ihre Enden an zwei Schienen entlang verfahrbar ist, die von Stützen getragen werden. Der Industrieroboter und somit auch der Plasmabrenner hängen dann gewissermaßen in einem örtlich fixierten Portal.The crux of the invention is the The fact that now the processing tool, i.e. the industrial robot plus plasma torch, no longer next to the workpiece to be machined, but above of the workpiece is arranged. To do this, the industrial robot is down on one facing end face of a vertically extending and displaceable Hanging walking beam attached. This walking beam can be attached to a horizontal traverse are moved along, which in turn are over their Ends along two rails that can be carried by supports become. The industrial robot and thus also the plasma torch then hang, so to speak, in a fixed location Portal.
  • Umfasst der Roboter beispielsweise sechs Achsen, so wird die Beweglichkeit um die drei weiteren Achsen erhöht, welche durch die vertikale und horizontale Verlagerbarkeit des Hubbalkens sowie die ebenfalls horizontale Verlagerbarkeit der Traverse geschaffen werden.For example, the robot includes six axes, so the mobility around the three other axes elevated, which is due to the vertical and horizontal displaceability of the walking beam as well as the horizontal displaceability of the crossbar become.
  • Das zu bearbeitende Bauteil, wie z.B. ein Rohr oder ein räumlich verformtes Blech, kann jetzt unterhalb des Plasmabrenners lagefixiert und in einer einzigen Aufspannung bearbeitet werden. Es ist nicht mehr notwendig, das Bauteil aus seiner Verspannung zu lösen, um es anschließend durch Handling in einer anderen Lageorientierung zu fixieren und dann weiter zu bearbeiten.The component to be machined, such as e.g. a pipe or spatially deformed sheet metal, can now be fixed below the plasma torch and processed in a single setup. It is not more necessary to release the component from its tension in order it afterwards to fix by handling in a different orientation and then continue to work.
  • Die Wirtschaftlichkeit des dreidimensionalen Schneidens von Bauteilen mit Hilfe eines Plasmabrenners wird auf diese Weise erheblich heraufgesetzt.The economy of three-dimensional cutting of components using a plasma torch is made in this way significantly increased.
  • Die Erfindung ist nachfolgend anhand eines in der Zeichnung veranschaulichten Ausführungsbeispiels näher erläutert. Es zeigen:The invention is based on of an embodiment illustrated in the drawing. It demonstrate:
  • 1 in schematischer Perspektive ein Portal zur Führung eines Industrieroboters und 1 in a schematic perspective a portal for the management of an industrial robot and
  • 2 in schematischer Frontalansicht einen Industrieroboter mit einem Plasmabrenner. 2 a schematic frontal view of an industrial robot with a plasma torch.
  • Mit 1 ist in der 1 ein örtlich lagefixiertes Portal bezeichnet, das oberhalb eines nicht näher veranschaulichten Arbeitsplatzes zum dreidimensionalen Schneiden eines beispielsweise aus einem räumlich verformten Blech bestehenden Bauteils angeordnet ist.With 1 is in the 1 denotes a locally fixed portal, which is arranged above a work station (not shown in more detail) for three-dimensional cutting of a component consisting, for example, of a spatially deformed sheet metal.
  • Das Portal 1 umfasst vier Stützen 2, welche an ihren oberen Enden zwei im Abstand nebeneinander verlaufende Schienen 3 tragen. An den Enden sind die Schienen 3 durch Querträger 4 ausgesteift.The portal 1 includes four supports 2 , which have two spaced rails at their upper ends 3 wear. At the ends are the rails 3 through cross beams 4 stiffened.
  • An den Schienen 3 entlang ist mit ihren Endabschnitten 5 eine Traverse 6 entsprechend dem Doppelpfeil 7 zwangsgeführt verlagerbar.On the rails 3 is along with their end sections 5 a traverse 6 according to the double arrow 7 positively guided relocatable.
  • In Längsrichtung der Traverse 6 ist entsprechend dem Doppelpfeil 8 ein Gehäuse 9 zwangsgeführt verlagerbar, in welchem ein Hubbalken 10 entsprechend dem Doppelpfeil 11 vertikal zwangsgeführt verlagerbar ist.In the longitudinal direction of the traverse 6 is in accordance with the double arrow 8th a housing 9 positively guided, in which a walking beam 10 according to the double arrow 11 is vertically positively guided.
  • Die Mittel zum Verlagern und zur Zwangsführung einer Grundplatte 29 der Traverse 6, des Gehäuses 9 und des Hubbalkens 10 sind nicht näher dargestellt.The means for moving and forcing a base plate 29 the traverse 6 , the housing 9 and the walking beam 10 are not shown in detail.
  • Der Hubbalken 10 besitzt am unteren Ende eine Tragplatte 12, deren nach unten gerichtete freie Stirnseite 13 zum Befestigen einer Grundplatte 29 eines Industrieroboters 14 gemäß 2 dient. Der Industrieroboter 14 besitzt beim Ausführungsbeispiel sechs Achsen, die mit den Bezugszeichen 15 bis 20 bezeichnet und deren Schwenkrichtungen durch die Doppelpfeile 2126 angegeben sind.The walking beam 10 has a support plate at the lower end 12 whose downward free end face 13 for attaching a base plate 29 of an industrial robot 14 according to 2 serves. The industrial robot 14 has six axes with the reference numerals in the embodiment 15 to 20 designated and their swivel directions by the double arrows 21 - 26 are specified.
  • An der freien Stirnseite 27 des Industrieroboters 14 ist ein nur schematisch veranschaulichter Plasmabrenner 28 befestigt. Die Energiezuführungen zum Plasmabrenner 28 und auch zum Industrieroboter 14 sind nicht näherdargestellt.On the free end 27 of the industrial robot 14 is a plasma torch illustrated only schematically 28 attached. The energy supplies to the plasma torch 28 and also to the industrial robot 14 are not shown in detail.
  • Aufgrund der sechs Achsen 1520 des Industrieroboters 14 sowie der drei Achsen 7, 8, 11 des Portals 1 kann der Plasmabrenner 28 über insgesamt neun Achsen 1520, 7, 8 und 11 räumlich verlagert werden, so dass ein dreidimensional zu schneidendes Bauteil in einer einzigen Aufspannung unterhalb des Portals 1 bearbeitet werden kann.Because of the six axes 15 - 20 of the industrial robot 14 as well as the three axes 7 . 8th . 11 of the portal 1 can the plasma torch 28 over a total of nine axes 15 - 20 . 7 . 8th and 11 be spatially shifted, so that a three-dimensional component to be cut in a single clamping underneath the portal 1 can be edited.
  • 11
    Portalportal
    22
    Stützen v. 1 Supports v. 1
    33
    Schienenrails
    44
    Querträgercrossbeam
    55
    Enden v. 6 Ends of 6
    66
    Traversetraverse
    77
    Doppelpfeildouble arrow
    88th
    Doppelpfeildouble arrow
    99
    Gehäusecasing
    1010
    Hubbalkenwalking beam
    1111
    Doppelpfeildouble arrow
    1212
    Tragplattesupport plate
    1313
    Stirnseite v. 12 Front of v. 12
    1414
    Industrieroboterindustrial robots
    1515
    Achse v. 14 Axis v. 14
    1616
    Achse v. 14 Axis v. 14
    1717
    Achse v. 14 Axis v. 14
    1818
    Achse v. 14 Axis v. 14
    1919
    Achse v. 14 Axis v. 14
    2020
    Achse v. 14 Axis v. 14
    2121
    Schwenkrichtungpan direction
    2222
    Schwenkrichtungpan direction
    2323
    Schwenkrichtungpan direction
    2424
    Schwenkrichtungpan direction
    2525
    Schwenkrichtungpan direction
    2626
    Schwenkrichtungpan direction
    2727
    Stirnseite v. 14 Front of v. 14
    2828
    Plasmabrennerplasma torch
    2929
    Grundplatte v. 14 Base plate v. 14

Claims (1)

  1. Vorrichtung zum dreidimensionalen Schneiden von Bauteilen, welche einen von einem mehrachsigen Industrieroboter (14) getragenen Plasmabrenner (28) aufweist, dadurch gekennzeichnet, dass der Industrieroboter (14) an einer nach unten gerichteten Stirnseite (13) eines sich vertikal erstreckenden und verlagerbaren Hubbalkens (10) hängend befestigt ist, der seinerseits an einer horizontalen Traverse (6) entlang verfahrbar ist, die über ihre Enden (5) an von Stützen (2) getragenen, horizontal ausgerichteten Schienen (3) zwangsgeführt ist.Device for three-dimensional cutting of components, which one of a multi-axis industrial robot ( 14 ) carried plasma torch ( 28 ), characterized in that the industrial robot ( 14 ) on a face facing downwards ( 13 ) a vertically extending and displaceable walking beam ( 10 ) is attached, which in turn is attached to a horizontal crossbar ( 6 ) is movable along the ends ( 5 ) from supports ( 2 ) supported, horizontally aligned rails ( 3 ) is forced.
DE200420003737 2004-03-10 2004-03-10 Device for three-dimensional cutting of components in particular of car body, comprising robot guided along and inside frame Expired - Lifetime DE202004003737U1 (en)

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DE200420003737 DE202004003737U1 (en) 2004-03-10 2004-03-10 Device for three-dimensional cutting of components in particular of car body, comprising robot guided along and inside frame

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2257956A1 (en) * 2005-01-18 2006-08-01 Danobat, S. Coop Cutting machine
CN101786136A (en) * 2010-02-26 2010-07-28 华南理工大学 Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure
ES2411810A2 (en) * 2010-12-22 2013-07-08 Jatorman, S.L. Robotic manipulator, for movement of loads (Machine-translation by Google Translate, not legally binding)
CN103433915A (en) * 2013-08-28 2013-12-11 苏州菱欧自动化设备有限公司 Claw material transporting mechanism of automated magnetism attaching equipment
CN104476546A (en) * 2014-11-28 2015-04-01 东莞市青麦田数码科技有限公司 Loading/ unloading manipulator for carrying goods
CN104891346A (en) * 2015-05-25 2015-09-09 株洲南车时代电气股份有限公司 Hanging locating device and using method thereof
CN105363682A (en) * 2015-12-09 2016-03-02 苏州索力旺新能源科技有限公司 Automatic screening mechanism for photovoltaic welding
CN105538297A (en) * 2016-02-19 2016-05-04 珠海格力电器股份有限公司 Grabbing device
CN105710042A (en) * 2016-04-16 2016-06-29 成都航空职业技术学院 Intelligent sorting device for logistics
CN106239478A (en) * 2016-07-12 2016-12-21 常熟市惠机电有限公司 A kind of extensibility mechanical hand of big range of activity

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2257956A1 (en) * 2005-01-18 2006-08-01 Danobat, S. Coop Cutting machine
CN101786136A (en) * 2010-02-26 2010-07-28 华南理工大学 Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure
ES2411810A2 (en) * 2010-12-22 2013-07-08 Jatorman, S.L. Robotic manipulator, for movement of loads (Machine-translation by Google Translate, not legally binding)
ES2411810R1 (en) * 2010-12-22 2013-07-24 Jatorman S L Robotized manipulator, for load movement
CN103433915A (en) * 2013-08-28 2013-12-11 苏州菱欧自动化设备有限公司 Claw material transporting mechanism of automated magnetism attaching equipment
CN104476546A (en) * 2014-11-28 2015-04-01 东莞市青麦田数码科技有限公司 Loading/ unloading manipulator for carrying goods
CN104891346B (en) * 2015-05-25 2017-03-15 株洲南车时代电气股份有限公司 Hanging positioner and its using method
CN104891346A (en) * 2015-05-25 2015-09-09 株洲南车时代电气股份有限公司 Hanging locating device and using method thereof
CN105363682A (en) * 2015-12-09 2016-03-02 苏州索力旺新能源科技有限公司 Automatic screening mechanism for photovoltaic welding
CN105538297A (en) * 2016-02-19 2016-05-04 珠海格力电器股份有限公司 Grabbing device
CN105710042A (en) * 2016-04-16 2016-06-29 成都航空职业技术学院 Intelligent sorting device for logistics
CN105710042B (en) * 2016-04-16 2018-03-13 成都航空职业技术学院 A kind of physical-distribution intelligent sorting equipment
CN106239478A (en) * 2016-07-12 2016-12-21 常熟市惠机电有限公司 A kind of extensibility mechanical hand of big range of activity

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R150 Term of protection extended to 6 years

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