EP1620235A1 - Procede et dispositif de traitement - Google Patents

Procede et dispositif de traitement

Info

Publication number
EP1620235A1
EP1620235A1 EP04726847A EP04726847A EP1620235A1 EP 1620235 A1 EP1620235 A1 EP 1620235A1 EP 04726847 A EP04726847 A EP 04726847A EP 04726847 A EP04726847 A EP 04726847A EP 1620235 A1 EP1620235 A1 EP 1620235A1
Authority
EP
European Patent Office
Prior art keywords
processing
carrier
units
processing units
machining
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.)
Withdrawn
Application number
EP04726847A
Other languages
German (de)
English (en)
Inventor
Johann Hesse
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.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by KUKA Schweissanlagen GmbH filed Critical KUKA Schweissanlagen GmbH
Publication of EP1620235A1 publication Critical patent/EP1620235A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B23Q39/021—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like
    • B23Q39/025—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with different working directions of toolheads on same workholder
    • B23Q39/026—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with different working directions of toolheads on same workholder simultaneous working of toolheads
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61P—SPECIFIC THERAPEUTIC ACTIVITY OF CHEMICAL COMPOUNDS OR MEDICINAL PREPARATIONS
    • A61P3/00—Drugs for disorders of the metabolism
    • A61P3/08—Drugs for disorders of the metabolism for glucose homeostasis
    • A61P3/10—Drugs for disorders of the metabolism for glucose homeostasis for hyperglycaemia, e.g. antidiabetics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07D—HETEROCYCLIC COMPOUNDS
    • C07D207/00—Heterocyclic compounds containing five-membered rings not condensed with other rings, with one nitrogen atom as the only ring hetero atom
    • C07D207/02—Heterocyclic compounds containing five-membered rings not condensed with other rings, with one nitrogen atom as the only ring hetero atom with only hydrogen or carbon atoms directly attached to the ring nitrogen atom
    • C07D207/04—Heterocyclic compounds containing five-membered rings not condensed with other rings, with one nitrogen atom as the only ring hetero atom with only hydrogen or carbon atoms directly attached to the ring nitrogen atom having no double bonds between ring members or between ring members and non-ring members
    • C07D207/10—Heterocyclic compounds containing five-membered rings not condensed with other rings, with one nitrogen atom as the only ring hetero atom with only hydrogen or carbon atoms directly attached to the ring nitrogen atom having no double bonds between ring members or between ring members and non-ring members with hetero atoms or with carbon atoms having three bonds to hetero atoms with at the most one bond to halogen, e.g. ester or nitrile radicals, directly attached to ring carbon atoms
    • C07D207/16—Carbon atoms having three bonds to hetero atoms with at the most one bond to halogen, e.g. ester or nitrile radicals

Definitions

  • Such processing devices are from practice e.g. known as a welding robot. They consist of a multi-axis transport device in the form of an articulated arm robot and a tool, e.g. a welding tool.
  • a welding robot consist of a multi-axis transport device in the form of an articulated arm robot and a tool, e.g. a welding tool.
  • processing stations for body components in particular so-called geostations or framing stations for stapling the body components, to use stationary or movable lateral clamping frames for clamping the components, which can be equipped with several clamping tools.
  • these clamping frames can only be attached to the outside of the vehicle body or the body components, so that accordingly only external clamping is possible. This must be taken into account when designing the body and conceiving the manufacturing process.
  • the accessibility of the components for external welding robots or the like limited. It is not possible to clamp body components on the inside.
  • Process engineering has the advantage that it has a multifunctional application. It forms one So-called multi-robots, which can carry out a wide variety of activities at different locations and in particular joining, clamping or machining points on the body components. This also makes it possible to carry out several joining processes on the inside of the vehicle body or the components. In particular, it is possible to tension the inside of a vehicle body.
  • Machining units can have a very large working area thanks to their freely selectable multiaxiality.
  • An appropriately adapted shape of the carrier is also helpful for this.
  • the use of small robots, preferably in the form of small articulated arm robots with six or more axes, is particularly advantageous here, especially since standard components can be used for this embodiment of the machining devices.
  • Figure 1 is a perspective view of a
  • Figure 4 and 5 side and rear view of a
  • the transport device ( ⁇ ) carries a docked multi-arm unit. This consists of at least one carrier (7) on which one or more multi-axis machining units (8, 9), each with at least one Tool (11) are arranged.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Organic Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Diabetes (AREA)
  • General Chemical & Material Sciences (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Obesity (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Endocrinology (AREA)
  • Medicinal Chemistry (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Emergency Medicine (AREA)
  • Hematology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

L'invention concerne un dispositif de traitement (5) d'éléments de carrosserie (2), comportant un robot de transport (6) à plusieurs axes. Ledit robot porte au moins un support (7) pourvu d'une ou plusieurs unité de traitement, de préférence de petits robots (10). Les petits robots (10) portent divers outils et peuvent être commandés individuellement.
EP04726847A 2003-04-17 2004-04-10 Procede et dispositif de traitement Withdrawn EP1620235A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE20306257U DE20306257U1 (de) 2003-04-17 2003-04-17 Bearbeitungsvorrichtung
PCT/EP2004/003836 WO2004091867A1 (fr) 2003-04-17 2004-04-10 Procede et dispositif de traitement

Publications (1)

Publication Number Publication Date
EP1620235A1 true EP1620235A1 (fr) 2006-02-01

Family

ID=32892517

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04726847A Withdrawn EP1620235A1 (fr) 2003-04-17 2004-04-10 Procede et dispositif de traitement

Country Status (4)

Country Link
US (1) US20070164009A1 (fr)
EP (1) EP1620235A1 (fr)
DE (1) DE20306257U1 (fr)
WO (1) WO2004091867A1 (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMO20060146A1 (it) * 2006-05-10 2007-11-11 Emmegi Spa Macchina utensile
DE102007039384A1 (de) * 2007-08-17 2009-02-19 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Handhabungsvorrichtung und Verfahren zur Änderung der Gelenkstellungen der Handhabungsvorrichtung
US8201723B2 (en) 2008-03-12 2012-06-19 Comau, Inc. Robotic high density welding body shop
US8713780B2 (en) * 2008-05-13 2014-05-06 Comau, Inc. High density welding subassembly machine
TR200909397A2 (tr) * 2009-12-14 2011-07-21 Vargin Gök Gökhan Çoklu eksene haiz bir robot.
WO2011076249A1 (fr) * 2009-12-21 2011-06-30 Wilfried Strothmann Gmbh Maschinenbau Und Handhabungstechnik Robot
DE102013202571B4 (de) * 2013-02-18 2016-05-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Endeffektor für einen Manipulator und Vorrichtung sowie Verfahren zum Bearbeiten und/oder Handhaben von Werkstücken
US20160082557A1 (en) * 2014-09-22 2016-03-24 Kuka Systems Corporation North America Robotic apparatus and process for the installation of collars and nuts onto fasteners
EP3197644B1 (fr) * 2014-09-26 2023-06-07 Norgren Automation Solutions, LLC Joints pouvant être positionnés automatiquement et ensemble d'outillage de transfert comprenant des joints pouvant être positionnés automatiquement
ES2700360T3 (es) 2014-12-15 2019-02-15 Comau Llc Sistema y procedimiento de montaje de vehículo modular
ES2968203T3 (es) 2016-05-06 2024-05-08 Comau Llc Sistema de dispositivo de elevación de portador invertido
US10640297B2 (en) 2017-11-07 2020-05-05 Comau Llc Transport system and methods
DE102017220999B4 (de) 2017-11-23 2019-07-04 Deutsches Zentrum für Luft- und Raumfahrt e.V. Modularer Endeffektor
US11420853B2 (en) 2019-10-03 2022-08-23 Comau Llc Assembly material logistics system and methods
CN115605415A (zh) 2020-06-08 2023-01-13 柯马有限责任公司（Us） 组装物料物流系统及其方法
DE102022103639A1 (de) * 2022-02-16 2023-08-17 Matuschek Meßtechnik GmbH Bearbeitungswerkzeug, insbesondere Schweißzange

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59214590A (ja) * 1983-05-18 1984-12-04 株式会社日立製作所 分岐複腕型の多自由度マニユピレ−タロボツト
JPH081558A (ja) * 1994-06-22 1996-01-09 Tokyo Electric Power Co Inc:The 遠隔操作型ロボット
JP2000190265A (ja) * 1998-12-21 2000-07-11 Natl Space Development Agency Of Japan 再構成型宇宙用多肢マニピュレ―タ・システム

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US3451224A (en) * 1967-06-20 1969-06-24 Gen Dynamics Corp Stowable underwater manipulator
AT363298B (de) * 1978-12-18 1981-07-27 Igm Ind Geraete Maschf Gmbh Schweissautomat
AT381056B (de) * 1981-08-25 1986-08-25 Igm Ind Geraete Maschf Gmbh Schweissautomat
JPS58119474A (ja) * 1982-01-09 1983-07-15 Honda Motor Co Ltd 自動車車体の増打溶接装置
US4719328A (en) * 1985-07-22 1988-01-12 Honda Giken Kogyo Kabushiki Kasha Touch-up welding apparatus for motorcar body
GB2206316B (en) * 1987-03-28 1991-03-20 Lamb Technicon Uk Operations C Holding apparatus for a vehicle assembly line
JPH02108489A (ja) * 1988-10-17 1990-04-20 Fanuc Ltd 多関節型レーザロボットの手首機構
DE4001885A1 (de) * 1990-01-23 1991-07-25 Kuka Schweissanlagen & Roboter Mehrachsiger industrieroboter
US5374799A (en) * 1991-01-30 1994-12-20 Mazda Motor Corporation Method for the assembly of automotive vehicle bodies and a jig unit therefor
IT1245512B (it) * 1991-02-15 1994-09-29 Comau Spa Robot articolato dotato di doppio avambraccio
EP0506990A1 (fr) * 1991-04-02 1992-10-07 Siemens Aktiengesellschaft Méthode pour la commande d'accélération et de vitesse pour au moins un axe qui peut être commandé d'une machine outil ou d'un robot
IT1288733B1 (it) * 1996-10-08 1998-09-24 Comau Spa Dispositivo per la saldatura a punti di strutture costituite da elementi metallici, in particolare scocche di autoveicoli o loro
US6722842B1 (en) * 1998-01-13 2004-04-20 Btm Corporation End arm manipulator
US5974643A (en) * 1998-06-25 1999-11-02 General Motors Corporation Programmable vision-guided robotic turret-mounted tools
US6505393B2 (en) * 1998-07-31 2003-01-14 Airbus Deutschland Gmbh Two-part riveting apparatus and method for riveting barrel-shaped components such as aircraft fuselage components
DE29909047U1 (de) * 1999-05-22 2000-10-19 Kuka Schweissanlagen Gmbh Positioniervorrichtung für Werkstückträger oder Werkstücke
US6615112B1 (en) * 1999-06-26 2003-09-02 Kuka Schweissanlagen Gmbh Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices
DE10017897C2 (de) * 2000-04-11 2002-09-26 Tuenkers Maschinenbau Gmbh Gerüstsystem, zur Verwendung im Karosseriebau der Kfz-Industrie, zum Anordnen von Kniehebelspannvorrichtungen, Saugvorrichtungen, Zentrierdornen, Sensoren, Schweißvorrichtungen, Clinchvorrichtungen, Nietvorrichtungen o. dgl., z. B. zur Verbindung mit einem Roboterarm oder dergleichen
DE10054136A1 (de) * 2000-10-31 2002-05-08 Josef Wacker Keramischer Positionierarm und Verfahren zu seiner Herstellung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59214590A (ja) * 1983-05-18 1984-12-04 株式会社日立製作所 分岐複腕型の多自由度マニユピレ−タロボツト
JPH081558A (ja) * 1994-06-22 1996-01-09 Tokyo Electric Power Co Inc:The 遠隔操作型ロボット
JP2000190265A (ja) * 1998-12-21 2000-07-11 Natl Space Development Agency Of Japan 再構成型宇宙用多肢マニピュレ―タ・システム

Also Published As

Publication number Publication date
US20070164009A1 (en) 2007-07-19
DE20306257U1 (de) 2004-08-19
WO2004091867A1 (fr) 2004-10-28

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Owner name: KUKA SYSTEMS GMBH

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