EP2237923A1

EP2237923A1 - Rotating table

Info

Publication number: EP2237923A1
Application number: EP09708843A
Authority: EP
Inventors: Manfred Hahl
Original assignee: EDAG GmbH and Co KGaA
Current assignee: FFT EDAG Produktionssysteme GmbH and Co KG
Priority date: 2008-02-07
Filing date: 2009-02-06
Publication date: 2010-10-13
Also published as: WO2009098285A1; DE102008008306A1; DE202009018754U1

Abstract

A device for machining work pieces, comprising a) a rotating table (1) that can be rotated about an axis of rotation (Z), having fixing tools (2, 3, 4, 5) disposed about the axis of rotation (Z), said tools differing from one another for the holding and fixing of dissimilar work pieces (8), one of said tools being able to move into a machining position (W) by way of a rotational motion of the rotating table (1), b) at least one internal machining robot (10), which is disposed in an inner area of the rotating table (1) between the fixing tools (2, 3, 4, 5) for machining a work piece (8) located in the machining position (W), c) and a rotary drive for producing a reversing rotational motion of the rotating table (1), during which one of the fixing tools (2, 3, 4, 5) can be moved back and forth between the machining position (W) and a loading position (L) for inserting the work piece (8).

Description

Lawyer's file: 57 030 XI EDAG GmbH & Co. KGaA

turntable

The invention relates to a device for processing workpieces using a turntable, which transports the workpieces in a processing position. The workpieces may in particular consist of several substructures, which are joined by means of the device to form a joining structure, the workpiece. In such embodiments, the machining is a joining process or comprises a joining process. Furthermore, the invention relates to a method for joining substructures to vehicle parts. The method is used in series production, preferably in mass production of body parts for motor vehicles.

From DE 195 05 622 Al a system for assembling motor vehicle bodies from sheet metal parts using a turntable with workpiece carriers is known, which are arranged radially around a rotation axis of the turntable. The turntable is cyclically driven in a certain direction of rotation, so that the workpiece carriers successively pass through several rotational positions in which respectively associated processing steps are carried out. In a first of the rotational positions body parts are inserted and added in a next rotational position other body parts. In further rotational positions, the body parts are joined by welding to a body shell. In one of these rotational positions, the tool carrier is extended radially, so that the workpiece thereon is accessible to welding robots from several sides. In a further of these rotational positions, further welding robots are arranged in a central inner area of the turntable and on the periphery, which serve to weld out the body which was only stapled up to this time. In the next rotational position, the bodies are ejected. The system requires a lot of space and is limited to processing always the same workpieces. A conversion for machining workpieces of another kind, for example, for joining a body of another vehicle type, would require a longer shutdown of the plant. DE 20 2005 001 780 Ul discloses a device for processing body parts, likewise using a turntable. On the turntable a plurality of fixing tools are distributed around the axis of rotation, which differ in adaptation to different workpieces, so that by means of a rotary movement of the turntable each of the fixing tools optionally moved to a loading position and loaded there by means of a loading robot with the currently being machined workpiece can. The fixing tools are arranged movably on the turntable, so that they can each be moved away from the loading position by means of a conveying device from the turntable into a peripheral processing position where they can be processed by processing robots. After removal of the machined workpiece, the fixing tool is moved on the turntable back to the loading position, where it is occupied by the next workpiece. This device also requires comparatively much space and is complex.

It is an object of the invention to work pieces using a turntable as simple as possible in a small space and a short time and to be able to flexibly carry out a production change.

The invention relates to a device for machining workpieces, which comprises a turntable rotatable about a rotation axis with a plurality of fixing tools, which are arranged about the axis of rotation of the turntable and differ from each other in adaptation to workpieces of different types. By a rotary movement of the turntable each one of the fixing tools is moved to a processing position in which the

Processing of each of the fixing tool received workpiece takes place. The machining position is assigned at least one machining robot, that is arranged so that it can edit the workpiece located in the machining position.

The device further comprises a rotary drive, by means of which the turntable is reversibly rotatably driven to the adapted to the workpieces to be machined

Moving fixing tools between the machining position and a loading position back and forth. In the loading position, the workpieces are inserted into the fixing tool. The

Fixing tools can in the case of a vertical axis of rotation in particular at an upper Be arranged front side of the turntable and record, position and fix the resting under gravity workpieces.

The at least one processing robot is arranged in an inner region of the turntable between the fixing tools distributed around the axis of rotation, it is therefore referred to below as an internal processing robot. In the interior region, a plurality of internal processing robots, in particular two or three processing robots, may be arranged. The one or more internal processing robot is or are preferably assigned to only one processing position, thus processing only located in this processing position workpieces. Basically, however, an assignment to an optional, approachable from the turntable further processing position is conceivable, either of only one of the internal processing robot or more. In preferred embodiments, however, the device has only a single processing position. In a preferred development of this processing position, if several processing positions are provided and each additional processing position, at least one further processing robot associated, which is arranged outside of the turntable at the periphery thereof. Advantageously, the processing position of several, for example two or three, possibly even more such peripheral processing robot assigned, preferably by the processing position near peripheral arrangement.

The at least one processing robot is supported in preferred embodiments independently of the turntable, so that he does not join the rotational movements of the turntable. In these preferred embodiments, the processing robot is in particular not supported on the turntable, but preferably on a floor on which the turntable is rotatably mounted. Alternatively, the at least one arranged inside or generally generalized, the at least one working out of the inner region processing robot to be supported, for example, the ceiling and protrude from above toward the interior of the turntable. The independent of the turntable support relieves the turntable and in particular its rotary bearing and rotary drive. Particularly preferably, the inner region remains free between the fixing tools. In particular, the processing robot can be arranged and supported in such a free, central inner region and, accordingly, between the inner region rise up the fixing tools. If a plurality of processing robots are arranged indoors, the above embodiments are preferably applicable to each of the plurality of processing robots.

The arrangement of several processing robots, in particular two processing robots, indoors is given preference over the arrangement of only a single internal processing robot preference. If a plurality of processing robots are provided in the interior area, these can advantageously each be smaller than can be an internal processing robot, which is assigned in the interior as the only one of the processing position. The plurality of processing robots can be arranged in the inner area at the fixing tool located in the processing position, in particular, next to each other and work side by side; Correspondingly, the sphere of action and consequently the size of each of these processing robots can be reduced relative to a single internal processing robot. Furthermore, at the same time, more machining tools can be brought out of the inner area, thereby shortening the residence time of the workpiece in the machining position.

The at least one processing robot, in the case of a plurality of processing robots a part of these robots or preferably all processing robots, is or are preferably arranged in a stationary manner. The one or more machining robots may or may in particular be industrial robots. The one or more machining robots preferably have or have all six degrees of freedom of movement.

The arrangement of the at least one machining robot in the interior and the localization of the processing position on the turntable, preferably on the turntable, make the device compact with a small radial extent to the axis of rotation. In the preferred embodiment, with one or more internal and one or more peripheral processing robots, multiple ones may exist in the confined space

Machining operations are performed simultaneously. Since the fixing tool for editing does not have to be extended from the turntable, but can remain on the turntable, time is saved, especially in the case of a model change, since this only the

Turntable must be further rotated, so that the previously used fixing tool of the Beladeposition seen from the processing position or seen from the machining position on the loading position in a rest position and this further rotation simultaneously moved instead of another of the fixing tools in the loading position and loaded there with the first workpiece of the new kind. Since the fixing tools do not extend to the machining position and accordingly retract into the turntable after machining, the turntable does not have to be attached to a conveyor causing the extension and retraction and be undocked by this. Furthermore, the part of the device required for the transport and positioning of the fixing tools, in particular the turntable, is structurally simplified.

The turntable can be distributed around the axis of rotation while basically only be equipped with two or three fixing tools, it preferably has distributed around the axis of rotation, however, at least four fixing tools. In a preferred embodiment, it has exactly four fixing tools, which can be arranged in particular relative to each other so that they form a rectangle about the axis of rotation of the turntable. Compared with an arrangement of, for example, three fixing tools, which would expediently be arranged forming a triangle with one another, the variety of workpieces that can be machined can be increased by arranging four fixing tools or optionally even more fixing tools. A particular advantage is that the four or possibly even more fixing tools create a larger free space in the interior, in which a corresponding number of internal processing robots can be arranged. It is particularly advantageous if four fixing tools which are elongate in the plan view of the turntable are arranged on or on the turntable in an at least substantially rectangular arrangement, ie with each other a rectangle, preferably a square.

The workpieces to be machined are preferably removed in each case in the processing position. In preferred embodiments, the machining position is assigned at least one removal robot, advantageously arranged on the periphery of the turntable. The picking robot picks up the machined workpiece, moves it through the room to a shelf and places it there. He is then ready for the removal of the next machined workpiece. This robot can be arranged stationary. Preferably, it is like the processing robot (s) an industrial robot with a robotic arm that is movable in space in all six degrees of freedom of movement.

For the serial processing of the same workpieces in the shortest possible time, it is advantageous if the removal robot not only removes and deposits the workpieces, but holds the workpieces each after loosening tensioners of the fixing tool for further processing by the at least one or more of the processing robot , The removal robot may keep the workpiece freely in space, for example, above the processing position for further processing, or may already move in the direction of the tray during further processing, with the processing robot or operators having to follow such a movement. It is also advantageous that, after removal from the workpiece, locations are accessible which were not or only with difficulty accessible on the workpiece received by the fixing tool. The removal robot thus offers the workpiece or the machining robot (s) the workpiece in a more accessible position. If necessary, he can not only lift the workpiece from the fixing and hold, but also rotate in order to improve the accessibility even further. If the machining process is preferably a joining process, for example a welding process, the workpiece held by the picking robot is advantageously continued to be joined more firmly, for example by welding.

The further processing in the removed state, ie the flying processing can be used to a considerable increase in the utilization of the turntable and thus shortening the cycle time of a series production by the turntable after removal of the workpiece, before or at least still during further processing again reversed, ie turned back and thereby the fixing tool is moved back into the loading position. While the processing robot or performs the further processing or perform, the next workpiece is placed in the already located in the loading position fixing tool and positioned relative thereto. Advantageously, the fixing tool again assumes the machining position with the next workpiece before or as soon as the machining robot or the machining position is or are free again, the further machining is therefore complete. The fixing tools include in preferred embodiments in each case at least one automatically operable tensioner, preferably a plurality of automatically operable tensioner, with which or which the workpiece is fixed relative to the fixing tool. Basically possible, but less preferred, the fixing tools could provide only for a loose fixation in the sense of a pure positioning and an external fixing, such as a fixing robot may be provided, which clamps the workpiece during the processing against the fixing tool. The removal robot could serve, for example, as a fixing robot. However, an external fixator would take up space and would generally be an obstacle to the machining robot (s).

In order to automatically actuate the one or more tensioners of the respective fixing tool which is in operation, which may in particular be one or more mechanical tensioners, preferably a media supply for the supply of this fixing tool with electrical energy or a pressurized fluid, preferably compressed air , intended. The word "or" is used here and elsewhere in the sense of the invention always in the general logical sense, so includes both the meaning of "either .... or" and that of "and", as far as the respective context does not exclusively can only give a limited meaning. The media supply can therefore ensure only electrical energy in a first variant, in a second variant only pressurized fluid and in a third variant both in combination. As an alternative to a media feed, it would also be conceivable, although less preferred, to operate the tensioner (s) by means of a gear mechanism which converts a rotary motion of the turntable into a closing or opening movement of the tensioner (s).

The fixing tools can each be permanently connected to a separate media supply, or at least the fixing tool used for the respective production can be connected to the operation of a media supply upon commencement of operation and the connection can be maintained during operation with this fixing tool. The media supply is in such embodiments a drag feed. However, less space than a drag feeder claims a media feeder with a rotary joint which connects the particular fixing tool used in the loading position and in the processing position with the media feeder, but between the two Separates positions from the media feeder. In such embodiments, the turntable one or preferably per fixing tool each having its own coupling connection and the media supply for the loading position and the processing position each having a counterpart coupling connection. The coupling connection of the fixing tool in operation connects automatically in the two positions with the respectively associated position of the associated coupling connection of the media supply, when the fixing tool is moved to the position in question. In such an embodiment, after insertion of the workpiece in the loading position, the tensioner or clamps are or are actuated for tensioning, ie closed, and opened after machining in the machining position in order to be able to remove the workpiece.

The media supply can be further simplified if the workpiece is not stretched in the loading position, but only in the processing position. If the media supply takes place by means of a rotary connection via coupling couplings that can be coupled and uncoupled, then a connection coupling of the media supply assigned to the loading position can be dispensed with. In such a preferred embodiment, the media feeder has a connection coupling only for the processing position. In the loading position, the workpiece is only inserted into the fixing tool and positioned, but not yet tensioned, but moved after positioning directly in the machining position. When the machining position is reached, the connection coupling of the fixing tool and the connection coupling of the media supply automatically engage, the clamps are actuated and the workpiece is thereby tensioned. After machining, the clamps are loosened and the media connection automatically released again before moving out of the machining position. An automatic docking and undocking only in the machining position is particularly possible if the workpiece is located with its weight on the fixing tool and the fixing tool is equipped with positioning that prevent slipping by positive engagement with the workpiece.

For rapid retrofitting of the device, it is advantageous if a loading robot assigned to the loading position or a removal robot assigned to the processing position, preferably both robots, are provided with an exchangeable gripping device is or is equipped. The interchangeable gripping device comprises a gripping tool for a workpiece of a first type and another gripping tool for a second type thereof differing from one another. By using one or more interchangeable gripping devices with at least two different gripping tools, which are fastened simultaneously to a robot arm, it is during a workpiece change it is no longer necessary to undock the gripping tool used in one production from the robotic arm and to dock the new gripping tool adapted for the new production, but only to change the orientation of the robotic arm to a base of the robot in question, to either one or the other Use gripping tool for use. A preferred interchangeable gripping device and a method for a rapid gripper tool change are disclosed, for example, in DE 10 2007 055 119.5, which is referred to in this regard. The same applies with regard to the machining tools of the machining robot (s), if a change should be required here.

In preferred embodiments, the workpiece consists of at least two, more preferably even more substructures which are still present as separate substructures after insertion. However, they are positioned by means of the adjusted fixing tool relative to each other according to location and orientation and stretched in the positioned state by means of adhesion to the fixing tool. As a workpiece, the entirety of the substructures is understood. The machining process can include a joining process; in particular, it can also be a pure joining process. Accordingly, the at least one or the plurality of processing robots, possibly also only one or more of the plurality of processing robots, are joining robots. As a joining process in particular welding comes into question. Alternatively or in combination with it, other joining processes can also be used, for example soldering or roll folding, but in principle the invention is advantageous in connection with any joining process, for example gluing, screwing or riveting, to name but a few examples. The machining process can also be designed differently, for example as a tensioning or grinding process. One or more different joining processes may or may also be combined with each other or with one or more other machining processes. In a basic version only a single processing position is provided on the turntable, so the device equipped with one or preferably more processing robots for this single processing position. In one embodiment, two processing positions are provided, the device thus equipped with at least one, preferably in each case a plurality of processing robots for each of the processing positions. For such a development and concomitantly increase the utilization of the device and the throughput of workpieces is particularly suitable a turntable with at least, preferably exactly four distributed around the axis of rotation of the turntable fixing tools. The fixing tools of the turntable can be set up in the expansion stage for processing workpieces of different types in the two processing positions, ie workpieces of a first type in one and workpieces of another type in the second processing position. However, the fixing tools that fix the workpiece in the machining positions can also be the same in order to be able to process identical workpieces simultaneously in both machining positions. It can in the expansion stage, but also in the basic version, all fixing tools differ from each other or two of the fixing tools, possibly even more of the fixing tools to be the same. However, the turntable is equipped with at least two different fixing tools. If two machining positions are formed on the turntable, the device comprises at least two internal machining robots, one for the one and the other for the other machining position. In yet another embodiment, the device comprises in the interior of the turntable for at least one of the processing positions, preferably for each of the processing positions, two or possibly even more internal processing robots.

Advantageous features are also described in the subclaims and their combinations.

Hereinafter, an embodiment of the invention will be explained with reference to figures. The features disclosed in the exemplary embodiment advantageously each individually and in each combination of features form the subject matter of the claims and also the embodiments described above. Show it: 1 shows a device for the machining of workpieces in a plan view; and

Figure 2 shows the device in a perspective view.

FIG. 1 shows a device for processing workpieces 8 in a plan view. The device comprises a turntable 1, which is rotatable about a vertical axis of rotation Z. On a frame of the turntable 1 are arranged around the axis of rotation Z evenly distributed more fixing tools, in the embodiment four fixing tools 2, 3, 4 and 5. The fixing tools 2 to 5 are relative to the frame of the turntable 1 stationary and therefore could be an integral part of the frame be. In the exemplary embodiment, however, each of the fixing tools 2 to 5 is detachable and thus replaceable, preferably individually replaceable, attached to the frame. The fixing tools 2 to 5 each have a carrier 6 and a plurality of positioning elements and tensioners 7 for positioning and clamping the workpieces 8. The tensioners 7 may in particular be mechanical tensioners which clamp the workpieces 8 with a force fit and thereby fix relative to the fixing tool 2, 3, 4 or 5. The carrier 6 may be plate-shaped as in the embodiment. They form a common platform for each set of positioning elements and tensioners 7 and have the connection technology for attachment to the frame of the turntable 1. They are arranged at the top of the turntable 1 in the circumferential direction close to one another to form a ring, so that as little space as possible is required radially to the axis of rotation Z.

The fixing tools 2 to 5 are arranged offset in the circumferential direction at an angular distance of 90 ° to each other. The carrier 6 are seen in plan view arranged in pairs at right angles to each other and thus form a rectangle about the rotation axis Z. The carriers 6 are elongated in the circumferential direction, ie in the circumferential direction with respect to the axis of rotation Z longer than in the radial direction. They are arranged close to each other, in the embodiment they collide. On the one hand to obtain the largest possible area per carrier, but on the other hand to keep the radial extent of the turntable as low as possible, the carrier 6 are beveled in the region of the rotation axis Z facing inner ends and there arranged on fermentation to each other. The device comprises a drive for a reversing rotary drive of the turntable 1. A motor of the drive can be arranged in particular in the area below the fixing tools 2 to 5. In a continuous series production in which successively always the same workpieces 8 are processed, the drive rotates the turntable 1 back and forth, so that one of the fixing tools 2 to 5, in the embodiment, the fixing tool 2, between a loading position L and a processing position W out and moved forth, is pivoted in the embodiment about the rotation axis Z back and forth. The turntable 1 is rotated for the movement of the fixing tool 2 from one of the two positions L and W in the other by an angle of the arrangement of the fixing tools 2 to 5 corresponding angle back and forth. The fixing tool 2 is loaded in the loading position L with the workpiece to be machined 8, moved with this workpiece 8 in the processing position W and after processing and removal of the workpiece 8 back to the loading position L and loaded there with the next workpiece 8. This process is constantly repeated in time with series production.

At the periphery of the turntable 1, a loading robot 9, a plurality of processing robot 11 and a removal robot 12 are arranged. The loading robot 9 is assigned to the loading position L and accordingly arranged so that it can insert the workpieces 8 into the fixing tool 2 when it occupies the loading position L. The workpieces 8 are each formed by a set of prefabricated substructures, which are joined in the processing position W to form a complete structure, the workpiece 8. The substructures are fed to the loading robot 9 relative to one another in the arrangement in which they are subsequently joined to the workpiece 8. The loading robot 9 carries at the end of its robot arm a gripping device, with which he engages the not yet joined, loose composite of the substructures as a whole and stores in the currently located in the loading position L fixing tool 2. When depositing the substructures are guided by the positioning of the fixing tool 2, so that they align in the last phase of depositing exact position on the positioning elements. The fixing tool 2 can be equipped with a sensor, by means of which it is automatically determined whether each of the substructures occupies the predetermined position according to location and orientation. Alternatively, such a sensor may also be arranged on the loading robot or externally on another location of the device. As soon as the workpiece 8, which is still present as a loose composite of the substructures, is positioned in the loading position L on the fixing tool 2, which is preferably detected by sensors, the turntable 1 executes a partial rotation, in the example a quarter turn, through which the fixing tool 2 enters the Processing position W arrives.

In the machining position W, the workpiece 8 is machined by joining the substructures into a solid overall structure. In order to reduce the time required for the processing, not only three peripheral processing robots 11 are assigned to the processing position W, but two internal processing robots 10 arranged in a central inner area of the turntable 1 near the rotation axis Z between the fixing tools 2 to 5 , The inner processing robot 10 and the peripheral processing robot 11 simultaneously act on the workpiece 8. In the exemplary embodiment, all processing robots 10 and 11 are joining robots. The joining process may in particular be a welding process.

The inner processing robot 10 are supported independently of the turntable 1 on the ground, so do not rotate with a rotational movement of the turntable 1 and the fixing tools 2 to 5. This relieves the pivot bearing and the rotary drive of the turntable 1. The clockwise reciprocating, reversing rotary motion can thereby be carried out more quickly than with a support on the turntable, since the support on the turntable 1 would increase its moment of inertia.

The workpieces 8 are not only positioned relative to each other for the machining process by means of the fixing tool 2, but also tensioned by means of the tensioner 7. The

Clamping can already be carried out in the loading position L or only in the processing position W. The energy required for clamping, for example electrical

Energy or a pressurized fluid is supplied to the fixing tool 2 via a media supply. If the media feeder is not designed as a tow cable connection permanently connected at least during production, but as

Rotary connection with one or more fixed coupling connections, has the

Fixing 2 or the turntable 1 for the fixing tool 2 as a counterpart also a coupling terminal which automatically docks to the media feeder when the fixing tool 2 reaches the processing position W. The media supply comes with a single coupling connection, which is assigned to the processing position W. In such an embodiment, the tensioners 7 are operated only in the processing position W, namely closed and locked for clamping and opened to release the workpiece 8. In an alternative embodiment, the media supply may additionally have a coupling connection for the loading position L, in order to clamp the workpiece 8 already in the loading position L, to lock in the tensioned state and to move in this state into the processing position W, in which the tensioners 7 after editing, only open.

After opening the tensioner 7 takes the removal robot 12, the released workpiece 8 from the fixing tool 2 and places it in a tray, for example, in a magazine or on a discharge conveyor. Once the fixing tool 2 is free of the workpiece 8, the turntable 1 rotates back, so that the fixing tool 2 is moved back to the loading position L and there with the next workpiece 8, d. H. the next loose composite of substructures.

In order to increase the utilization of the device and consequently reduce the cycle time, the machining process is subdivided into sub-processes. A first sub-process is performed on the clamped in the processing position W relative to the fixing tool 2 workpiece 8, a second sub-process only after the fixing tool 2 of the workpiece 8 is free again. The removal robot 12 lifts the workpiece 8 from the fixing tool 2 and holds it in space, while the same processing robot 10 and 11 carry out the second sub-process of machining. Since the workpiece 8 during the second

Partial process is free of the fixing tool 2 and in particular its tensioners 7, the processing robot 10 and 11 can now reach points that are not or only poorly accessible in the tensioned state. Optionally, the removal robot 12 may be adapted to guide the workpiece 8 in space prior to or during such downstream processing, if necessary to rotate, to make the respective locations even more accessible. During the second sub-process of machining, the fixing tool 2 can already be loaded with the next workpiece 8 in the loading position L. Is it? When machining by a joining process or the machining involves a joining process, the substructures of the workpiece 8 in the tensioned state are joined geometrically, for example by spot welding, and the already stable, stable workpiece 8 with respect to its geometry is subsequently finished or at least in the second partial process more firmly joined, for example, welded.

The robots 9 to 12 may in particular be conventional industrial robots, each having a stationary base and a robot arm protruding from the base with all six degrees of freedom of movement. The tools are fastened detachably in a known manner to the robot arms, in the case of the robots 9 and 12 each a gripping tool and in the case of the machining robots 10 and 11 each a machining tool, for example a welding tool. With regard to the space conditions, which are usually very cramped at the location of the device, the arrangement of processing robots 10 and 11 both on the periphery and in the interior of the turntable 1 is of great advantage since this requires the arrangement of small processing robots 10 and 11 with correspondingly small operating radius, but in large numbers allowed close to each other.

The fixing tools 2 to 5 are different as already mentioned. Each is adapted to receive, position and fix one type of other workpiece 8. In the embodiment, the workpiece 8 is a side part of a motor vehicle body consisting of the substructures A-, B- and C-pillar and roof frame and sill, which are joined by means of the device to a fixed side part. By means of the device 2 to 5 side parts of different vehicle models can be processed according to the number of fixing tools. With appropriately adapted fixing tools 2 to 5, other body parts can be edited, such as a front, a rear or a floor assembly. In principle, it is also conceivable to process complete bodies, but more preferably the device is set up for machining only parts of the body, since the processing of entire body shells requires a device of corresponding size.

In the case of a production change to a different workpiece 8, for example, a side part of another vehicle model or one of the other type Body part or from a left to a right side part of the same vehicle model has only adapted to the workpiece of the other type fixing 3, 4 or 5 instead of the fixing tool 2 in the loading position L and then in time with the respective next series production between the positions L and W. be moved back and forth. The drive of the turntable 1 is therefore not only for the required in a particular production reversing movement, but also for a rotation on the rotation angle of the reverse ierbewegung set up. The turntable 1 has the ability to reciprocate each of the fixing tools 2 to 5 by a simple rotational movement optionally in the loading position L and oscillating between this and the processing position W in the cycle of series production. For the production change 10 and 11 changes in the control are made in the processing robots, preferably this is done automatically by a control software. If necessary, the processing tools are changed. In the robots 9 and 12, the change of the respective gripping device is generally required. This can be done conventionally by undocking the previously used and docking a new gripping device. Alternatively, the robots 9 and 12 or at least one of these robots, in this case preferably the loading robot 9, may be equipped with an interchangeable gripping device which simultaneously integrates at least two different gripping devices in a gripping head attached to the end of the robotic arm. Preferred changeover devices and also changing devices of machining tools that can be used for the robots 10 and 11 are disclosed in particular in DE 10 2008 003 067.

In a variant, a further processing position can be formed, so that on the turntable 1 another workpiece 8 or a workpiece of another type, for example the other side part of the same vehicle type or, for example, a door or tailgate edited, preferably joined, can be. This further processing position is expediently formed opposite the working position W, in the position which occupies the fixing tool 4 in the figures. This further processing position may advantageously be associated with two further internal processing robots such as the processing robot 10 of the processing position W, these further internal processing robot 10 would work to the other side. Furthermore, the device can have one or more associated with this further processing position further peripheral processing robot 11, advantageously also its own loading robot 9 at the position that just occupies the fixing tool 5 in the figures, and optionally also another removal robot 12, which would expediently be the picking robot 12 diagonally opposite the axis of rotation Z arranged. In such a variant, the fixing tools 2 and 4 may be the same, for example, to process the same workpieces 8 and thereby increase the throughput. Accordingly, the fixing tools 3 and 5 may be the same and different from the fixing tools 2 and 4, in order nevertheless to be able to carry out a rapid model change without having to equip the turntable 1 with new fixing tools. Alternatively, however, the fixing tools 2 and 5 can also differ from one another in the expansion stage in order to simultaneously be able to machine workpieces of different types at the two machining positions.

Claims

Lawyer's file: 57 030 XI EDAG GmbH & Co. KGaAPatentansprüche

1. A device for machining workpieces, comprising a) a about an axis of rotation (Z) rotatable turntable (1) around the axis of rotation (Z) arranged fixing tools (2, 3, 4, 5), which is for receiving and fixing unequal workpieces (8) differ from each other and each of which by a rotational movement of the turntable (1) in a processing position (W) is movable, b) at least one inner processing robot (10), which is for the processing of a in the processing position (W) workpiece (8) in an inner region of the turntable (1) between the fixing tools (2, 3, 4, 5) is arranged, c) and a rotary drive for generating a reversing rotational movement of the turntable (1), in each case one of the fixing tools (2 , 3, 4, 5) between the processing position (W) and a loading position (L) for inserting the workpieces (8) is reciprocally movable.

2. Device according to the preceding claim, characterized in that in the inner region of the turntable (1) between the fixing tools (2, 3, 4, 5) at least one further internal processing robot (10) for processing the in the processing position (W). located workpiece (8) is arranged.

3. Device according to one of the preceding claims, characterized in that the at least one inner processing robot (10) or the at least two inner processing robot (10) of the preceding claim, regardless of the turntable (1) is supported or are, preferably on a floor, on which the turntable (1) is mounted, so that the one or more internal (s) machining robot (10) does not participate in rotational movements of the turntable (1).

4. Device according to one of the preceding claims, characterized in that the turntable (1) at least, preferably exactly four about the axis of rotation (Z) arranged fixing tools (2, 3, 4, 5), of which at least two for receiving and Fixing unequal workpieces (8) differ from each other and of which each one by the rotational movement of the turntable (1) in the

Revised position (W) is movable.

5. Device according to one of the preceding claims, characterized in that the fixing tools (2, 3, 4, 5) operable tensioner (7) for clamping the workpieces (8) and for the actuation of the tensioner (7) a media supply for electrical Energy or fluid is provided, and that the media supply by means of a drag connection or in the processing position (W) automatically connected and disconnected connection with the in the processing position (W) located fixing tool (2) is connected.

6. Device according to the preceding claim, characterized in that the media supply has a coupling connection for making and loosening the connection in each case for the loading position (L) and the processing position (W) or only for the processing position (W).

7. Device according to one of the preceding claims and at least one of the following features:

(i) the apparatus comprises a peripheral processing robot (11) suitable for the

Processing of the in the processing position (W) located workpiece (8) arranged radially outside of the turntable (1) and preferably only the

Associated with turntable (1); (ii) the device comprises a loading robot (9) for loading the workpieces

(8) in each case in the loading position (L) located fixing tool; (iii) the device comprises a removal robot (12) for removing the workpiece (8) machined in the processing position (W) and preferably also for depositing in a tray for the processed workpieces (8).

8. Device according to the preceding claim, characterized in that the device comprises the loading robot (9) or the removal robot (12), on the loading robot (9) or the removal robot (12) from each other different gripping devices, each for gripping workpieces ( 8) of a particular and each for gripping workpieces of a different kind, is or are attached and the

Loading robots (9) or removal robots (12) can or may randomly use any of the gripping devices to grasp without disengaging the others.

9. Device according to the preceding claim, characterized in that the removal robot (12) is provided and adapted to the machined workpiece

(12) from the located in the processing position fixing tool (2) and for further processing by means of the internal processing robot (10) or, in the case of multiple processing robot (10, 11), by means of at least one of the processing robot (10, 11) in To hold or guide space, preferably including a rotational movement of the workpiece (8).

10. Device according to one of the preceding claims, characterized in that the drive is adapted to turn the turntable (1) for a change in the type of workpieces (8) by a larger angle than in reversing operation for mutually identical workpieces (8 ), so that optionally each of the fixing tools (2, 3,

4, 5) in the loading position (L) and reversibly between this and the processing position (W) is reciprocally movable.

11. Device according to one of the preceding claims and at least one of the following features:

(I) the workpieces (8) consist of several substructures, which are joined in the processing position, and the fixing tools (2, 3, 4, 5) have tensioner (7), by means of which the substructures of each workpiece (8) relative can be clamped positionally accurate to each other; (ii) the fixing tools (2, 3, 4, 5) each have a support (6) and on the

Carrier (6) arranged tensioner (7) on; (Iii) the fixing tools (2, 3, 4, 5) on the turntable (1) fixed, preferably interchangeable, arranged.

12. Device according to one of the preceding claims, characterized in that the fixing tools (2, 3, 4, 5) each positioning structures for positioning and

Spanner (7) for clamping the positioned, preferably each of substructures assembled workpieces (8) and that the device, preferably at least in the processing position (W) located fixing tool (2, 3, 4, 5) or the loading robot (9) , Is provided with a sensor, by means of which it can be determined whether the recorded workpiece (8) is positioned correctly relative to the used fixing tool (2).

13. Device according to one of the preceding claims, characterized in that the at least one, the plurality or a part of the plurality of processing robot (10, 11) joining robot, for example Rollfalz-, gluing, screwing, riveting, soldering or preferably welding robot is or are and the device for joining groups of prefabricated substructures to each one of the workpieces (8), preferably used in each case to a body part of a motor vehicle.

14. Device according to one of the preceding claims in combination with claim 4, further comprising at least one further internal processing robot, for the processing of a workpiece located in a further processing position in the inner region of the turntable (1) between the fixing tools (2, 3, 4 , 5), wherein the machining positions are offset in the circumferential direction about the axis of rotation (Z) of the turntable by at least substantially 180 ° to each other, and preferably comprising a peripheral machining robot, which is radially outside of the workpiece for processing in the further processing position Turntable is arranged.

15. A method for joining substructures to assembled vehicle parts in a series production, in which a) substructures in a loading position (L) engaging fixing tool (2) of a turntable (1) are inserted in a predetermined by the fixing tool (2) arrangement, b) the fixing tool (2) solely by a rotary movement of the turntable (1) in moves a machining position (W), c) the substructures in the machining position (W) by means of at least one machining robot (10, 11) in the predetermined arrangement to a composite body part (8) geometrically stably joined, d) the joined body part (8) of the E) the fixing tool (2) after removal of the body part (8) alone by a reverse rotation of the turntable (1) in the loading position (L) is moved back f) and the steps a) to e) with repeatedly same substructures are repeated in series.

16. The method according to any one of the preceding claims, wherein the fixing tool (2) spans the substructures already in the loading position (L) or preferably only in the processing position (W) relative to each other in the predetermined arrangement, wherein the substructures up to the clamping on the fixing tool (2) lying relative to each other only in the predetermined arrangement are positioned.

17. The method according to any one of the preceding claims, wherein the geometry stably joined vehicle part (8) from a removal robot (12) taken from the fixing tool (2), - further processed during or after the removal from the fixing tool (2), preferably of the or the processing robots (s) (10, 11) tighter, and while held by the removal robot (12), for the others

Machining is preferably rotated in space, and after further processing is stored, - and in which the vehicle part (8) free fixing tool (2) during further processing of the vehicle part (8) in the loading position (L) is moved back the next substructures are inserted, the fixing tool (2) is moved to the next substructures in the processing position (W) and the at least one or more processing robots (10, 11) preferably already add the next substructures before the removal robot

(12) the previous vehicle part (8) has filed.

18. The method according to any one of the preceding claims and at least one of the following features: (i) the at least one processing robot (10) is in a free, with respect to a

Rotary axis (Z) of the turntable (1) central inner region of the turntable (1) arranged; (ii) the substructures are additionally joined in the machining position (W) by at least one peripheral machining robot (11) arranged radially outward of the fixing tool (2) located in the machining position (W).

19. The method according to any one of the preceding claims, wherein distributed about a rotational axis (Z) of the turntable (1) a plurality of fixing tools (2, 3, 4, 5) are arranged, which are different for joining different body parts (8), and wherein the fixing tool (2) for a change of the type of body parts (8) by a rotary or reverse rotation of the turntable (1) on the processing or loading position (W, L) also in a rest position (R) and by the rotation - Or reverse rotation instead another of the fixing tools (2, 3, 4, 5) in the loading position (L) is moved.