EP3071372A1 - Dispositif de travail et procédé de travail - Google Patents

Dispositif de travail et procédé de travail

Info

Publication number
EP3071372A1
EP3071372A1 EP14815588.0A EP14815588A EP3071372A1 EP 3071372 A1 EP3071372 A1 EP 3071372A1 EP 14815588 A EP14815588 A EP 14815588A EP 3071372 A1 EP3071372 A1 EP 3071372A1
Authority
EP
European Patent Office
Prior art keywords
industrial robot
working device
robot
conveyor
working
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Withdrawn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
EP14815588.0A
Other languages
German (de)
English (en)
Inventor
Thomas Sturm
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 Systems 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 Systems GmbH filed Critical KUKA Systems GmbH
Publication of EP3071372A1 publication Critical patent/EP3071372A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1055—Programme-controlled manipulators characterised by positioning means for manipulator elements by gravity

Definitions

  • the invention relates to a working device and a working method with the features in the preamble of the method and device main claim.
  • multi-membered and multi-axis industrial robots which are arranged to increase the robot working area on a conveyor in the form of an additional axis, in particular a floor-bound driving axis, movable.
  • the driving axle has its own
  • controllable drive connected to the robot controller and there as an additional robot axis
  • a slight inclination of the web is sufficient, e.g. 1 ° - 2 ° to the horizontal.
  • the path inclination can be changed with an adjusting device, which also causes only a small construction and cost.
  • Adjustment of the web inclination is possible in one or more axes.
  • a tilt adjustment can be made about a horizontal spatial axis lying transversely to the web direction.
  • the said web gradient can be adjusted as needed and changed if necessary.
  • a change in inclination can be made by pivoting the guideway and / or the trolley about the web longitudinal axis.
  • the carriage may also have an additional axle, e.g. a boom, on which the industrial robot is additionally movably mounted relative to the carriage.
  • Industrial robots can be stationary or mobile. She can be used in particular for handling and joining tasks in and on large-volume workpieces, such as bodies of buses, railway cars, aircraft fuselages or the like.
  • the working device has the additional advantage that they only a small installation and
  • the multi-unit industrial robot can be designed in any suitable manner. Preferably, it is a lightweight small robot weighing less than 100 kg, preferably about 50 kg.
  • the industrial robot may have position-controlled axes. Preferably, it is a tactile robot with stress-absorbing sensors.
  • the tactile industrial robot can have one or more force-controlled or force-controlled robot axes
  • the tactile industrial robot can thereby be switched into various operating modes, wherein it can be used e.g. is switched to a spring mode when unexpected resistances occur. He can also be switched powerless in such a case. Further, a damping mode is possible in which the tactile robot itself is used as a braking and damping device for the carriage movement.
  • the industrial robot may be provided with an accompanying protective device. This can be in contact with people or other unexpected obstacles the car and
  • the tactile robot can be manually guided with its tool, especially with its Tool Center Point (TCP) if required. This can be used for simple and quick teaching of the robot program, in particular the train or exercise program.
  • TCP Tool Center Point
  • Figure 1 and 2 a working device with a
  • FIG. 1 an illustration of the working device of
  • Figures 18 and 19 a carriage with a
  • Figures 20 and 21 a variant of the braking device in
  • Figure 24 another variant in the arrangement and design of the gravity conveyor and the industrial robot.
  • the invention relates to a working device (1) with an industrial robot (7) and a conveyor (3). It also concerns a working procedure
  • Figure 1 to 3 show a first variant of
  • the conveyor (3) is designed as a gravity conveyor, which has a downwardly tiltable conveyor track (6) on which the industrial robot (7) is arranged to be movable and through
  • Conveyor track (6) has a linear design and a finite length in the embodiment shown. This can be several meters, e.g. 3 to 10 meters or more. In another and not shown embodiment, the conveyor track (6) may have a curved shape and also an open or closed ring or circular shape.
  • the conveyor track (6) is arranged on or on a frame (4) which is preferably frame-like and has, for example, a base plate and end-side upstanding supports on or on which the conveyor track (6) is held.
  • the frame (4) and the working device (1) may be stationary or mobile.
  • the frame (4) an aid (5), eg forklift pockets, for transport and possibly for a fixation at the operating position have.
  • the industrial robot (7) has a plurality of links (8, 9, 10) and can carry a tool (11) on its output member (10).
  • the industrial robot (7) can have several
  • Robot arm (9) to be mounted pivotably about a horizontal axis, which in turn at the free end of the
  • pivotable output member (10) carries, which, e.g. can be designed as a multi-axis robot hand. Said pedestal may also rotate about an upright axle relative to the ground.
  • the industrial robot (7) can execute any desired processes with the tool (11).
  • the tool (11) is designed as a gripping tool, with the assembly, handling and joining processes can be performed.
  • any other processes e.g.
  • the process can during the driving movement or at standstill of the industrial robot (7) at a possibly predetermined
  • the working device (1) can be arranged in a large-scale workpiece (2).
  • This can e.g. the interior of a vehicle body of a bus, a railway car or a
  • the industrial robot (7) can perform one or more processes. In the embodiment shown is on
  • the gravity conveyor (3) can one or more
  • the adjusting device (s) (19,20) may have any structural design.
  • an adjusting device (19) for the adjustment of height and inclination of the conveyor track (6) is present.
  • the adjusting device (19) has one or more own actuators (21) on
  • FIG. 3 shows the opposite inclination for a travel movement (31) in FIG
  • the actuators (21) can also each one
  • the actuators (21) are designed, for example, as linear drives. These can be lifting cylinders, Spindle or rack drives or the like. be.
  • the adjusting device (19) for the axial path inclination can be controlled by the industrial robot (7) or by its control (29).
  • An inclination of the conveyor track (6) can be used for transport and generated for a displacement movement of the industrial robot (7). If the
  • the controller (29) can be arranged on the industrial robot (7) and in particular be integrated there. It can alternatively be arranged externally.
  • resource feeder which can be used to supply any resources, e.g. electrical power and signal currents, compressed air,
  • Coolant or the like Of a stationary and
  • Industrial robot (7) is used.
  • Fig. 1 e.g. a flexible cable drag shown.
  • the industrial robot (7) is arranged on a carriage (14), which is mounted in a suitable manner on the conveyor track (6) movable and guided in the web direction.
  • a carriage 14
  • the conveyor track (6) movable and guided in the web direction.
  • Low-friction rolling or rolling bearings are used.
  • a plurality of rolling elements (16) are provided, which are arranged in the embodiments of the trolley (14). They are with the conveyor track (6) in leading
  • Intervention which is designed for example as a rail assembly. It may have four parallel and distributed in the cross section in the rectangle distributed round rails on or on which the rolling elements or wheels (16) engage positively with preferably grooved treads. About the Rolling body (16), a tilt-safe storage and management of the carriage (14) can be achieved, which can thereby move only in the web longitudinal direction.
  • the embodiments shown the
  • Embodiment moreover, several industrial robots (7) may be arranged together on or on a trolley (14). Furthermore, several carriages (14) may be arranged on a conveyor track (6). According to FIG. 1, one or more magazines (39) for components or other process aids or also for exchangeable tools (11) can also be arranged on a carriage (14). In addition, a sliding bearing of the trolley (14) on the conveyor track (6) is possible.
  • the gravity conveyor (3) and / or industrial robot (7) have a positioning device (17) for the trolley (14), which allows positioning and optionally also a fixation at a desired working position (13).
  • a positioning device (17) for the trolley (14) which allows positioning and optionally also a fixation at a desired working position (13).
  • Positioning device (17) designed as a mechanical end stop at the end of the conveyor track (6).
  • the latter can e.g. a positive stakeout
  • Figures 4 to 6 show a variant of the conveyor or the gravity conveyor (3) and the adjusting device (19).
  • the adjusting device (19) can be actuated by the industrial robot (7), which is supported for this purpose in a suitable manner on the conveyor track (6).
  • Supporting bearings (23) for the conveyor track (6) are e.g. each arranged on an angled support arm, which on the upright support of the frame (4) by means of a
  • vertical guide (22) is mounted vertically adjustable and is actuated by a locking wedge.
  • Tragarmende is a roll arranged on the
  • Actuator is in this case a by the industrial robot (7) generated or actuated drive, a along the conveyor track (6) back and forth movable control rod
  • FIGs 7 to 12 show further arrangement variants of the working device (1) in folded side and
  • FIGS. 9 and 10 show in FIGS.
  • Actuator (19) holds the conveyor track (6) in a suspended position.
  • the industrial robot (7) is arranged suspended at the bottom of the trolley (14).
  • the industrial robot (7) is arranged laterally on the carriage (14) and on one thereof
  • the base of the industrial robot (7) thus has a horizontal orientation and can possibly also rotate about a horizontal axis.
  • Figures 16 and 17 show a further kinematic variant of the working device (1) with a multi-axis
  • Gravity conveyor (3) The industrial robot (7) is again arranged on a trolley (14), but this via an additional axis (15) with the
  • the additional axis (15) may e.g. from a cross to
  • Conveyor track (6) aligned track piece are formed, which is mounted by means of a pivot bearing (23) on another trolley, which is mounted and guided on the conveyor track (6).
  • a pivot bearing (23) on another trolley, which is mounted and guided on the conveyor track (6).
  • the Industrial robot (7) thus two different positioning and movement axes, which preferably intersect each other at right angles.
  • the trolley (14) can be designed as a cross slide for such a multi-axis mobility.
  • Industrial robot (7) have a carried protective device (12). This is for example attached to the carriage (14) and may be formed in different ways. It may, for example, the cage shape shown in the drawings have and surrounded the industrial robot (7) on at least three sides by far and prevent access or access of people in the work area of the industrial robot (7) within the cage. On the or the
  • Working positions (13) may be a supplementary
  • FIG. 15 shows this arrangement in plan view.
  • Guard be formed, which optionally also includes its own relative mobility and a sensor.
  • the sensor system can respond by means of an ironing deflection and trigger an emergency stop of the trolley (14) or another suitable protective measure.
  • Figures 18 to 23 show different variants of
  • eingangser mecanical device (24) in folded side and end views.
  • eingangser mecanical device (24) in folded side and end views.
  • the trolley (14) may e.g. be formed as a folded and in cross-section U-shaped sheet metal housing, which the conveyor track (6) or
  • the braking device (24) can in the various ways
  • Variants are operated by the industrial robot (7) and / or by another external actuator. in the embodiment of Figures 18 and 19, the
  • Braking device on a spring-loaded brake body (25) against the conveyor track (6) with a braking surface can be employed and braking by frictional contact acts.
  • the brake body (25) can, for example, have the form of a brake tappet with a vertical direction of movement.
  • the braking device (24) has a
  • this actuator (27) is designed as a wedge adjustment and has e.g. along the conveyor track (6) aligned rod-like
  • the spring-loaded brake body (25) is relieved and the brake device (24) is opened. If the control rod is displaced by external action, this leads to a release of the
  • control rod can by striking the driving movement on an external
  • Obstacle or by the industrial robot (7) to be adjusted and moved. The return to the
  • Initial position can also be effected by the industrial robot (7) or by another restoring element.
  • the brake body (25) or brake tappet is actuated by an actuating device (27) with a brake lever and raised for brake release.
  • the pivoting lever may be actuated by the industrial robot (7), e.g. the output member (10) or optionally the attached tool (17) is pressed onto the free pivot lever end and the brake body (25) is raised to vent.
  • the braking device (24) can be used to brake or dampen the travel movement (24) or the travel speed during the robot movement be used. The braking effect is then limited and still allows a driving movement.
  • the braking device (24) can lock and fix the trolley (14) and the industrial robot (7) in a desired position along the conveyor track (6),
  • Braking device (24) comprises an electric brake (26), which preferably acts on at least one rolling body (16).
  • the electric brake (26) may e.g. be designed as a regenerative brake, which is activated by the kinetic energy of the moving carriage (14) and the industrial robot (7). The braking effect can be dependent on the driving speed and increase with this.
  • the regenerative brake (26) can be a starting device for a
  • the brake (26) has e.g. one with the
  • variable electric power pickup e.g. is controlled or regulated by the controller (29).
  • the braking effect can possibly also in
  • the electric brake or regenerative brake (26) can also be activated and deactivated by means of a coupling device (28), possibly against
  • FIG. 23 shows these
  • the coupling device (28) as a slide is formed and the industrial robot (7) with its output member (10) or with the local tool (11) is actuated.
  • the coupling device (28) is in this case a type of actuating device (27).
  • a release of the braking device (24) can in the
  • the braking device (24) can then be operated again to control the driving speed and in particular to keep substantially constant.
  • a separate fixing means may be provided for locking or fixing in the desired rest position or working position (13). This can e.g. the aforementioned mechanical stakeout or the like. be.
  • the industrial robot (7) can be a multi-axis or multi-unit robot in conventional design
  • Such an industrial robot (7) may require special protective measures to possibly.
  • This can e.g. be the aforementioned protective device (12).
  • the industrial robot (7) is more tactile
  • the integrated sensor (32) is indicated in Figure 1 by an arrow. You can eg a
  • the tactile industrial robot (7) can have one or more force-controlled or force-controlled robot axes. This allows a controllable or controllable response to externally applied loads.
  • the tactile industrial robot (7) has at least one resilient robot axis with a
  • Compliance control This can e.g. a clean
  • Force control or a combination of a position and force control is particularly advantageous in combination with integrated sensors, e.g. one or more forces and / or moments receiving sensors are arranged on the robot axes or the axle bearings there. Furthermore, wegaufnemde sensors may be present.
  • a tactile industrial robot (7) can be switched to different operating modes. This allows
  • the tactile industrial robot (7) may be e.g. be switched into a spring mode, in which he evades the external load resiliently until the load disappears.
  • the industrial robot (7) can also be manually guided and taught by e.g. on its output element (10) or on the tool (11)
  • a tactile industrial robot (7) can with such
  • Training can also be used as a damping or braking means and be switched to a corresponding mode.
  • the industrial robot (7) with a corresponding contact element, e.g. with the tool (11), when approaching a desired position, in particular a working position (13), against a in the
  • Neighboring mechanical stop are pressed and then to decelerate or damp the
  • a tactile industrial robot (7) of the type described above is in particular in an implementation of
  • compliant robot axes for a human-robot cooperation or collaboration (abbreviated MRK) suitable. He can stand with a person in an unfamiliar or unexpected in the program flow contact with a person, dodging or possibly even move actively in another operating mode backwards, thereby avoiding injury or at least reduce.
  • MRK human-robot cooperation or collaboration
  • Such a tactile robot may e.g. according to the DE
  • the industrial robot (7) preferably has a relatively low weight of less than 100 kg, especially 50 kg or less. He also has a correspondingly limited load capacity.
  • the industrial robot (7) can be designed as a small robot. Preference is also training as a lightweight robot, the particular
  • Figure 24 illustrates a further variant of
  • the adjusting device (19,20) in this case has a
  • Handling robot (33) which acts in a suitable manner on the conveyor track (6) and a change in the
  • Track inclination in one or more spatial axes allows. This can be a height adjustment and a change in the inclination of the railway or the rail gradient around a transversely to
  • the handling robot (33) can cause a rotation and a change in the path inclination about the longitudinal axis of the conveyor track (6).
  • This handling robot (33) can be present several times.
  • the handling robots (33) can cooperate and can be connected to the controller (29). They can be controlled by the industrial robot (7) as in the aforementioned variants.
  • the handling robot (33) can have several links. He can at his output member a tool, e.g. a gripping tool.
  • the handling robot (33) can have multiple rotational and / or translational axes in any combination and design. In the illustrated embodiment, it is as Gelenkarmroboter
  • the handling robot (33) can be used as a position-controlled robot or as a tactile robot of the type described above
  • a handling robot (33) can be arranged only at one end of the track, the other end of the track being pivotably mounted on a stationary support. In a further modification, more than two handling robots (33) may be present. Furthermore, a

Abstract

L'invention concerne un dispositif de travail (1) présentant un robot industriel (7) à plusieurs éléments (8,9,10), qui est disposé de manière à pouvoir être déplacé au moyen d'un dispositif de transport (3) réalisé en tant que transporteur par gravité. Le transporteur par gravité présente une trajectoire de transport inclinée vers le bas (6) sur laquelle le robot industriel (7) est disposé de manière à pouvoir être déplacé par son propre poids. L'inclinaison de la trajectoire peut être réglée au moyen d'un dispositif de réglage (19,20) selon un ou plusieurs un axes spatiaux.
EP14815588.0A 2013-11-18 2014-11-18 Dispositif de travail et procédé de travail Withdrawn EP3071372A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202013105203.5U DE202013105203U1 (de) 2013-11-18 2013-11-18 Arbeitsvorrichtung
PCT/EP2014/074860 WO2015071483A1 (fr) 2013-11-18 2014-11-18 Dispositif de travail et procédé de travail

Publications (1)

Publication Number Publication Date
EP3071372A1 true EP3071372A1 (fr) 2016-09-28

Family

ID=52134111

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14815588.0A Withdrawn EP3071372A1 (fr) 2013-11-18 2014-11-18 Dispositif de travail et procédé de travail

Country Status (3)

Country Link
EP (1) EP3071372A1 (fr)
DE (1) DE202013105203U1 (fr)
WO (1) WO2015071483A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108296680A (zh) * 2018-03-12 2018-07-20 奇瑞汽车股份有限公司 一种零部件往复传送平台
CN113060812B (zh) * 2021-04-04 2023-01-06 安徽天成新材料有限公司 一种化工厂生产加工排送的热废水环保处理装置
US20220331946A1 (en) * 2021-04-16 2022-10-20 Dexterity, Inc. Repositionable robot riser

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AT381056B (de) * 1981-08-25 1986-08-25 Igm Ind Geraete Maschf Gmbh Schweissautomat
DE3437836A1 (de) 1984-10-16 1986-04-17 August Läpple GmbH & Co, 7100 Heilbronn Handhabungsgeraet
SE464395B (sv) 1987-09-21 1991-04-22 Volvo Ab Hanteringsutrustning
DE19918272A1 (de) * 1999-04-22 2000-10-26 Abb Patent Gmbh Verfahren und Einrichtung zum Bewegen eines Industrieroboters entlang einer Fahrachse
DE102007005029B4 (de) * 2007-02-01 2010-09-02 Christian Beer Roboter auf einem selbstfahrenden Werkstückträger
DE102007014023A1 (de) 2007-03-23 2008-09-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter-Manipulatorarm-Gelenkantrieb
DE102007028758B4 (de) 2007-06-22 2009-04-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Roboter-Manipulator-Gelenkantrieb
DE102007063099A1 (de) 2007-12-28 2009-07-02 Kuka Roboter Gmbh Roboter und Verfahren zum Überwachen der Momente an einem solchen
DE202012100646U1 (de) 2012-02-27 2013-06-04 Kuka Systems Gmbh Roboteranordnung
CN103085056A (zh) * 2013-01-28 2013-05-08 河南理工大学 煤矿井下灾害信息探测机器人平台

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Also Published As

Publication number Publication date
DE202013105203U1 (de) 2015-02-19
WO2015071483A1 (fr) 2015-05-21

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