Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/16—Programme controls
  • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
  • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
  • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
  • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
  • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
  • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
  • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
  • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
  • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
  • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
  • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
  • B05B13/0292—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work devices for holding several workpieces to be sprayed in a spaced relationship, e.g. vehicle doors spacers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J11/00—Manipulators not otherwise provided for
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J11/00—Manipulators not otherwise provided for
  • B25J11/0075—Manipulators for painting or coating
• • 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
  • B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/02—Sensing devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/02—Sensing devices
  • B25J19/026—Acoustical sensing devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/02—Sensing devices
  • B25J19/027—Electromagnetic sensing devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
  • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
  • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
  • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
  • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
  • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
  • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies

Definitions

• the invention relates to a handling device for opening a flap of a component to be coated, in particular for opening a door or a hood of a Kraft mecanicka- rosseriebauteils in a paint shop. Furthermore, the invention comprises a corresponding handling method.
• handling robots are usually used, which are also referred to as a door opener or hood opener. These handling robots usually engage with a pin into engagement with the door or bonnet to be opened and then open or close the door (door or hood).
• the engagement for the pin of the handling robot is usually formed by the window gap in which the side window is displaceable in the fully assembled state.
• the problem with such handling robots is the exact positioning of the pin of the handling robot in the engagement.
• the known geometry data of the vehicle body to be painted enable in conjunction with the position of the vehicle body on the conveyor only a coarse positioning of the pin of the handling robot relative to the engagement on the openable door (door or hood).
• a handling robot which has a proximity sensor for facilitating the positioning of the handling robot relative to the door of a vehicle body to be opened.
• the proximity sensor projects from the robot arm of the handling robot and, during operation, detects the inside of the door to be opened in a motor vehicle body.
• the handling robot has to drive through the door opening for the side window into the interior of the motor vehicle body. Then, the robot arm can then be lowered, whereupon the robot arm is then pulled slowly outwards again until the proximity sensor detects the inside of the door. At this time, a precise relative positioning between the pen of the handling robot on the one hand and the door to be opened on the other hand then known.
• the handle lo ⁇ advertising robot can lift the pen then easily moved sideways and then insert it into the window gap to then open the door.
• a disadvantage of this known handling robot is the relatively complicated positioning of the handling robot relative to the engagement on the door to be opened, since the handling robot first has to drive into the interior of the motor vehicle body.
• the invention is therefore based on the object to provide a correspondingly improved handling device and a corresponding method.
• the invention includes the general technical teaching to measure the distance to the outside of the door to be opened for positioning a handling robot relative to an openable door (e.g., door of an automobile body).
• the invention differs from the prior art described at the outset according to JP 7-232110, which provides for detection of the inside of the door to be opened.
• the positioning of the handling device according to the invention relative to the flap to be opened is thus considerably simpler, since it is not necessary to first drive the opening gripper (for example a pin) into the interior of the motor vehicle body.
• the invention also differs from the above-described prior art according to EP 1 824 646 B1, which provides that the sensor selectively detects the window gap, d. H. the engagement for the gripper of the handling robot.
• the invention provides a handling robot to open the Open flap (eg door, hood or trunk lid of a motor vehicle body) and close.
• Open flap eg door, hood or trunk lid of a motor vehicle body
• the handling robot is preferably a freely programmable, multi-axis robot with serial kinematics.
• a so-called scara robot can be used for this purpose.
• the handling robot is a conventional articulated-arm robot.
• the handling robot guides a gripper (e.g., pin) to engage an engagement (e.g., window gap of a door) on the door to be opened so that the handling robot can open the door with the gripper.
• the gripper is in this case adapted to the geometry of the openable flap, so that the gripper can engage in the engagement on the flap to be opened.
• the gripper is preferably a pin-shaped, so that the gripper can engage in the window gap of the door.
• the handling device comprises a sensor for non-contact detection of the position of the gripper relative to the flap in order to be able to position the gripper relative to the engagement on the flap.
• the invention is characterized in that the sensor measures the distance to the outside of the door to be opened. This is advantageous because the handling robot can then place the gripper coming from the outside in the engagement, without it being necessary for the sensor to first be driven into the interior of the motor vehicle body.
• the sensor is mounted on or in the robot arm.
• Characterized un ⁇ the invention of the initially described prior art differs according to EP 1824646 Bl, in which the sensor is integrated in the gripper.
• the structural separation of the sensor from the gripper is advantageous because the gripper can break off in a mechanical overload and then has to be replaced.
• the gripper can be designed as a simple component, so that an exchange of the gripper is inexpensive.
• the structural integration of the sensor in the robot arm is advantageous because the sensor is less susceptible to contamination.
• the structural integration of the sensor in the robot arm is also advantageous because the outer contour of the handling robot is not increased thereby, so that the risk of collision does not increase.
• the senor has a measuring range which protrudes obliquely forwards from the robot arm. This offers the advantage that when the gripper approaches the door to be opened, the measuring range of the sensor always has “in view” the outside of the door to be opened.
• the measuring range of the sensor may project straight (horizontally) forward. This is particularly useful when the sensor is mounted on the robot base.
• the gripper preferably stands transversely downwards from the robot arm in the handling device according to the invention, to be able to intervene in the engagement on the openable flap.
• the gripper can in this case be connected to the robot arm via a robot hand axis known per se. Alternatively, however, there is also the possibility that the handling robot has no robot hand axis, so that the gripper is then mounted directly on the distal robot arm.
• the senor determines the distance to the outside of the openable flap (for example door, bonnet,
• Boot lid of a motor vehicle body preferably as a quantitative size measures.
• the invention differs from the prior art described in JP 7-232110, in which the sensor only detects an approach to the inside of the door to be opened and then outputs a qualitative signal at a certain distance.
• the quantitative measurement of the distance to the outside of the flap to be opened allows a continuous position regulation when approaching the outside of the flap to be opened, ie. H. with a feedback of the measured distance to the outside of the openable flap.
• the gripper preferably has a predetermined breaking point, so that the gripper breaks off in a mechanical overload.
• the mechanical loading capacity of the predetermined breaking point is preferably designed such that the gripper breaks off before the mechanical load capacity of the flap to be opened and / or of the handling robot is exceeded.
• the gripper may be made of plastic. This is advantageous because the physical contact between the Gripper and the openable door then does not lead to scratch marks on the openable flap.
• the senor is preferably connected to a sensor line which extends at least over part of its length in the interior of the robot arm. This is advantageous because the sensor line is then protected and does not increase the outer contour of the handling robot.
• the flap to be opened can be a door of a motor vehicle body.
• the engagement for the gripper of the handling robot is usually formed by a window gap in the door.
• the engagement on the openable flap is an aid detachably attached to the flap.
• an aid can be attached to an openable boot lid or bonnet so that the gripper can grasp the boot lid or bonnet.
• the intervention is therefore not necessarily an integral part of the valve to be opened in the context of the invention, but may also be releasably connected to the flap to be opened.
• the possibility that the engagement is a license plate recess an opening for a headlight or the like.
• the sensor is preferably a distance sensor, for example an ultrasound sensor or an inductive sensor.
• a radar sensor can also be used within the scope of the invention.
• the sensor preferably recognizes materials made of steel or aluminum. In this case, at least when approaching less than 100 mm (eg, depending on the sensor and location of the sensor in the range of less than 50 to 500 mm), a signal should be recognizable.
• the invention not only claims protection for the handling device according to the invention described above.
• the invention also claims protection for a complete coating installation with at least one such handling device.
• this may be a paint shop for painting motor vehicle body components.
• the handling robot preferably also allows a collision check so that, for example, a collision of the handling robot with a component (eg motor vehicle body component) or with the cabin walls of a paint booth is detected.
• a collision check for example, the torque acting on the Z-axis (vertical axis) of the handling robot.
• this torque increases abruptly when the handling robot rotates about its Z-axis (vertical axis) and then with a limitation (eg
• the invention also encompasses a corresponding handling method, which already results from the above description, so that a separate description of the handling method can be dispensed with.
• the coarse positioning of the gripper relative to the flap to be opened can take place exclusively on the basis of the known geometry data of the motor vehicle body component and the predetermined position of the motor vehicle body component. In this coarse positioning namely the relatively rough tolerances in terms of geometry data and the position of the vehicle body are not disturbing.
• the fine positioning of the gripper relative to the engagement on the flap to be opened taking into account the sensor data.
• the gripper is deflected in a normal handling process due to the mechanical stress occurring, where ⁇ in the deflection is within a certain angle range.
• a limitation eg component, cabin wall
• a mechanical load acts on the gripper, which leads to a corresponding deflection of the gripper.
• the deflection of the gripper in a collision is greater than in a normal handling operation.
• the gripper is not deflected at all. This makes it possible to distinguish between the following three operating states as a function of the deflection of the gripper:
• the deflection (deformation) of the gripper can be determined for example by strain gauges, which are known per se from the prior art and therefore need not be described in detail.
• FIGS. Show it : 1A shows a cross-sectional view through a motor vehicle door when approaching the handling robot to open the door, Figure 1B shows a modification of Figure 1A, wherein a Grei ⁇ fer the handling robot is already above the window gap of the door to be opened,
• Figure IC is a modification of Figures 1A and 1B, wherein the
• FIG. 1D shows a modification of FIGS. 1A-1C, wherein the sensor is arranged on the robot base
• FIG. 2 shows the handling method according to the invention in the form of a flowchart
• FIG. 4 shows the opening process of a motor vehicle door with a parts inspection
• FIG. 5A shows the opening process of a hood of a motor vehicle body as a flowchart
• FIG. 4 shows the opening process of a motor vehicle door with a parts inspection
• FIG. 5A shows the opening process of a hood of a motor vehicle body as a flowchart
• FIG. 5A shows the opening process of a hood of a motor vehicle body as a flowchart
• Figure 5B is a perspective view of a hood of a
• FIG. 1A-1B show various operating states of a handling device according to the invention for opening a door 1 of a motor vehicle body, so that a not dargestell- ter painting robot can paint the interior of the vehicle body and the inside of the door 1.
• the handling device has a multi-axis handling robot 2 which, with its robot base 3, can optionally be stationary or can be displaceably arranged along the conveying direction of the motor vehicle bodies.
• a robot member 4 is arranged, wherein the robot member 4 relative to the robot base 3 about a vertical .
• Rotary axis is rotatable.
• a robot arm 5 is rotatably disposed, and the robot arm 5 is rotatable relative to the robot member 4 about a horizontal rotation axis. In the drawings, this axis of rotation is oriented at right angles to the plane of the drawing.
• a gripper 6 is mounted, which projects transversely from the robot arm 5 so that the gripper 6 can be inserted into a window gap 7 of the door 1, as shown in Figure IC.
• a distance sensor 8 is arranged, which measures the distance to the outside 9 of the door 1 within a predetermined measuring range 10.
• the measuring range 10 of the distance sensor 8 is in this case from the robot arm 5 obliquely forward and down from below.
• the distance sensor 8 can always measure the distance to the outside 9 of the door 1, which allows for fine positioning during the fine positioning of the gripper 6 relative to the window gap 7.
• the drawings show a sensor line 11 extending inside the robot arm 5. The gripper 6 is initially positioned over the window gap 7 as it approaches the window gap 7, as shown in FIG. 1B.
• the gripper 6 is then lowered down into the window gap 7, as shown in FIG. 1C.
• FIG. 1D shows a modification of FIGS. 1A-1C, so that reference is made to the above description to avoid repetition, the same reference numerals being used for corresponding details.
• a peculiarity of this embodiment is that the distance sensor 8 is attached to the robot base 3 and measures the distance to the outside of the door 1.
• FIG. 2 The flow dia- gramin shown in FIG. 2 will now be described below, which describes the handling method according to the invention in a simplified form.
• a rough approach of the handling robot 2 to the door 1 to be opened first takes place.
• Distance sensor 8 not yet evaluated. Rather, the coarse positioning alone due to the known geometry data of the vehicle body and also known position of the vehicle body carried on the conveyor.
• step S2 it is checked in a step S2 whether the distance sensor 8 already detects a distance signal.
• a sensor-controlled approach of the gripper 6 to the door 1 follows, wherein the signals measured by the distance sensor 8 are taken into account within the scope of a position regulation.
• a step S4 is constantly checked whether the gripper 6 is above the window gap 7.
• the gripper 6 is in a
• Step S5 lowered down into the window gap 7.
• a search function is activated in a loop in a step S10. Otherwise, then the door 1 can then be opened in a further step S7.
• a step S8 the door 1 can then be closed again.
• FIG. 3 shows an inventive opening process of a door of a motor vehicle body in the form of a flow chart.
• the handling robot moves the gripper from outside to the door.
• the known body data of the vehicle body are taken into account, which reflect the geometry of the vehicle body.
• the signal strength of the sensor is measured in a step S2 and compared with a limit value x. If the signal strength does not exceed the limit value x despite the approach to the outside of the door, this indicates that the door is actually not present at the assumed location, so that in a step S3 it is assumed that there is an error. For example, then an error flag can be set.
• the controller assumes that the door is present so that the gripper can then engage the door (eg door gap) in a step S4 to open the door.
• step S 5 the torque which acts in a vertical axis of rotation
• this torque increases suddenly in the event of a collision.
• the control of whether the assumed part (eg door) is actually present since the part then opposes the handling robot with a corresponding resistance.
• FIG. 4 shows such a part control in the form of a flow chart.
• a first step Sl for example, a door of a motor vehicle body is opened.
• a step S2 the signal strength of the sensor is measured and compared with a limit value y.
• an error is then accepted, in which case, for example, an error flag can be set.
• FIGS. 5A and 5B illustrate an opening process of an engine hood 12 of a motor vehicle body by means of a gripper 13, which is moved in the manner described above by a handling robot.
• the gripper 13 can engage in a ring 14 on the hood 12.
• a first step Sl the gripper 13 is then moved up to the ring 14 when the bonnet 12 is opened. Subsequently, the gripper 13 is then in another
• a step S3 the signal strength of the sensor is measured and compared with a limit value x.
• a step S4 an error is then assumed, wherein, for example, an error flag can be set.
• a step S5 the normal handling process, i. H. the hood 12 is opened in the usual way and then closed again.

Landscapes

• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Physics & Mathematics (AREA)
• Electromagnetism (AREA)
• Acoustics & Sound (AREA)
• Health & Medical Sciences (AREA)
• General Health & Medical Sciences (AREA)
• Orthopedic Medicine & Surgery (AREA)
• Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
• Manipulator (AREA)
• Spray Control Apparatus (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=54782658

Family Applications (1)

Country Status (7)

Families Citing this family (7)

Citations (2)

Family Cites Families (17)

• 2014
  • 2014-12-03 DE DE102014017855.2A patent/DE102014017855A1/de not_active Withdrawn
• 2015
  • 2015-12-02 CN CN201580065818.4A patent/CN107000211A/zh active Pending
  • 2015-12-02 US US15/532,122 patent/US20170266808A1/en not_active Abandoned
  • 2015-12-02 WO PCT/EP2015/002419 patent/WO2016087042A1/de active Application Filing
  • 2015-12-02 EP EP15804678.9A patent/EP3227062A1/de not_active Withdrawn
  • 2015-12-02 KR KR1020177015780A patent/KR20170091630A/ko not_active Application Discontinuation
  • 2015-12-02 MX MX2017007056A patent/MX2017007056A/es unknown

Patent Citations (2)

Non-Patent Citations (1)

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