EP3890903A1 - Fertigungssystem zum bearbeiten von werkstücken - Google Patents
Fertigungssystem zum bearbeiten von werkstückenInfo
- Publication number
- EP3890903A1 EP3890903A1 EP18833996.4A EP18833996A EP3890903A1 EP 3890903 A1 EP3890903 A1 EP 3890903A1 EP 18833996 A EP18833996 A EP 18833996A EP 3890903 A1 EP3890903 A1 EP 3890903A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- uav
- workpiece
- transfer
- manufacturing system
- press
- 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.)
- Pending
Links
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 116
- 238000003754 machining Methods 0.000 title claims abstract description 30
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- 238000003825 pressing Methods 0.000 claims abstract description 10
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/20—Storage arrangements; Piling or unpiling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/005—Lifting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/30—Feeding material to presses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/37—Charging when not in flight
Definitions
- the invention relates to a manufacturing system for machining workpieces, in particular for the forming machining of workpieces by means of presses, preferably in one
- Transfer presses and / or press lines / lines are processed or formed into a semi-finished or finished component.
- a stacking / loading device such as a board loader, with which the boards are required for further, shaping processing, and
- transfer presses are designed with a large column passage, the largest possible tool area, multi-point drive and, depending on requirements, as single-ram or multi-ram machines.
- Belt systems, board loaders and complex multi-axis transfer systems are used for the material feed.
- Press lines / lines for forming workpieces such as blanks up to the component can include up to six individual presses. To transfer the workpieces from the press to
- portal systems such as feeders or such transfer systems are used to pass the workpiece to be machined between the individual presses, bridging the space between the presses or process stages and removing the workpiece from the previous tool operation and inserting it into the following one.
- a feeder is a loading system that can generally be moved in two main axes.
- the X and Z axes that are used for assembly cover a horizontal and a vertical transfer path in order to pick up workpieces - usually from above - and put them down again on another level.
- the feeder takes with e.g. with suction cups, magnets or another suitable device such as a stop system, gripping spider plates, places them in the press or transports them from one press to another.
- the complex system for forming workpieces using presses encompasses both the logistical and technological processes as well as the press types as well as the space-consuming and costly transfer facilities.
- Manufacturing process stations arranged on a second floor.
- the drone transfers the workpiece through a room with an open ceiling between the first floor and the second floor.
- a server is provided in the production system for the intensive management of a flight route of the drone, which transmits a command to it via wireless communication.
- a guide beam-guided drone navigation could be used with corresponding adaptation, in which the drone moves along the guide beam emitted by a suitable emitter and uses this for navigation.
- a method and system for picking products in intralogistics in which the products of a picking order are caused by objects that can fly at least one order container assigned to the picking order can be picked.
- unmanned aerial vehicles such as a helicopter drone according to DE 10 2016 206 982 Al for inspecting technical objects that are difficult to access already have a 3D scanner mounted on a rotatable joint, which includes a high-resolution camera for capturing a large number of images from different exposure positions and exposure directions.
- the position and orientation of the 3D scanner relative to the object can be determined by comparing images.
- Coordination device for controlling the 3D scanner, the joint and the helicopter drone in order to generate a data representation of a surface course of the object on the basis of the recorded images for damage analysis via an image processing module, which is evaluated for the damage analysis.
- the product is not subject to any changeable or influencing technological process stages, such as cutting or non-cutting shapes.
- the invention has for its object to provide a complex manufacturing system for machining workpieces for the technological process monitoring of operations and a safe transfer with stop functions for workpieces in order to the processes during processing by means of presses, transfer presses or press lines, in particular in a press shop machining workpieces up to the semi-finished or finished component
- UAV unmanned aerial vehicles
- this can in principle be the case with a production system for those to be processed
- Workpieces in particular for the processing of workpieces by means of presses, transfer presses or press lines, can be solved with a transfer that includes the pick-up and transfer of the workpieces for technological processing from process station to process station in a room, preferably in a press shop, in that at least one UAV for Process monitoring is used which monitors at least the production process of one of the workpieces or at least includes the transfer of at least one of the workpieces.
- Press designs particularly in the context of a space-optimized press shop.
- the UAV has buoyancy means, of which transfer or workpiece-related after the picked-up workpieces
- ⁇ a non-buoyant buoyancy agent can be switched off and
- At least one buoyant means of buoyancy can be used for monitoring the process or for at least transferring at least one of the workpieces of the UAV.
- the UAV for process monitoring of the production system should have at least one or one of the following features or functions: a) A drive that can be controlled in the 3D direction with at least one buoyancy means for controlling a 3D movement in a transfer space to implement a
- buoyancy means which can be steered in the 3D direction, for realizing horizontal movements of the UAV
- a data network communicating with a central control / regulating device for querying and activating data of the technological or logistical criteria or production / logistics data for at least the UAV or for the workpiece or for the tool or for the press, transfer press or press line for control of the UAV in at least one of the following monitoring procedures
- the UAV is designed for the transfer of the workpieces to at least one or one of the following features or functions:
- Buoyancy means for controlling a 3D movement in a transfer room of the presses, transfer presses or press lines for the implementation of a Feed movement and superimposition of directions of movement, highly dynamic superimposed movements for lifting and simultaneous horizontal
- buoyancy means which can be steered in the 3D direction, for realizing horizontal movements of the UAV
- the UAV being able to be flown into an area of a tool of a process station in its as flat as possible construction height and as little as possible inclination
- Control means and attachment means for transferring the workpiece to be shaped or shaped by means of attachment points on the workpiece for one
- Control / regulating device communicating data network for a transfer system for querying and activating data of the technological or logistical criteria or manufacturing / logistics data at least for the UAV or for the workpiece or for the tool or for the press, transfer press or press line for controlling the UAV for the transfer in at least one of the following processes
- f2 an infeed of semi-finished workpieces as special parts and an outfeed of the UAV for maintenance / servicing from a transfer function
- f3 an energy charge
- the controllable axis of the buoyancy means which can be steered in the 3D direction, for realizing horizontal movements of the UAV and
- the buoyancy device which is adjustable in its vertical axis, is included in its
- the transfer space required by the presses used can thus be optimized in a perspective press shop by means of the production system according to the invention.
- the inventive even e.g. Technologically monitor the transfer space with superimposed UAV rotor blades - despite their greater height - and act in a transferring manner.
- the invention may minimize technologically-related and disadvantageous product liability risks.
- information about a relevant manufacturing process is made available to a UAV in order to technological measures required in generic, complex production systems within the scope of the process monitoring aimed and solved according to the invention and
- the UAV control, monitoring and slinging means according to the process-safe as well as process-level-appropriate and stroke-safe transfer of the workpiece have such effects and special features that - regardless of the technological
- Machining step - the workpiece is fed to a respective press tool in the correct position, such as for cutting or forming, and the manufacturing process is monitored at the same time.
- Both variants (process monitoring and transfer of workpieces) of the manufacturing system can be executed in five special logistical-technological aspects after the consideration, evaluation and analysis of generic processes and are also complex e.g. applicable in a press shop.
- one or a group of several UAVs receives a workpiece to be machined, transfers and accompanies it from a first process station to an nth process station to the finished machined component.
- the or the group of several UAV returns to the first process station, picks up a new workpiece and accompanies it at least parts of the process stations in progress and repeating the process in a circulating first flight image.
- the respective technological process level is monitored.
- a respective process station of the presses, transfer press or press line is provided with one or a group of several UAVs, which receives / accepts and delivers the workpiece especially for the transport between two technological work steps such as forming steps.
- the special technological work processes and the corresponding transfer logistics of the group or groups of several UAVs, such as recording / transfer / delivery, are monitored in a circulating, characterizable second flight image.
- At least one of the two aforementioned solutions is required for each individual machine such as a press, transfer press or technological one Press line a path measuring / positioning system corresponding to a control / regulating device (eg electronically) with a second data memory and computer for the
- each individual press, transfer press or press line can request and carry out a technological function to be carried out by the UAV specifically for the technological work step.
- the electronic displacement / positioning system for feeding the workpiece in the correct position and position also corresponds to a centering system, which on the one hand acts as the first guide means on the UAV and on the other hand on the non-moving part of the
- Production plant as a second guide means can be attached. This enables a combination of electronic and mechanical positioning.
- Process-related transfer device can be coupled via mechanical elements.
- Mechanical elements cause a movement in the space / transfer space by means of a forcibly controlling device, which can be stabilized at least in 2D, with stop means for receiving and depositing the workpiece.
- Joint kinematics that can be implemented in rod kinematics are used for this.
- This design according to the invention is considerably lighter, can be designed in a structurally smaller manner and can be implemented more cost-effectively because conventional mechanical
- the centering system and the joint kinematics should or can act independently of one another.
- the UAV drives a mechanical transfer system as a pure drive means, as a kind of motor replacement.
- a mechanical guidance system is provided for this and the movements are positively guided.
- an information system is integrated into the first data memory in the respective UAV, with which workpieces not processed in terms of technology, position, rolling direction and quality can be determined by the UAV, external information such as press data can also be recorded and control signals for technological measures can be exerted.
- a fifth aspect is formed in the press shop as a pool of several UAVs with these control devices. At least one UAV - regardless of its pool binding - can be programmed into at least one of the following logistics or technology-related files or one of the signals for a) performing the required functions in accordance with a respective process station, including those of forming / pressing processes
- Toolings for tool change can be activated, c) determination of the type or specifics
- a shape of the picked-up workpiece such as 2D, 3D,
- non-metallic of the workpiece (2), such as NE, magnetic / magnetizable, non-metallic
- Heating by induction cooling can be queried by blower.
- ⁇ with slings such as vacuum suction cups for taking up and transporting the
- Workpieces can be equipped with driven pumps, air boilers for overpressure or vacuum;
- ⁇ can be removed from a transfer function for maintenance / servicing
- Status data such as battery status
- a central control device for a monitorable application status with reporting of data on the energy charge or on the vacuum cleaner
- ⁇ can be measured externally optically, by means of ultrasound or remotely;
- ⁇ can be completed with a safety controller for parking or switching off and
- ⁇ Can be equipped particularly advantageously with means for component tracking, identification and detection of any logistical and / or technological operations.
- the latter function is to be understood as a bar code system that can be read by scanners or cameras with the appropriate software and electronically processed in accordance with the technology, or a variant thereof, with which each workpiece can be identified.
- the retrievable Barcode contains and is assigned all relevant information for logistical and technological tracking of the workpiece.
- the corresponding centering system with a first guide means on the UAV and a second guide means on the non-moving part of the production system is provided for the positional and positional feeding of the workpiece.
- a UAV can be parked away from it and can be supplied with energy or information or charged.
- the provision of a number n of operational UAVs controlled by the central control Z control device is always adaptable to the n press strokes or can be extended by n press strokes, depending on an energy charging time. This means that a UAV is available for every wth press stroke or can only be used or used again.
- the respective UAV is permanently connected via a line, such as a cable and / or hose, for the purpose of external energy supply, or is controlled freely and during the
- the respective UAV is equipped with measuring means for the detection of rejects and special situations in the UAV's own information system with sensors for data recognition and
- Component tracking can be equipped with the barcodes mentioned below. Said external information can be recorded as data in order to be combined with appropriate logistic or technological
- the respective UAV has measuring devices with sensors for recognizing data from a committee and for special situations.
- the UAV can also be used to "operationally fly out” the scrap generated in the machining system for workpieces
- the control device contains data from safety aspects for the individual UAV as well as machine, workpiece and personal data
- said actions can be controlled / regulated with the maximum possible performance data (speed, acceleration), with the inclusion and observance of the laws of motion, wherein
- ⁇ A learning program can be generated, which can be transferred to an external work and
- a database is set up in the control device, which includes at least one file with the following criteria: a) data on the geographic height and location of the press shop, the position of the presses, transfer presses or press lines, b) data of the geometry (2D, 3D) and technological work steps of the workpiece (s) to be recorded and shaped after the cut up to the finished component,
- the UAV contains in the first data memory a file with at least one criterion of the following controllable data a) a position accompanying the workpiece or assigned to the process station / press station,
- the manufacturing system according to the invention is further characterized by a fly simulator for mapping and tracking the processes to be represented according to the invention. This also serves as a visual-operational process monitoring / observation and enables the optimization of
- the respective UAV is especially for this - as stated above -
- the lost times resulting from the scrap to be removed from the tools and separated from the workpiece (formed part) and transported away are reduced.
- Manipulations that have been customary up to now are rationalized with the effect of using UAV and “operative flying out of the scrap as a quasi transfer”, so that simpler tools can be used and previously customary scrap discharges that are prone to jamming due to jamming of parts are eliminated.
- the effect is particularly advantageous in the case of what is known as useful scrap, which is specially collected or fed directly to the next processing process.
- ⁇ During, for example, returning to a process station with energy using accumulators, capacitors, fuel cells or the like. Energy supply - not even flying on tape - can be charged; ⁇ for vacuum suction devices for transporting the circuit boards with driven pumps, air boilers for excess pressure or vacuum can be equipped;
- ⁇ e.g. for maintenance / servicing can be removed from a transfer function
- ⁇ can be equipped with known optics (3D camera) and evaluation to process the
- ⁇ can be used in dangerous process areas and possibly as a victim UAV;
- Energy status and functionality can be checked, for example optically, by means of ultrasound or remotely controlled, analogously to the technical means used in conventional remotely controlled flight models or drones;
- ⁇ can determine or measure its position by means of reference points (scales) in the room (process area, workshop) of the respective machine itself;
- ⁇ can be equipped with a safety controller for parking or switching off in order to provide personal protection (occupational safety) in the room (process area, workshop)
- ⁇ during the work processes / operations intended for the workpieces, e.g. Park the press stroke and / or forming outside of the same (e.g. a closed tool of a press or a work process acting on a workpiece) and can be supplied with energy or loaded;
- ⁇ Can be controlled by a control center for the provision of a battery (park, storage) with a number n of usable UAVs, so that the number n can always be adapted to the n press strokes (or can be extended by n press strokes) depending on an (energy) charging time and a UAV is advantageously available for every nth press stroke or is only needed and is therefore always available.
- the services and parameters ascertained by means of data as well as the individual or coupled or mutually occurring actions such as movements comprehensible and systematically available can be advantageously simulated, tested, defined, calculated and checked on the "fly simulator".
- Transfer system can be a complex program with the program steps
- Processes according to the invention are created, which also generates said learning program, in order to install programmed processes in further pressing plants instead of manual exercises.
- ⁇ stacking / loading devices such as board loaders
- a UAV with a plurality of rotor blades has the attachment means such as the suction device, and a plurality of UAVs are provided for transporting a workpiece.
- the UAV is idle or reverse, i.e. if no workpiece is being transported, all rotor blades of the UAV are operated or operated by the central control device
- these non-buoyant rotor blades are switched off in a controlled manner, and rotor blades of individual UAVs that are positioned in a buoyant manner are functionally combined with one another to form a temporarily controlled combination of several UAVs for transporting the workpiece.
- buoyant rotor blades dissolved again in a controlled manner.
- the rotor blades thus function again within each UAV involved.
- the UAVs then leave the process area individually, each with fully buoyant rotor blades, with one working stroke of the press performing the work step.
- Fig. 1 is a diagram of a press plant 1 as a flow picture with press, transfer press or
- Fig. 2 is a diagram of the process in the press shop 1 as a flow picture with press, transfer press or press line 1.1 with a UAV 3 provided to the respective process station 1.2, which is specifically assigned to the technological work step, such as forming step, to take over and transfer the workpiece 2, in accordance with the second aspect of manufacturing system according to the invention,
- FIG. 3 schematic representations of a press, transfer press or press line 1.1
- FIG. 4 shows schematic representations of a first data memory 3.3 integrated in a UAV 3 with a file and computer 3.3 for carrying out operational measures of the UAV 3 in accordance with the fourth aspect of the manufacturing system according to the invention
- 5.1 shows a schematic representation of the system of a control device 5 controlled by a plurality of UAV 3 in the press shop 1 for a pool 3.5, in accordance with the fifth aspect of the production system according to the invention, 5.2 is a diagram according to FIG. 5.1, shown as a complex control and regulation system,
- FIG. 6 shows schematic details of the parts transport of the workpiece 2.1 relating to an arrangement with adjustable 3.6.1, couplable 3.6.2, disconnectable 3.6.3 buoyancy means 3.6 of the UAV 3,
- FIG. 7 shows a schematic representation of the UAV 3 as a drive for a joint kinematics 3.8, comprising various mechanical elements 3.8.1 and a first guide means 3.7.
- FIG. 1 shows in the view plane labeled a) a sheet metal coil (not shown), a sheet feeder (not shown) and a cutting press 1.1 as a continuously operable process station 1.2. Thereafter, workpieces 2 are cut from the cutting press 1.1 - in this case a first process station 1.2.1 - as so-called blanks for further processing
- This respective UAV 3 has the features or functions described below with reference to FIGS. 3 to 6 for the very complex technological and logistical operations for the reshaping machining of the workpieces 2, 2.1.
- each includes UAV 3 - which can be controlled in the 3D direction
- Helicopters / drones - those technical ones more apparent in Fig. 4, Fig. 5.1, 5.2 and Fig. 6 Means that enable control of a 3D movement in room 1.4, a process area or a workshop of the press shop 1. 6, an arrangement, control, employment or switching of buoyancy means 3.6 (propellers, nozzles) is provided for the UAV 3, which
- the UAV 3 is to be flown into a region of the tool 1.1.1 of the process station 1.2 at a height that is as flat as possible and with as little inclination as possible. Accordingly, the overall dimensions (overall) of the UAV 3 used in each case can be defined in an optimized manner in accordance with the logistical and technological conditions of a pressing plant 1 or the presses 1.1.
- 4, 5.1, 5.2 and 6 are means for controlling and lifting means 3.1 of the transfer for the workpiece 2 to be shaped or shaped (according to FIGS. 1 and 2),
- Anchor 3.1 of the UAV 3 is controlled equally as shown in FIG. 6
- the production system with monitoring and transfer of the workpieces 2, 2.1 comprises a data network for querying and activating data for the UAV 3, workpiece 2, 2.1, tool 1.1.1 and the respective press 1.1.
- This data network is communicated by a central control device 5 shown in FIGS. 3, 5.1 and 5.2. It can be used to process and control all the technological and logistical criteria, as well as production / logistics data, such as series production, one-off production, individual production, and the introduction of semi-finished special parts of workpiece 2, 2.1, one Energy charging of the UAV 3, the sling 3.1, a discharge for
- Machining operations and a position determination 3.3.1 and centering of the workpiece 2, 2.1 require accompanying the process in the manufacturing system.
- the UAV 3 is used to implement a feed movement and superimposition of
- Movement directions and highly dynamically superimposed movements such as lifting the workpiece 2, 2.1 and simultaneously transporting it horizontally, or transporting the workpiece 2, 2.1 horizontally and simultaneously pivoting / tilting with a conceivable rotor axis 3.1.1 shown in FIG. 6, in this example with rotor blades 3.1.3 (Fig. 3, Fig. 4, Fig. 6) operated, executed.
- Horizontal movements can thus be realized, with individual rotor blades 3.1.3 being adjustable in their horizontal axis.
- the UAV 3 can be equipped with superimposed rotor blades 3.1.3 in spite of the greater overall height in order to transfer heavy workpieces 2, 2.1.
- Manufacturing system of process monitoring and transfer of workpieces 2, 2.1 can be seen in Fig. 1 from view levels a), b), c) a first logistical-technological aspect.
- the UAV 3 transfers the workpiece 2 to be machined as in the view plane a)
- the UAV 3 then returns to the first process station 1.2.1, picks up a new workpiece 2 and runs at least parts of the process stations 1.2.1, 1.2.2 and repeats these process stations 1.2, 1.2.1, 1.2.2, symbolically visible in a first, quasi-circulating and process-monitoring flight image Fl.
- a single UAV 3 transfers the workpiece 2, 2.1, taking over from the preparatory first process station 1.2.1, via at least one subsequent one or up to the nth process station 1.2.2 of the process stations 1.2.1, 1.2.2 and places them it then in an interim storage 2.3. For each transfer and technological process to be repeated, it returns to the first process station 1.2.1, picks up a new workpiece 2, 2.1 and in turn accompanies the process stations 1.2.1, 1.2.2 to the intermediate store 2.3. Each sequence is recorded with the first flight image F1 of one UAV 3 and can be monitored.
- process station 1.2 is outlined as transfer press 1.1, and in view level c) process station 1.2 as press line 1.1.
- Cut blanks 2 (view plane a)) and machined and reshaped workpieces 2.1 for transfer by means of the UAV 3 to further process stations 1.2 or as a semi-finished component for the shell of a product are stacked in the respective intermediate storage 2.3.
- the aforementioned logistic-technological processes can also be taken over by a single group of several UAV 3 instead of said UAV 3, at least for parts of the processes.
- FIG. 2 shows a second logistical-technological aspect of the system according to the invention.
- a respective process station 1.2, 1.2.1, 1.2.2 of the presses 1.1 is provided with a UAV 3 which receives and delivers the workpiece 2, 2.1 specifically for a technological operation of the process stations 1.2, 1.2.1, 1.2.2.
- Transfer logistics between two successive process stations 1.2, 1.2.1, 1.2.2 is responsible, wherein the first or previous technological work step and the corresponding transfer logistics of the UAV 3 for the second or subsequent technological work step can be monitored by the circulating second flight image F2.
- this second logistical-technological aspect is from the first to the following
- a UAV 3 is assigned to each transfer process of the technological processing of the workpiece 2, 2.1 to be carried out from the first process station 1.2.1 to the nth process station 1.2.2, b) the workpiece 2, 2.1 is assigned in a first of process stations 1.2, 1.2.1, 1.2.2 received / accepted by a first UAV 3 and then delivered / handed over to the next process station 1.2.1 and there again by a second, such as further to nth UAV 3 picked up / transferred and transferred to one of the following, such as further to nth process stations 1.2.2 and finally stored in the intermediate storage 2.3, c) a new to nth workpiece 2, 2.1 is transferred analogously to the sequence of steps b) and d) each transfer and technological process of the first to nth UAV 3 is monitored in a separate second flight image F 2.
- workpieces 2 are prefabricated as boards in the continuously operable first process station 1.2.1, picked up by the work cycle specifically assigned to this operation and repeating this transfer logistics, and onto the same first intermediate storage 2.3 for boards 2 filed.
- Each specially assigned UAV 3 takes on one of the following technological work steps such as forming stages in the respective process stations 1.2 to the nth
- Process station 1.2.2 the transferring pick-up / transfer / delivery of the workpiece 2.
- machined and formed workpieces 2 are stacked in the second intermediate store 2.3 as semi-finished components for the shell of a product.
- the aforementioned logistic-technological processes can also be carried out by a first to n-th group of several UAV 3 instead of the first to n-th UAV 3, at least for parts of the process.
- Each individual press, transfer press or press line 1.1 is assigned an electronic path measuring / positioning system 1.3 corresponding to the central control / regulating device 5 with a second data memory and computer, here
- the electronic displacement / positioning system 1.3 for feeding the workpiece 2, 2.1 in the correct position and position is a centering system
- 7 comprises a first guide means 3.7 on the UAV 3 on the one hand and a stationary e.g. integrated second guide means, not shown here, on the tool 1.1.1.
- the centering system thus acts as an advantageous and functionally merging combination of electronic and mechanical positioning.
- 7 is a mechanical, process-integrated, essential to the invention
- Transfer device of the UAV 3 operated with rotor blades 3.1.3 of the rotor axis 3.1.1. Their movement in space 1.4 is shown via a control element 3.3.4 by means of articulated kinematics 3.8, which can be coupled via mechanical elements 3.8.1, is forcedly controlled and can be stabilized in several dimensions, with the kinematics 3.8 from FIGS. 5.1 and 5.2
- Lifting means 3.1 and stop elements 3.1.2 designed for receiving and depositing the workpiece 2, 2.1 in the manner of a rod kinematics.
- the UAV 3 is advantageously used as a pure drive means for the mechanical transfer system and drives the light rod kinematics. This makes such a transfer system compared to those described at the beginning in the prior art
- Transfer devices are much lighter, smaller in size and less expensive, especially since there are no drive forces and moments to be transmitted.
- Self-determining or measuring devices for determining position 3.3.1 or for parking or switching off by means of a safety controller 3.3.2 are provided.
- measuring means 3.3.3 such as sensors and / or (FIG. 3 right) optical means 3.2 such as a camera are provided according to the representations (FIG. 4 left).
- the measuring devices 3.3.3 with sensors are also used to recognize data from a committee and for special situations.
- the optical means such as 3D camera 3.2 is connected to the file and computer for evaluation to the first data storage 3.3.
- the processes of machining the workpieces 2, 2.1 can thus be observed and control signals can be output.
- a UAV 3 information system for data recognition is also available
- Positioning implemented, thus also communicating with the electronic position measuring / positioning system 1.3 according to FIG. 3.
- this information system which is specific to the respective UAV 3, can communicate in the controllable first data memory 3.3 such data which relate to
- the type of drive or buoyancy means 3.6 such as propeller, nozzles, turbine,
- Transport / slinging means 3.1 such as traverse, non-positive / positive (suction cups, gripping tongs), multiple / simple pick-up,
- FIGS. 5.1 and 5.2 finally sketch in schematic individual representations a technologically and logistically important fifth aspect of the manufacturing system according to the invention.
- the press unit 1 not shown, comprises a pool 3.5 of a plurality of UAV 3, the control / regulating device 5 which controls this pool 3.5, that is to say functionally monitors, and a fly simulator 4.
- o means of transport such as trusses, etc.
- the logistically and technologically linked manufacturing system which acts as a process monitoring and transfer system according to the invention, makes it previously unprofitable
- pool 3.5 e.g. can always even have a UAV 3 for controlled, "operational flying out” of the scrap occurring in the machining system for workpieces 2, 2.1.
- a UAV 3 can be operated with energy by means of accumulators, capacitors,
- Fuel cells or the like Energy supply - also not flying as on a belt - charged or discharged from a function (e.g. flight picture F2 in Fig. 2) for a required maintenance / repair and process-independent one available from pool 3.5 for one controlled return to a process station 1.2, 1.2.1, 1.2.2 - for example according to flight image F1 in FIG. 1 - are used.
- a function e.g. flight picture F2 in Fig. 2
- a required maintenance / repair and process-independent one available from pool 3.5 for one controlled return to a process station 1.2, 1.2.1, 1.2.2 - for example according to flight image F1 in FIG. 1 - are used.
- the UAV 3 is a first UAV 3 .
- each controlled UAV 3 is externally optical, by means of ultrasound or
- the respective UAV 3 is equipped with means for component tracking, identification and detection of any logistical and / or technological operations, for which purpose a barcode system (or similar system) that can be read by scanners or cameras with appropriate software and that can be further processed electronically in accordance with the technology Workpiece 2, 2.1 is ready.
- a barcode system or similar system
- the manufacturing system according to the invention thus ensures, during the work processes / operations intended for the workpieces 2, 2.1 and continuing or operations of the press 1.1 acting on a workpiece 2, 2.1, that a UAV 3 is parked away from it if necessary, supplied with energy or charged and then reinserted can be.
- the production system supports the actual press operation with the provision of a number n of operational UAV 3 controlled by the central control / regulating device 5 in such a synergistic manner that the number, depending on the (energy) loading time, can always be adapted to the n press strokes or can be extended by n press strokes and that UAV 3 is available for every o-th press stroke in line with technology or even becomes usable again.
- Lifting equipment 3.1 that can be equipped or ff-lying with energy rechargeable UAV 3 is used.
- this control system also includes
- the blocks according to views c) and d) the control of the one which is available from the pool 3.5 and which can be connected via a line, such as a cable and / or hose 3.3.5 for the purpose of external energy supply or can be equipped with electromagnetic lifting means 3.1 or can be freely charged with energy using Flysimulator 4
- control device 5 contains data from safety aspects for the individual UAV 3 as well as machine, workpiece and personal data
- Transporting y-axis
- swiveling swiveling
- tipping turning
- turning including such actions as e.g. inductive heating of the workpiece 2, 2.1 or cooling of the workpiece 2, 2.1 by means of a fan.
- the database set up for this purpose in the control device 5 further comprises a file of the following data:
- This data is used on the one hand to control the UAV 3 and on the other hand can be called up by the UAV 3.
- Fig. 6 details according to the invention of the parts transport of the workpiece 2 typical of a press 1 are shown as a car door 2.1.
- the workpiece 2.1 processed and shaped after the cutting and forming operations which is to be transferred by means of the process-monitoring UAV 3, is manufactured in accordance with the planned logistical and technological processes until it is made available as a car door 2.1 for a car body shop according to the manufacturing system according to the invention the complexity of the combinable solution variants, including a surface treatment the workpiece 2, 2.1, and the above-described first or second and third to fifth logistical-technological aspects.
- the UAV 3 can also be used in the embodiments
- buoyancy devices 3.6 (picture above left) and in this case operated by means of propellers such as rotor blades 3.1.3.
- the respective UAV 3 are equipped with attachment means 3.1 (FIG. 5.1), which attach to exposed, balanced and predeterminable attachment points 2.2 of the car door 2.1 and these to the second intermediate store 2.3 ( Fig. 1, Fig. 2) transfer / transport.
- attachment means 3.1 FIG. 5.1
- Fig. 6 in the upper view level starting with (unmarked) first stop position on the left until (unmarked) fifth stop position, the following examples of stop types of the UAV 3 for transferring, such as picking up, putting down the car door 2.1 are possible:
- any UAV 3 in the room, process area, workshop 1.4 of the press shop 1, including the stop positions at the stop points 2.2 of the workpiece 2, 2.1, are to be provided and carried out in accordance with logistics and construction in such a way that the buoyancy means 3.6, such as propeller, nozzle, correspond to the aerodynamic Buoyancy laws maintain buoyancy, but can also be switched off.
- the buoyancy means 3.6 such as propeller, nozzle
- FIG. 6 center image, bottom left and right images.
- Workpiece 2 2.1 picks up and delivers, the following is to be emphasized.
- a UAV 3 with a plurality of rotor blades 3.1.3 has a stop means 3.1 such as a suction device, a plurality of UAV 3 are provided for transporting a workpiece 2, 2.1.
- all rotor blades 3.1.3 of the UAV 3 are in the idle or return of the UAV 3, ie when no workpiece 2, 2.1 is being transported, in the functional and buoyancy-effective use monitored and operated by the central control / regulating device 5.
- Central control / regulating device 5 corresponding displacement measuring / positioning system 1.3 with the second data memory and computer for requesting the function to be carried out by the UAV 3 specifically for the technological operation.
- the process monitoring manufacturing system for workpieces to be machined with their transfer by cost-effective, technology-oriented UAV (Unmanned Aerial Vehicle), disclosed according to the invention opens up in comparison with the prior art according to which unmanned aerial vehicles / objects have a high level of equipment in terms of mechanical and electronic means and integrated data processing, but have only taken on logistical functions in processes in production systems as a result of the elimination of installation space and
- UAV Unmanned Aerial Vehicle
- buoyancy adjustable 3.6.2 Buoyancy means can be operated in a coupled manner, effective in buoyancy
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Aviation & Aerospace Engineering (AREA)
- Presses And Accessory Devices Thereof (AREA)
- Press Drives And Press Lines (AREA)
Abstract
Description
Claims
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/IB2018/001382 WO2020115514A1 (de) | 2018-12-04 | 2018-12-04 | Fertigungssystem zum bearbeiten von werkstücken |
Publications (1)
Publication Number | Publication Date |
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EP3890903A1 true EP3890903A1 (de) | 2021-10-13 |
Family
ID=65023924
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP18833996.4A Pending EP3890903A1 (de) | 2018-12-04 | 2018-12-04 | Fertigungssystem zum bearbeiten von werkstücken |
Country Status (5)
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US (1) | US20210402459A1 (de) |
EP (1) | EP3890903A1 (de) |
JP (1) | JP2022520306A (de) |
CN (1) | CN113165047A (de) |
WO (1) | WO2020115514A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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AT17679U1 (de) * | 2021-07-20 | 2022-11-15 | Franz Oberndorfer Gmbh & Co Kg | Verfahren und Anlage zum Erzeugen von Formteilen |
CN116900141B (zh) * | 2023-09-08 | 2023-11-14 | 潍柴新能源商用车有限公司 | 一种驾驶室车门冲压成型装置 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
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US9384668B2 (en) * | 2012-05-09 | 2016-07-05 | Singularity University | Transportation using network of unmanned aerial vehicles |
JP6326237B2 (ja) * | 2014-01-31 | 2018-05-16 | 株式会社トプコン | 測定システム |
JP6106122B2 (ja) * | 2014-04-02 | 2017-03-29 | ファナック株式会社 | 溶接検査ロボットシステム |
CN103878265B (zh) * | 2014-04-04 | 2015-12-16 | 济南二机床集团有限公司 | 一种工件自动传输系统 |
DE102014214201A1 (de) * | 2014-07-22 | 2016-01-28 | Bayerische Motoren Werke Aktiengesellschaft | Pressenlinie mit Kameraeinrichtung zur Prozessüberwachung und Verfahren zur Herstellung von Blechformteilen |
US11480958B2 (en) * | 2015-02-19 | 2022-10-25 | Amazon Technologies, Inc. | Collective unmanned aerial vehicle configurations |
DE102015008151A1 (de) | 2015-06-24 | 2016-12-29 | Roman Radtke | Leitstrahl Geführte Drohnen Navigation |
US9652990B2 (en) * | 2015-06-30 | 2017-05-16 | DreamSpaceWorld Co., LTD. | Systems and methods for monitoring unmanned aerial vehicles |
JP6276250B2 (ja) * | 2015-12-24 | 2018-02-07 | ファナック株式会社 | 被加工物を搬送する製造システム |
DE102016002765B3 (de) * | 2016-03-05 | 2017-06-22 | Audi Ag | Vorrichtung mit Presse, Werkzeug und Werkzeugschutzsystem zur Bearbeitung von Blechwerkstücken und hierfür verwendbare einstellbare Distanzeinrichtung |
JP6601701B2 (ja) * | 2016-03-10 | 2019-11-06 | パナソニックIpマネジメント株式会社 | 飛行体 |
AT15021U1 (de) | 2016-03-10 | 2016-11-15 | Knapp Ag | Verfahren und System zum Kommissionieren |
DE102016206982B4 (de) | 2016-04-25 | 2022-02-10 | Siemens Aktiengesellschaft | Flugmobil zum Scannen eines Objekts und System zur Schadensanalyse des Objekts |
JP6717727B2 (ja) * | 2016-10-24 | 2020-07-01 | 株式会社エイビット | 飛行物体の監視通信方式 |
EP3326749B1 (de) * | 2016-11-26 | 2019-11-13 | Agie Charmilles SA | Verfahren zur bearbeitung und prüfung von werkstücken |
EP3367315A1 (de) * | 2017-02-28 | 2018-08-29 | TRUMPF Werkzeugmaschinen GmbH + Co. KG | Produktionssystem und verfahren zum bedrucken und transportieren von werkstücken mittels eines unbemannten fluggeräts |
JP2018165931A (ja) * | 2017-03-28 | 2018-10-25 | 株式会社ゼンリンデータコム | ドローン用管制装置、ドローン用管制方法及びドローン用管制プログラム |
US10717190B2 (en) * | 2018-04-19 | 2020-07-21 | Aurora Flight Sciences Corporation | End-effector for workpiece manipulation system |
DE102018119934B3 (de) * | 2018-08-16 | 2019-08-01 | Strothmann Machines & Handling GmbH | Transportsystem für den Transport von Werkstücken auf einer Transportbahn zwischen zwei Fertigungsprozessstationen sowie Verfahren zum Betrieb des Transportsystems |
-
2018
- 2018-12-04 EP EP18833996.4A patent/EP3890903A1/de active Pending
- 2018-12-04 WO PCT/IB2018/001382 patent/WO2020115514A1/de active Search and Examination
- 2018-12-04 CN CN201880100015.1A patent/CN113165047A/zh active Pending
- 2018-12-04 JP JP2021531241A patent/JP2022520306A/ja active Pending
- 2018-12-04 US US17/290,790 patent/US20210402459A1/en not_active Abandoned
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US20210402459A1 (en) | 2021-12-30 |
JP2022520306A (ja) | 2022-03-30 |
CN113165047A (zh) | 2021-07-23 |
WO2020115514A1 (de) | 2020-06-11 |
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