JP2019520224A - 組立装置および組立装置の制御方法 - Google Patents

組立装置および組立装置の制御方法 Download PDF

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Publication number
JP2019520224A
JP2019520224A JP2018566311A JP2018566311A JP2019520224A JP 2019520224 A JP2019520224 A JP 2019520224A JP 2018566311 A JP2018566311 A JP 2018566311A JP 2018566311 A JP2018566311 A JP 2018566311A JP 2019520224 A JP2019520224 A JP 2019520224A
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JP
Japan
Prior art keywords
axis
axis robot
linear
assembly
robot
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
Application number
JP2018566311A
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English (en)
Japanese (ja)
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JP2019520224A5 (enExample
Inventor
ションラオ、ユルゲン
ベンダー、ミヒャエル
ラインヴィバー、マルク
シュトックシュランダー、イェンス
ザイン、ミヒャエル
シュピーズ、シュテファン
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.)
Thomas Magnete GmbH
Original Assignee
Thomas Magnete 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 Thomas Magnete GmbH filed Critical Thomas Magnete GmbH
Publication of JP2019520224A publication Critical patent/JP2019520224A/ja
Publication of JP2019520224A5 publication Critical patent/JP2019520224A5/ja
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices
    • 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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32397—Machining cells
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Quality & Reliability (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
JP2018566311A 2016-06-14 2017-06-12 組立装置および組立装置の制御方法 Pending JP2019520224A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016007192.3 2016-06-14
DE102016007192.3A DE102016007192A1 (de) 2016-06-14 2016-06-14 Montagevorrichtung und Verfahren zur Steuerung der Montagevorrichtung
PCT/DE2017/100494 WO2017215708A1 (de) 2016-06-14 2017-06-12 Montagevorrichtung und verfahren zur steuerung der montagevorrichtung

Publications (2)

Publication Number Publication Date
JP2019520224A true JP2019520224A (ja) 2019-07-18
JP2019520224A5 JP2019520224A5 (enExample) 2020-07-02

Family

ID=59315358

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018566311A Pending JP2019520224A (ja) 2016-06-14 2017-06-12 組立装置および組立装置の制御方法

Country Status (5)

Country Link
EP (1) EP3448623B1 (enExample)
JP (1) JP2019520224A (enExample)
CN (1) CN109475988A (enExample)
DE (1) DE102016007192A1 (enExample)
WO (1) WO2017215708A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022011162A1 (en) * 2020-07-08 2022-01-13 Milara Incorporated Flexible modular assembly system

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201900006552A1 (it) 2019-05-06 2020-11-06 Ima Spa Apparato e metodo per la gestione automatizzata di una camera di lavorazione ad atmosfera controllata.
CN112719838A (zh) * 2020-12-30 2021-04-30 安徽航大智能科技有限公司 一种减速器自动翻转机
IT202100021320A1 (it) * 2021-08-05 2023-02-05 Idea Prototipi Srl Cella di lavoro
CN117680946B (zh) * 2023-12-28 2025-10-10 安徽万航轨道交通装备有限公司 一种轨道矿车轮对辅助装配装置

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4890241A (en) * 1987-10-26 1989-12-26 Megamation Incorporated Robotic system
JPH04210392A (ja) * 1990-12-13 1992-07-31 Mitsubishi Electric Corp 産業用ロボット装置
JPH06155186A (ja) * 1992-11-11 1994-06-03 Sanyo Electric Co Ltd 部品装着ヘッド衝突回避方法及びそれを使用した部品装着装置
JPH06179136A (ja) * 1992-12-15 1994-06-28 Mazda Motor Corp 組付装置
JPH10272570A (ja) * 1997-03-31 1998-10-13 Nkk Corp 大型構造物の溶接ロボット装置
JP2006180645A (ja) * 2004-12-24 2006-07-06 Matsushita Electric Ind Co Ltd 多軸リニアモータ、及び該多軸リニアモータを利用する実装ヘッド、部品実装装置、並びに磁力遮蔽材及び磁力遮蔽方法
US20080060575A1 (en) * 2004-06-25 2008-03-13 Durr Systems, Inc. Coating installation and associated operating procedure
US20110214586A1 (en) * 2009-09-09 2011-09-08 Brent Wessel Multi-directional mobile robotic cell
JP2015147265A (ja) * 2014-02-06 2015-08-20 日産自動車株式会社 組み立て装置
JP2015182222A (ja) * 2014-03-24 2015-10-22 ザ・ボーイング・カンパニーＴｈｅＢｏｅｉｎｇ Ｃｏｍｐａｎｙ 組立製造のためのシステム及び方法
JP2015188113A (ja) * 2015-06-26 2015-10-29 パナソニックＩｐマネジメント株式会社 電子部品実装システムおよび電子部品実装方法
JP2016058605A (ja) * 2014-09-11 2016-04-21 パナソニックＩｐマネジメント株式会社 部品実装方法

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JPH08162797A (ja) * 1994-12-08 1996-06-21 Matsushita Electric Ind Co Ltd 電子部品実装装置
AU2001274963A1 (en) * 2000-05-25 2001-12-03 Burleigh Automation, Inc. Manipulator/end effector head for robotic assembly
US20020185359A1 (en) * 2001-06-06 2002-12-12 Livingston John Scott Robot having interlock mechanism
JP2003159679A (ja) * 2001-11-27 2003-06-03 Juki Corp 複軸ロボット
JP4316336B2 (ja) * 2003-09-26 2009-08-19 パナソニック株式会社 部品実装ヘッド及び部品実装装置
JP5656804B2 (ja) * 2011-11-07 2015-01-21 三菱電機株式会社 組立ロボット装置
JP6039187B2 (ja) * 2012-02-03 2016-12-07 キヤノン株式会社 組立装置、把持ハンドおよび物品の組立方法
TWI595958B (zh) * 2014-09-30 2017-08-21 佳能股份有限公司 自動化組裝設備、自動化組裝系統及自動化組裝方法
DE202015000787U1 (de) 2014-10-05 2016-01-07 Thomas Magnete Gmbh Produktionsanlage und deren Teile
JP2015008339A (ja) * 2014-10-17 2015-01-15 富士機械製造株式会社 製造作業機
CN204748031U (zh) * 2015-07-09 2015-11-11 徐州华恒机器人系统有限公司 龙门打磨、抛光、去毛刺机器人工作站

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4890241A (en) * 1987-10-26 1989-12-26 Megamation Incorporated Robotic system
JPH04210392A (ja) * 1990-12-13 1992-07-31 Mitsubishi Electric Corp 産業用ロボット装置
JPH06155186A (ja) * 1992-11-11 1994-06-03 Sanyo Electric Co Ltd 部品装着ヘッド衝突回避方法及びそれを使用した部品装着装置
JPH06179136A (ja) * 1992-12-15 1994-06-28 Mazda Motor Corp 組付装置
JPH10272570A (ja) * 1997-03-31 1998-10-13 Nkk Corp 大型構造物の溶接ロボット装置
US20080060575A1 (en) * 2004-06-25 2008-03-13 Durr Systems, Inc. Coating installation and associated operating procedure
JP2006180645A (ja) * 2004-12-24 2006-07-06 Matsushita Electric Ind Co Ltd 多軸リニアモータ、及び該多軸リニアモータを利用する実装ヘッド、部品実装装置、並びに磁力遮蔽材及び磁力遮蔽方法
US20110214586A1 (en) * 2009-09-09 2011-09-08 Brent Wessel Multi-directional mobile robotic cell
JP2015147265A (ja) * 2014-02-06 2015-08-20 日産自動車株式会社 組み立て装置
JP2015182222A (ja) * 2014-03-24 2015-10-22 ザ・ボーイング・カンパニーＴｈｅＢｏｅｉｎｇ Ｃｏｍｐａｎｙ 組立製造のためのシステム及び方法
JP2016058605A (ja) * 2014-09-11 2016-04-21 パナソニックＩｐマネジメント株式会社 部品実装方法
JP2015188113A (ja) * 2015-06-26 2015-10-29 パナソニックＩｐマネジメント株式会社 電子部品実装システムおよび電子部品実装方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022011162A1 (en) * 2020-07-08 2022-01-13 Milara Incorporated Flexible modular assembly system

Also Published As

Publication number Publication date
EP3448623B1 (de) 2019-10-09
WO2017215708A1 (de) 2017-12-21
CN109475988A (zh) 2019-03-15
DE102016007192A1 (de) 2017-12-14
EP3448623A1 (de) 2019-03-06

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