US20070164009A1 - Processing method and processing device - Google Patents

Processing method and processing device Download PDF

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Publication number
US20070164009A1
US20070164009A1 US10/552,157 US55215704A US2007164009A1 US 20070164009 A1 US20070164009 A1 US 20070164009A1 US 55215704 A US55215704 A US 55215704A US 2007164009 A1 US2007164009 A1 US 2007164009A1
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United States
Prior art keywords
machining
carrier
accordance
multiaxial
units
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.)
Abandoned
Application number
US10/552,157
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English (en)
Inventor
Johann Hesse
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 Schweissanlagen 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 Schweissanlagen GmbH filed Critical KUKA Schweissanlagen GmbH
Assigned to KUKA SCHWEISSANLAGEN GMBH reassignment KUKA SCHWEISSANLAGEN GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HESSE, JOHANN
Publication of US20070164009A1 publication Critical patent/US20070164009A1/en
Assigned to KUKA SYSTEMS GMBH reassignment KUKA SYSTEMS GMBH CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: KUKA SCHWEISSANLAGEN GMBH
Abandoned legal-status Critical Current

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Classifications

    • 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
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B23Q39/021—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like
    • B23Q39/025—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with different working directions of toolheads on same workholder
    • B23Q39/026—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with different working directions of toolheads on same workholder simultaneous working of toolheads
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61P—SPECIFIC THERAPEUTIC ACTIVITY OF CHEMICAL COMPOUNDS OR MEDICINAL PREPARATIONS
    • A61P3/00—Drugs for disorders of the metabolism
    • A61P3/08—Drugs for disorders of the metabolism for glucose homeostasis
    • A61P3/10—Drugs for disorders of the metabolism for glucose homeostasis for hyperglycaemia, e.g. antidiabetics
    • 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
    • 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
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07D—HETEROCYCLIC COMPOUNDS
    • C07D207/00—Heterocyclic compounds containing five-membered rings not condensed with other rings, with one nitrogen atom as the only ring hetero atom
    • C07D207/02—Heterocyclic compounds containing five-membered rings not condensed with other rings, with one nitrogen atom as the only ring hetero atom with only hydrogen or carbon atoms directly attached to the ring nitrogen atom
    • C07D207/04—Heterocyclic compounds containing five-membered rings not condensed with other rings, with one nitrogen atom as the only ring hetero atom with only hydrogen or carbon atoms directly attached to the ring nitrogen atom having no double bonds between ring members or between ring members and non-ring members
    • C07D207/10—Heterocyclic compounds containing five-membered rings not condensed with other rings, with one nitrogen atom as the only ring hetero atom with only hydrogen or carbon atoms directly attached to the ring nitrogen atom having no double bonds between ring members or between ring members and non-ring members with hetero atoms or with carbon atoms having three bonds to hetero atoms with at the most one bond to halogen, e.g. ester or nitrile radicals, directly attached to ring carbon atoms
    • C07D207/16—Carbon atoms having three bonds to hetero atoms with at the most one bond to halogen, e.g. ester or nitrile radicals

Definitions

  • the present invention pertains to a machining method and a machining device for components, especially motor vehicle body parts.
  • Such machining devices are known from practice, e.g., as welding robots. They comprise a multiaxial transport means in the form of an articulated arm robot and a tool, e.g., a welding tool.
  • a tool e.g., a welding tool.
  • stationary or mobile lateral clamping frames which may be equipped with a plurality of clamping tools, are used to clamp the components.
  • these clamping frames can be attached to the vehicle body or the body parts only on the outside, so that only outer clamping is correspondingly possible. This must be taken into consideration in designing the body and in the concept of the manufacturing process.
  • the accessibility of the components for external welding robots or the like is limited. Clamping body parts on the inside is not possible.
  • the object of the present invention is to show a better machining technique.
  • a machining device for components, especially automobile body parts which device has a multiaxial transport device and tools.
  • At least one carrier is provided with one or more multiaxial machining units with a plurality of tools arranged at the transport means.
  • a machining station may be provided for machining the components (for joining the body parts) with one or more of the machining devices arranged in the machining station.
  • a method for machining cubic components, especially the automobile body parts, by means of the multiaxial transport means is provided in which the transport means introduces at least one carrier with one or more multiaxial machining units into the interior space of the component.
  • the machining units carry out machining operations on the inside of the component.
  • the claimed machining device and technology has the advantage that it has a multifunctional field of use. It forms a so-called multirobot, which can carry out a great variety of activities at different sites and especially joining, clamping or machining sites of the body parts. Moreover, it is possible as a result to carry out a plurality of joining processes on the inside of the vehicle body or the components. In particular, it is possible to clamp a vehicle body on the inside.
  • the multirobot has the advantage that each machining unit with its tool, which may optionally be replaceable, is mobile and able to function independently and is freely programmable. As a result, many different functions can be carried out by the multirobot or the machining units thereof independently from one another. Moreover, this has the advantage that only a single clamping device, which requires only a different programming in case of a changeover to another type, is needed for all the vehicle bodies to be manufactured.
  • the multiaxial machining units arranged at the multirobot can have a very large working range thanks to their freely selectable multiaxial nature.
  • a correspondingly adapted shape of the carrier is also helpful for this.
  • the use of small robots, preferably in the form of small articulated arm robots with six or more axes, is especially advantageous here, especially because standard components can be used for this embodiment of the machining devices. All the kinematic requirements can be satisfied even for a changeover to components of another type due to the highly flexible multiaxial nature with six or more axes, e.g., a seventh telescopic axis for the robot hand. Not even a change of location on the carrier is necessary in case of the small robots as according to the invention. A change in location and re-assembly on the carrier can be carried out as an alternative in case of simpler machining units.
  • a machining station e.g., a geo station or a framing station
  • these multirobots which offers special advantages for the accessibility of the body parts.
  • the clamping effort on the outside of the body parts can be reduced due to an inside clamping technique, which improves and facilitates the accessibility of the body to other machining or processing devices, e.g., welding robots or the like.
  • welding processes or other joining processes can be carried out on the inside of the body more easily and with better quality due to the multiaxial small robots.
  • the multirobot can place the carrier with the small robots in a suitable manner in the interior space of the body.
  • the small robots also have improved accessibility to hidden or hard-to-reach areas of components located on the inside, which are hardly accessible for a welding robot or the like that is arranged on the outside.
  • the outside dimensions of the carrier and the small robots can be reduced such that they can be fed through openings in the component or in the body and placed in the interior space.
  • the carrier In the working position, the carrier can be held by the transport means freely floating or additionally supported at the free end or at another suitable site.
  • Firm support and guiding or mobile support with degrees of freedom in one or more directions or axes may take place. This permits the carrier and its small robots to be re-oriented into different positions.
  • FIG. 1 is a perspective view of a machining station with a multirobot
  • FIG. 2 is a side view of the multirobot
  • FIG. 3 is a top view of the multirobot from FIG. 2 ;
  • FIG. 4 is a side view of a small robot used as part of the multirobot
  • FIG. 5 is a rear view of the small robot.
  • FIG. 6 is a top view of the multirobot in the working position in a body.
  • FIG. 1 shows a machining station ( 1 ) for components ( 2 ), which station may have any desired suitable design.
  • it is a geo station or framing station for body parts ( 2 ), for example, side panels and floor group, which are brought into the machining station ( 1 ) on a pallet or another suitable carrier by means of a conveyor, not shown, and positioned here exactly in a position suitable for machining.
  • the machining station ( 1 ) may be part of a larger production plant and integrated in this case within a transfer line formed by a plurality of stations.
  • a plurality of machining devices ( 5 , 12 ) are present in the machining station ( 1 ). These may be, for example, process devices, especially the welding robots ( 12 ) shown, which are arranged externally and in a floor-bound manner laterally next to or on a portal above the body parts ( 2 ) and the clamping frames ( 4 ).
  • the welding robots ( 12 ) are preferably designed as articulated arm robots with six or more axes, optionally also linear auxiliary axes.
  • the robots ( 12 ) carry suitable and optionally replaceable tools, for example, welding devices, which may, however, also be designed in any other suitable manner.
  • the multirobot ( 5 ) comprises a mobile transport means ( 6 ), which is preferably designed as a transport robot. This is preferably an articulated arm robot with six rotatory axes.
  • the transport robot ( 6 ) may be arranged, for example, as a portal robot suspended on the station frame ( 3 ) and it is located as a result in a central location above the transfer line and may consequently also be oriented centrally and in the direction of the longitudinal axis of the body parts ( 2 ).
  • the transport means ( 6 ) may also be designed in any other desired manner, for example, as a multiaxial linear unit.
  • the number of axes may vary as well. At least two axes that are movable independently from one another are advantageous.
  • the transport means ( 6 ) carries a docked multi-arm unit. This comprises at least one carrier ( 7 ), at which one or more multiaxial machining units ( 8 , 9 ) with at least one tool ( 11 ) each are arranged.
  • the carrier ( 7 ) is detachably connected with a suitable connection of the transport means ( 6 ), preferably the robot hand ( 13 ) of the transport robot.
  • a change coupling may be arranged here, which makes possible the automatic replacement of the carrier ( 7 ) with another carrier or another tool.
  • the carrier ( 7 ) may be a one-part or multipart carrier and is preferably of a rigid and bending resistant design. It may have any desired suitable shape adapted to the machining task.
  • the carrier ( 7 ) may comprise a plurality of parts with corresponding drives, which said parts can be moved, e.g., folded or telescoped relative to one another in a controlled manner and can be locked in the selected position.
  • the carrier ( 7 ) is designed as an essentially straight, box-shaped girder with closed wall.
  • the carrier ( 7 ) may have a singly or multiply bent, curved and/or optionally branched shape, e.g., a Y shape, and grid-like or braced walls.
  • the carrier ( 7 ) preferably has the elongated or stretched, slender girder or rod shape shown.
  • the carrier ( 7 ) has a plurality of prepared and preferably flat mounting surfaces for the machining units ( 8 , 9 ).
  • the cross section of the carrier ( 7 ) is preferably essentially rectangular and offers as a result different flat mounting surfaces on its side walls for the desired and also changeable arrangement of machining units ( 8 , 9 ).
  • the carrier ( 7 ) may be designed as a plate or as a frame, etc.
  • the machining units ( 8 , 9 ) are rigidly or detachably connected with the carrier ( 7 ). They have at least two separate axes of motion and may have any desired suitable design.
  • the machining units ( 8 , 9 ) may be arranged on different sides of the carrier ( 7 ) and may be present as multiple copies. They are arranged at the girder ( 7 ) according to the exemplary embodiment shown in FIGS. 2 and 3 at the side walls that are located opposite each other and are vertical in the stretched position being shown with an offset present in the axial direction or at spaced locations from one another. In the embodiment being shown, there are three left-hand machining units ( 8 ) and three right-hand machining units ( 9 ) in the top view according to FIG.
  • these said left-hand and right-hand machining units are arranged distributed at uniformly spaced locations from one another and are staggered between the left-hand and right-hand sides of the carrier.
  • One or more machining units are additionally arranged on the top side and/or the underside of the carrier ( 7 ) in the variant according to FIG. 6 .
  • the machining units ( 8 , 9 ) are preferably designed as small robots. These are six-axis articulated arm robots of the miniature format, which have, for example, a carrying capacity of 2 kg to 10 kg and an overall height h of about 65 cm. FIGS. 4 and 5 show such small robots ( 10 ). These are six-axis articulated arm robots, which have a frame ( 14 ) attached stationarily to the carrier ( 7 ), a carousel ( 15 ) mounted pivotably thereon, a rocker ( 16 ) mounted rotatably on the latter, and an extension arm ( 17 ) mounted pivotably at the end of the rocker.
  • An automatic change coupling may likewise be present here between the robot hand ( 13 ) and the tool ( 11 ).
  • the small robot ( 10 ) shown may have auxiliary axes, for example, a seventh linear telescope axis for the robot hand ( 13 ), which makes possible an extending movement in relation to the extension arm ( 17 ).
  • a linear axis which makes possible a linear displacement of the entire small robot ( 10 ), may be present between the frame ( 14 ) and the carrier ( 7 ).
  • the drives ( 18 ) of the small robot ( 10 ) are not shown for clarity's sake.
  • the tools ( 11 ) may be of any desired and suitable type. They are preferably machining tools, especially joining tools, e.g., clamping tools, welding tools, bonding tools or the like.
  • the machining units ( 8 , 9 ) and their tools ( 11 ) may be programmed individually and separately from one another in terms of their kinematics and functions. They are preferably controlled from the transport means ( 6 ).
  • the end position of the machining units ( 8 , 9 ) at the workpiece ( 2 ) can be maintained by control circuits, despite possible mechanical tolerances or flexibilities in the multirobot system.
  • the robot control of the transport robot ( 6 ) may be used for the control.
  • the machining units ( 8 , 9 ) are also supplied with energy and other materials needed for operation from the transport means ( 6 ) via the carrier ( 7 ).
  • the multirobot ( 5 ) may be used in different ways in the machining station ( 1 ). For example, it may move into the interior space ( 21 ) of the vehicle body ( 2 ) through a window or door opening or another opening with a docked multi-arm unit, i.e., the carrier ( 7 ) and the small robots ( 10 ). The small robots ( 10 ) with their tools ( 11 ) may be folded in order to occupy the smallest possible space. The transport robot ( 6 ) will then position the carrier ( 7 ) with the small robots ( 10 ) in a predetermined starting position in the interior space ( 21 ) of the body. FIG. 6 shows a schematic top view of such a working position corresponding to FIG. 1 .
  • the transport means ( 6 ) may hold the carrier ( 7 ) in the working position in a freely suspended manner.
  • supporting by means of a support means ( 22 ) shown schematically in FIG. 2 is possible.
  • the supporting may be positive-locking, such that the carrier ( 7 ) cannot move any longer in the supported position. This can be brought about, e.g., by the positive-locking mounting of the free end of the carrier in a corresponding opening of the column.
  • a sphere ( 24 ) may be arranged for this purpose at the free front end or another suitable point of the carrier ( 7 ), e.g., in the form of a joint, a cone or the like, which cooperates with a correspondingly shaped mount ( 25 ) at the column ( 23 ).
  • the mount ( 25 ) may have, e.g., the shape of a flat spherical shell, a cone opening, a semicylindrical flute, etc.
  • the transport means ( 6 ) can rotate the carrier ( 7 ) about the longitudinal axis thereof and, in addition, about the two other rotatory space axes. Only rotation about the longitudinal axis of the carrier ( 7 ) is possible in case of a cone pair.
  • a flute-like mount ( 25 ) there may be a deliberate limitation of the rotary mobility depending on the direction in which the flute is open.
  • the mount ( 25 ) may be accessible from the front, from the top and/or from the side.
  • the supporting ( 22 ) may have one or more degrees of freedom with rotatory and/or translatory axes. Besides a rotary support, a supporting sliding guide is possible as well.
  • each small robot ( 10 ) can move out into its preprogrammed position and carry out the process assigned to it.
  • the small robots ( 10 ) may carry out different processes, for example, a clamping process and a welding process. It is also possible due to the multi-arm unit to perform clamping tasks at different points in the interior space ( 21 ) of the vehicle body ( 2 ).
  • a small robot ( 8 , 10 ) clamps parts of the other side wall ( 19 ) of the body ( 2 ) in FIG. 6 , and an adjacent small robot ( 8 , 10 ′) performs machining operations in this area of the component.
  • the small robots ( 10 ) with their tools ( 11 ) can again be folded in and removed from the vehicle body ( 2 ) together with the carrier ( 7 ).
  • the machining device ( 5 ) may be present in a plurality of copies at the machining station ( 1 ). It may assume other positions and be arranged, for example, on the side and in an upright position.
  • the number and the arrangement of the machining units ( 8 , 9 ) at the carrier ( 7 ) may vary. This also applies to the design embodiment and also the control of the machining units ( 8 , 9 ).
  • These may be remote-controlled movement units with two or more axes, which are actuated and adjusted, for example, via bowden cables at the carrier ( 7 ). They are driven via a suitable adjusting device at the transport means ( 6 ) or at the carrier ( 7 ).
  • the machining units ( 8 , 9 ) and optionally their tools ( 11 ) may have freely programmable surfaces and optionally a memory effect. Furthermore, they may be coated with a flexible plastic coating.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Organic Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Diabetes (AREA)
  • General Chemical & Material Sciences (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Obesity (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Endocrinology (AREA)
  • Medicinal Chemistry (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Emergency Medicine (AREA)
  • Hematology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
US10/552,157 2003-04-16 2004-04-10 Processing method and processing device Abandoned US20070164009A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB0308854.9 2003-04-16
DE20306257U DE20306257U1 (de) 2003-04-17 2003-04-17 Bearbeitungsvorrichtung
GB0311836.1 2003-05-22
PCT/EP2004/003836 WO2004091867A1 (fr) 2003-04-17 2004-04-10 Procede et dispositif de traitement

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US20070164009A1 true US20070164009A1 (en) 2007-07-19

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US10/552,157 Abandoned US20070164009A1 (en) 2003-04-16 2004-04-10 Processing method and processing device

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US (1) US20070164009A1 (fr)
EP (1) EP1620235A1 (fr)
DE (1) DE20306257U1 (fr)
WO (1) WO2004091867A1 (fr)

Cited By (11)

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WO2007129215A3 (fr) * 2006-05-10 2008-06-19 Emmegi Spa Machine-outil
US20090285666A1 (en) * 2008-05-13 2009-11-19 Comau, Inc. High Density Welding Subassembly Machine
US8733617B2 (en) 2008-03-12 2014-05-27 Comau, Inc. Robotic high density welding body shop
WO2016049622A1 (fr) * 2014-09-26 2016-03-31 Norgren Automation Solutions, Llc Joints pouvant être positionnés automatiquement et ensemble d'outillage de transfert comprenant des joints pouvant être positionnés automatiquement
WO2016049006A1 (fr) * 2014-09-22 2016-03-31 Kuka Systems Corporation North America Appareil robotique et procédé pour l'installation de bagues et d'écrous sur des éléments de fixation
US10131388B2 (en) 2014-12-15 2018-11-20 Comau Llc Modular vehicle assembly system and method
US10384873B2 (en) 2016-05-06 2019-08-20 Comau Llc Inverted carrier lift device system and method
US10640297B2 (en) 2017-11-07 2020-05-05 Comau Llc Transport system and methods
US11420853B2 (en) 2019-10-03 2022-08-23 Comau Llc Assembly material logistics system and methods
US11905114B2 (en) 2020-06-08 2024-02-20 Comau Llc Assembly material logistics system and methods
US11958188B2 (en) 2017-11-23 2024-04-16 Deutsches Zentrum für Luft- und Raumfahrt e.V. Modular end effector

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Publication number Priority date Publication date Assignee Title
DE102007039384A1 (de) * 2007-08-17 2009-02-19 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Handhabungsvorrichtung und Verfahren zur Änderung der Gelenkstellungen der Handhabungsvorrichtung
TR200909397A2 (tr) * 2009-12-14 2011-07-21 Vargin Gök Gökhan Çoklu eksene haiz bir robot.
CN103328165B (zh) * 2009-12-21 2015-10-21 威斯托机械制造及操作技术有限公司 操纵装置
DE102013202571B4 (de) * 2013-02-18 2016-05-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Endeffektor für einen Manipulator und Vorrichtung sowie Verfahren zum Bearbeiten und/oder Handhaben von Werkstücken
DE102022103639A1 (de) * 2022-02-16 2023-08-17 Matuschek Meßtechnik GmbH Bearbeitungswerkzeug, insbesondere Schweißzange

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