WO1999043462A1

WO1999043462A1 - Production cell

Info

Publication number: WO1999043462A1
Application number: PCT/FI1999/000151
Authority: WO
Inventors: Ari NIEMELÄ
Original assignee: Jot Robotics Oy
Priority date: 1998-02-26
Filing date: 1999-02-25
Publication date: 1999-09-02
Also published as: SE0002903L; AU2626599A; FI980440A0; DE19982903T1; SE0002903D0; FI980440A; SE517131C2

Abstract

The invention relates to a production cell comprising a frame (1), a thereto attached production apparatus (2), such as a robot, and a control unit (3) for controlling the production apparatus (2). In order to facilitate and speed up the changes to be performed for the production cell, the production cell comprises at least two alternative actuator modules (8), both of which being provided with actuators needed for a particular production stage, said frame (1) and said at least two actuator modules (8) being provided with first locator elements (7, 9) controlling the actuator module mounted to the frame (1) into a predetermined position regarding the frame (1), and a first interface (13) being arranged to the frame (1) for connecting the actuators of the actuator module (8) mounted to the frame (1) to the control unit (3), whereby the control unit (3) controls the production apparatus (2) and the actuators of the actuator module (8) mounted to the frame (1) to co-operate.

Description

PRODUCTION CELL

The invention relates to a production cell comprising a frame, a thereto attached production apparatus, such as a robot, a memory in which a programme for controlling the production apparatus is stored, and a control unit for controlling the production apparatus in accordance with the programme stored in the memory.

The invention relates to an assembly associated with manufacturing a production cell and particularly to altering the production cell when the op- eration stages in the production cell change, for example, when the product to be manufactured in the production cell changes. Such a change often requires that at least some of the actuators in the production cell are changed. However, the production apparatus, or the robot, in the cell is not changed in such situations but is merely reprogrammed so as to be able to co-operate with new actuators.

In prior art production cells individual actuators are attached to the production cell frame, in which case the change thereof requires each individual actuator to be separately detached and changed. Such a change of actuators is extremely laborious and slow. Furthermore, the production cell frames are generally tailor-made in order to conduct a particular production stage, whereby the frames intended to conduct different production stages generally differ from one another. Thus, in some cases, it may be impossible to change a particular production cell in such a manner that it could be used to conduct another production stage, because the actuators needed to perform said second production stage cannot be arranged to the frame.

If, however, it is possible to change the actuators in the production cell, a drawback is in general associated with prior art production cells that the function thereof must be tested before starting actual production. It is then ensured during the test stage that the production apparatus and the new actua- tors of the production cell can co-operate, as desired, ensuring at the same time that the positions of the actuator in reality correspond with the presumed positions which are programmed into the production apparatus (otherwise the production apparatus may, for example, collide with the actuator). Carrying out the test stage further delays the production cell change. The idea of the invention is to solve the problems described above and to provide a production cell which can be changed in a significantly sim- pier and faster way than prior art production cells. This aim is achieved with a production cell of the invention, characterized by the production cell comprising at least two alternative actuator modules, both of which being provided with actuators needed for a particular production stage, said frame and said at least two actuator modules being provided with first locator elements controlling the actuator module mounted to the frame into a predetermined position regarding the frame, and a first interface being arranged to the frame for connecting the actuators of the actuator module mounted to the frame to the control unit, whereby the control unit controls the production apparatus and the actuators of the actuator module mounted to the frame to co-operate in order to conduct the production stage to be performed in the production cell.

The invention is based on the idea that standardizing the shape of the production cell frames and assembling the actuators used in the production cell to interchangeable actuator modules significantly facilitate and speed up the production cell change. All the actuators of the production cell can then be changed at the same time by changing the entire actuator module. When the production cell frame and actuator modules are provided with locator elements the actuator modules can directly be mounted into a proper position of the frame, thus ensuring that the positions of the actuators assumed in pro- gramming the production apparatus are correct. Hence, the need to carry out a separate test stage is avoided. The compatibility of the actuators and the production apparatus can also be ensured by connecting the actuators through the interface in the frame to the control unit of the production apparatus. The same control unit thus controls both the actuator and the production apparatus. The actuator module may also comprise a specific control unit. However, the control unit of the production apparatus attends to the highest level control ensuring the compatibility of the production apparatus and the actuators.

In a preferred embodiment of the production cell of the invention said at least two actuator modules comprise a memory means in which data needed to identify the actuator modules is stored. Then the control unit comprises means for identifying the actuator module on the basis of the data stored in the memory means, when the actuator module is connected to the control unit, and means for retrieving a programme stored in said memory concerning the identified actuator module and controlling the production apparatus and the actuators of the actuator module in accordance with said pro- 3 gramme. This embodiment of the invention still further speeds up the actuator module change in the production cell. Since the control unit can independently identify the actuator module and retrieve for it a programme previously stored in the memory, the actuator module change does not require programming operations when changing the actuator module. It is therefore enough to mount the actuator module to the frame and connect it to the control unit, whereafter the production cell is ready for a new operation stage.

The preferred embodiments of the production cell of the invention are disclosed in independent claims 2 to 3. In the following the invention will be described in greater detail by way of example by a preferred embodiment with reference to the accompanying drawings, in which

Figure 1 shows a production cell before an actuator module and a conveyor are mounted, and Figure 2 shows a production cell ready for use.

Figure 1 shows a production cell before an actuator module and a conveyor are mounted. The production cell in Figure 1 comprises a frame 1 , a thereto attached four-dimensional production apparatus 2, which can be formed of a robot (the robot can alternatively also be, for example, two or three-dimensional). For controlling the robot 2 a control unit 3 is arranged to the frame comprising a memory 4. A user interface 5 is also connected to the control unit 3.

A free surface 6 is arranged to the frame 1 for receiving actuators of the production cell. Locator elements 7, formed of pins in Figure 1 , protrude from said surface. An actuator module 8 to be mounted to the frame also comprises locator elements 9 (apertures in Figure 1), which are counterparts of the locator elements 7 in the frame 6. The locator element control thus enables the actuator module 8 to be accurately mounted into a predetermined position on the surface 6 of the frame 1. A conveyor 10 including accessories (such as a stopper, centralizer and sub-response) is also mounted on the surface 6 of frame 1. For this purpose, second locator elements 11 are arranged on the surface 6. The conveyor can thus be accurately mounted into a predetermined position on the surface 6 due to the control of the locator elements 11 of the frame 1 and the locator elements 12 of the conveyor.

It is therefore very simple to mount the conveyor 10 and the actua- tor module 8 to the frame 1 , since the location thereof is directly determined by the position of the locator elements. When the conveyor 10 and the actuator module 8 have been lifted into position on the surface 6 they can be attached into position with only a few screws that prevent them from moving when the production cell is used.

An interface 13 is arranged to the frame 1. After mounting the actuator module 8 into position the interface 13 is connected to a counterpart 14 (shown in Figure 2) in the actuator module. The actuators of the actuator module 8 can thus be connected to the control unit 3 of the production cell. Correspondingly the frame 6 comprises an interface 15 which is connected to a counterpart 16 in the conveyor. The conveyor is thus also connected to the control unit 3. All electrical connections of the actuator module and correspondingly the conveyor can therefore be conducted through a single interface. The actuator module 8 may comprise a specific control unit for controlling the actuators therein, but it is the control unit 3 of the production apparatus that attends to the highest level control ensuring the compatibility of the production apparatus 2 and the actuators.

If, for example, compressed air is needed in the actuator module 8 and/or the conveyor, the frame 6 may comprise an interface to a compressed air source. Then the actuator module and/or the conveyor are provided with a compressed-air hose, which is attached to the interface in the frame. Therefore cords/hoses to be connected to the actuator or the conveyor from outside the production cell are not needed, instead all the cords/hoses to be connected to the conveyor or the actuator module are drawn from the production cell frame.

Figure 2 shows a production cell ready for use. in Figure 2 the actuator module 8 and the conveyor 10 of Figure 1 are mounted and attached into position in the frame 1. In addition, all cords and hoses needed are connected to them. Then, the user of the production cell activates the control unit 3 of the production cell through a user interface 5.

When the control unit 3 of the production cell is activated, it identifies at first the actuator module 8 mounted thereto. In this case, each actuator module 8, 18, 28, 38 that can be mounted to the frame 1 comprises a memory means (for example in the counterpart, i.e. the cable connector 14) in which an identifier intended to identify the actuator module is stored. The control unit 3 thus reads the identifier from the actuator module 8. 5

When the control unit has identified the actuator module 8 it retrieves from the memory 4 the programme stored therein for said actuator module. The conveyor 10 may also comprise a corresponding memory that allows the control unit 3 to identify the conveyor. The production cell is thus ready for use as soon as the control unit 3 thereof has retrieved the correct programme from the memory 4. Then, the control unit 3 is ready to start to control the production apparatus 2, the actuators of the actuator module 8 (for example through the specific control unit of the actuator module) and the conveyor 10 as programmed for conducting the production stage determined by the programme. No separate test sequence is needed since the locator elements have accurately determined the positions of the actuators and the conveyor and production can be started immediately.

Figure 2 shows a rack 19, in which three alternative actuator modules 18, 28, 38 are arranged that can all be mounted to the production cell frame 1 using a forklift 17. All said production modules comprise counterparts 14 in which data is stored enabling the control unit 3 to identify them, and thereafter to retrieve a programme regarding the modules stored in the memory. Correspondingly there may be several conveyors, for example, for conveying products of various shapes. Actuators arranged to the actuator modules can in principle consist of any prior art actuators. For example:

- a router used to detach circuit boards attached together in a panel that the conveyor brings to the production cell,

- a label assembly device attaching a label on the circuit board that the conveyor brings to the production ceil,

- a component assembly device assembling electrical components on the circuit board that is brought to the production cell.

The actuator modules may also comprise tool houses for the production apparatus 2. The production apparatus may thus search for a tool in- tended for a particular production stage from the actuator module tool house and return it after the operation stage.

The production cell of the invention enables implementation of new production stages within a very short time. By using standard frames 1 in production cells a new operation stage can easily be "initiated" in another produc- tion cell, or test cell, than where the actual production will take place. Then, the actuators needed in the new production stage are assembled to a new 6 actuator module, which is mounted to the test cell, where the programming and testing required by the operation stage are conducted. When the new production stage operates satisfactorily in the test cell the new actuator module can be mounted to the actual production cell. Then, also the programme accomplished in the test cell is stored in the memory arranged at the control unit of the production cell. Since the frame of the production cell and the test cell and the production apparatus are identical, production can thereafter be started immediately in the production cell. The production cell has thus "stopped" for a very short time despite a completely new production stage or product.

It should be understood that the above description and the drawings associated therewith are merely intended to illustrate the invention. Different variations and modifications of the invention will be obvious for those skilled in the art without deviating from the scope and the spirit of the invention set forth in the attached claims.

Claims

7CLAIMS

1. A production cell comprising a frame (1), a thereto attached production apparatus (2), such as a robot, a memory (4) in which a programme for controlling the production apparatus (2) is stored, and a control unit (3) for controlling the production apparatus (2) in accordance with the programme stored in the memory (4), c h a r a c te r i z e d by the production cell comprising at least two alternative actuator modules (8, 18, 28, 38), both of which being provided with actuators needed for a particular production stage, said frame (1) and said at least two actuator modules (8, 18, 28, 38) being provided with first locator elements (7, 9) controlling the actuator module (8, 18, 28, 38) mounted to the frame (1) into a predetermined position regarding the frame (1), and a first interface (13) being arranged to the frame (1) for connecting the actuators of the actuator module (8, 18, 28, 38) mounted to the frame (1) to the control unit (3), whereby the control unit (3) controls the production ap- paratus (2) and the actuators of the actuator module (8, 18, 28, 38) mounted to the frame (1) to co-operate in order to conduct the production stage to be performed in the production cell.

2. A production cell as claimed in claim ^ c h a r a c t e r i z e d by the production cell comprising at least two alternative conveyors (10) for carrying parts to be processed in the production cell to and/or from the production cell, the frame (1) and said at least two conveyors (10) being provided with second locator elements (11 , 12) controlling the conveyor mounted to the frame into a predetermined position in relation to the frame (1), and a second interface (15) being arranged to the frame (1) for connecting the conveyor mounted to the frame (1) to the control unit (3), whereby the control unit (3) controls the conveyor (10), the production apparatus (2) and the actuators of the actuator module (8, 18, 28, 38) mounted to the frame (1) to co-operate in order to conduct the production stage to be performed in the production cell. 8

3. A production cell as claimed in claim 1 or 2, c h a r a c t e r i z e d by said at least two actuator modules (8, 18, 28, 38) comprising a memory means, in which data needed to identify the actuator modules (8, 18, 28, 38) is stored, the control unit (3) comprising means for identifying the actuator module (8, 18, 28, 38) on the basis of the data stored in the memory means, when the actuator module (8, 18, 28, 38) is connected to the control unit (3), and the control unit (3) comprising means for retrieving a programme stored in said memory (4) regarding the identified actuator module (8, 18, 28, 38), and for controlling the production apparatus (2) and the actuators of the actuator module (8, 18, 28, 38) in accordance with said programme.