WO2003080288A1 - Procede et agencement d'assemblage - Google Patents

Procede et agencement d'assemblage Download PDF

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Publication number
WO2003080288A1
WO2003080288A1 PCT/FI2003/000221 FI0300221W WO03080288A1 WO 2003080288 A1 WO2003080288 A1 WO 2003080288A1 FI 0300221 W FI0300221 W FI 0300221W WO 03080288 A1 WO03080288 A1 WO 03080288A1
Authority
WO
WIPO (PCT)
Prior art keywords
blank
actuator
workstation
gripper
robot
Prior art date
Application number
PCT/FI2003/000221
Other languages
English (en)
Inventor
Jiri Ahlvik
Juha Kettunen
Esa Laukkanen
Original Assignee
Abb Oy
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 Abb Oy filed Critical Abb Oy
Priority to AU2003212404A priority Critical patent/AU2003212404A1/en
Publication of WO2003080288A1 publication Critical patent/WO2003080288A1/fr

Links

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
    • 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
    • B23Q7/04—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 by means of grippers
    • B23Q7/047—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 by means of grippers the gripper supporting the workpiece during machining
    • 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

Definitions

  • the object of the present invention is a method according to the introduction part of claim 1 and a system according to the introduction part of claim 5 for the assembly of equipment.
  • Assembly refers to combining parts, components and supplies together to form a functioning product or part thereof. However, assembly work also includes auxiliary functions such as handling components, moving them from one place to another, storing, fitting and inspecting them.
  • Industrial robots are an essential part of an automatic assembly system. The most common types are scara robots, articulated robots and portal robots. The robots may be equipped with grippers, the most common type of which is a vacuum gripper, but both clamp grippers and magnetic grippers are generally available.
  • the object moves on a conveyor from one workstation to another.
  • the object under assembly is typically fastened to a carriage or palette moving on the conveyor.
  • One or more robots at a workstation typically carry out only one or at most a few short stages of work on the object.
  • the robots attach parts into a partially completed assembly and carry out other tasks.
  • Parts are typically installed from the top while the object is on a conveyor or other plane.
  • the conveyor moves the previous assembly or palette forward and brings a new object or palette to the workstation for robot action.
  • the conveyor is typically equipped with various kinds of stoppers, and the assembly palette is mechanically locked at the position determined by the work stage.
  • the bottleneck for production flexibility is usually not the robot but the equipment feeding the parts and other peripheral equipment.
  • the conveyor system has a great impact on system flexibility, efficiency and reliability, because the flow of material to the robots and through the entire assembly line is most typically managed by automatic conveyors in particular.
  • a method for assembling a large quantity of small parts using a robot and a rotating palette is known from the US patent publication 5,509,191.
  • the small parts are arranged in the compartments of the palette, and the palette is adapted to the turning wrist of the robot.
  • the robot circulates the palette from one workstation to another within its working range by turning the palette to offer the currently required part.
  • the purpose of the present invention is to eliminate the disadvantages of prior art and create a new assembly method that includes at least one programmable actuator equipped with a gripper, at least one blank and at least one workstation, and in which method the blank is processed at the workstation while it is attached to the actuator gripper, and the blank can be moved to another workstation by means of the actuator gripper.
  • the method according to the invention is characterised by the features specified in the characteristics section of claim 1 and, correspondingly, the system according to the invention is characterised by the features specified in the characteristics section of claim 5.
  • the invention is based on the idea that a linear stepping flow of material can be converted to a rotating flow by means of a device or equipment generating rotation, and a separate conveyor is not needed.
  • the rotation-generating equipment may be, for example, a robot arm. The flow of material can thus be separated from the actuators and their sequences.
  • a blank refers to an installation blank, partial assembly, half-finished product or other such object where parts are attached or which is processed by other means.
  • parts are installed into the blank at an actuator gripper, such as a gripper attached to a robot arm.
  • an actuator gripper such as a gripper attached to a robot arm.
  • the robot gripper may turn the object to the required angle before installation - that is, raise or lower the object, turn it to the side or rotate it. Installation can be carried out from any desired angle.
  • the robot moving the blank is a robot separate from the workstation, and it is the only robot that needs to be equipped with the required type of gripper or grippers.
  • the required movement of the robots at the workstations is reduced, as the blank-moving robot positions the blanks in accordance with the requirements of the workstation.
  • the method according to the invention provides an opportunity to rapidly increase assembly capacity or change the product under assembly. This makes the assembly costs of small product runs manageable. Because the method does not require conveyors for moving the blanks from one assembly workstation to another, the assembly, the required workstations and the assembly route can be altered by means of programming. Workstations can also be added, removed or replaced by simple and quick actions. This enables flexible use of the floor area reserved for the assembly process.
  • the positions of palettes, jigs, partial assemblies or products are determined in software.
  • the robot is also able to take the required part or partial assembly to the desired position with very high precision.
  • the robot may be equipped with a vision system, for example, for added precision. No mechanical positioning equipment or separate actuators are required.
  • a preferred embodiment of the invention is a production automation process where the production or assembly line is divided into functional cells. Parts to be assembled are brought to the assembly equipment in the cells using conventional means, such as trays, conveyors or mechanical feeding equipment.
  • the cells are equipped with one or more rotating robots with grippers for moving the blanks. The most extensive working range of the moving robot can be described as an outer circle whose interior is an intersection of several circles.
  • the blank-moving robot is preferably attached to a central module that serves as an attachment base for the robot.
  • the central module can be equipped with locking wheels, for example, for facilitating movement, and include the power and data connections required for operating and controlling the robot.
  • the central module may be equipped with power and pneumatic connections for peripheral devices, as well as an I/O interface and Local Area Network (LAN) interface.
  • One or more workstations are typically fitted around the blank-moving robot within its working range.
  • the workstations are robots as well, performing tasks such as stacking, gluing, screwing, welding, painting, drilling etc.
  • the moving robot takes one or two blanks and uses the gripper to move it or them from one workstation to another within its working range in a programmed sequence.
  • the blanks are attached to the robot gripper all the time, and the robot turns them in accordance with the requirements of each workstation. Depending on the product under assembly, the blank is taken to all workstations, only some of them, or several times to all or some of them.
  • the robot moves it forward to another object-moving robot, a conveyor or intermediate storage, for example.
  • another object-moving robot a conveyor or intermediate storage, for example.
  • one or two blanks are under processing within the working range of the same moving robot, and these blanks are processed to the planned degree of completion by circulating them at the workstations before starting to process the next blanks.
  • the embodiment according to the invention where the object-moving robot is attached to the central module and peripheral equipment is arranged around it is particularly preferred when the central module and peripheral equipment are designed to allow peripheral equipment to be attached and detached from the central module without stopping the operation of the central module.
  • the lower section of the central module can be hexagonal or octagonal, for example, and can be equipped with mechanical connections that allow a peripheral device, such as a workstation, conveyor or component-feeding device to be attached to each corner.
  • the peripheral devices are detachable modules equipped with mechanical connections that allow them to be quickly and simply attached to the central module. It is preferred to use a quick connection for attaching the central module and peripheral devices to each other, mechanically aligning the parts in a few seconds.
  • the standard connections may include, for example, a conical pin joint and connections for power, compressed air, I/O and LAN.
  • the object- moving robot in the central module communicates with the peripheral equipment through the mechanical interface. After adding a peripheral equipment module while the assembly cell comprising the central module and the peripheral equipment modules is in operation, the central module can be notified in software that the blank shall be brought to the peripheral device in question on the next round. Correspondingly, peripheral equipment modules can be excluded from operation by notifying the central module in software. During the changes, the central module operates without interruption and moves the blank between the available peripheral equipment modules.
  • the central module embodiment according to the invention is particularly preferred if the design of the central module and the surrounding workstations allows the workstation tables to remain free.
  • Such a design can be, for example, an essentially column-shaped workstation robot support structure.
  • the robots are attached to the top of the column.
  • the object-moving robot rotates at the centre of the central module and visits the workstations either by a rotating movement or a forward-backward movement.
  • the design allows parts to be brought in from three different directions simultaneously or from one, two or three optional directions without regard to the robot or robots moving the object at the workstation. This brings substantial benefits of flexibility to production and equipment design.
  • a particularly preferred embodiment of the invention comprises a lightly constructed central module and a peripheral equipment module of a design where the bodies of the modules are supporting structures and a rigid structure covering a more extensive floor area is only formed by attaching these together.
  • the central module and peripheral equipment modules are so light, high and narrow column-type structures that they cannot stand unsupported.
  • a peripheral device must be supported by one or more peripheral devices or the central module.
  • Such a structure can be economically and quickly fabricated using welded structure columns, for example.
  • the advantages of lightweight modules in comparison with prior art units weighing hundreds of kilograms include their easy mobility and low manufacturing costs.
  • a preferred embodiment of the invention is the assembly of handheld phones. It is typical of handheld phones that several models are in production simultaneously.
  • peripheral devices bring parts to be assembled, such as phone housings and windows, to the assembling devices.
  • the cells are equipped with one or more rotating robots with an arm and gripper for moving the blank.
  • One or more workstations are typically fitted around the blank-moving robot within its working range. It is practical that the robot moving the blank between the workstations is rotating, but if required, the robot can also be adapted to move between positions on rails, for example.
  • the workstations are robots as well, performing tasks such as stacking, gluing, screwing, welding, painting, drilling etc.
  • the robot moving the blanks grips the blank with a gripper at the end of its arm and moves it from one workstation to another within its working range in a programmed sequence.
  • the robot arm can move the blank in the vertical and horizontal direction and rotate it.
  • the blank is taken to all workstations, only some of them, or maybe several times to all or some of them.
  • the robot moves it forward to another object-moving robot within the same cell, a conveyor or intermediate storage, for example.
  • FIG. 1 Assembly cell equipped with one object-moving robot Figure 2. Assembly cell equipped with several object-moving robots Figure 3. Assembly cell implemented using a central module and peripheral modules.
  • Figure 1 illustrates an object-moving robot 1 , central module 2, gripper 3, blank 4, axis of rotation 5, workstation robots 6, 7, 8, 9, workstations 11 , 12, 13, 14, assembly blanks 20, first parts 21 , second parts 22, third parts 23, fourth parts 24 and a finished assembly 25.
  • Figure 1 illustrates an assembly cell where an object-moving robot 1 is attached to the central module 2, and workstations 6, 7, 8, 9 are arranged around the central module 2.
  • the object-moving robot 1 is rotating and can rotate 360 degrees around its axis of rotation 5.
  • the working range of robot 1 extends to the workstations 6, 7, 8, 9.
  • Assembly blanks 20 are brought to the assembly cell, and the object-moving robot 1 picks one of them using its gripper 3.
  • the robot 1 moves the blank 4 using its gripper 3 to the workstation 11 by rotating around the axis of rotation 5 and turns it to a position suitable for the workstation robot 6.
  • the workstation robot 6 installs the part 21 into the blank 4 while the blank 4 is attached to the gripper 3 all the time.
  • the object-moving robot 1 rotates forward, moves the blank 4 to the workstation 13 and turns it to a position suitable for the workstation robot 8.
  • the workstation robot 8 installs the part 23 into the blank 4.
  • the object-moving robot 1 rotates forward, moves the blank 4 to the workstation 14 and turns it to a position suitable for the workstation robot 9.
  • the workstation robot 9 installs the part 24 into the blank 4.
  • the object-moving robot 1 rotates backwards, moves the blank 4 to the workstation 12 and turns it to a position suitable for the workstation robot 7.
  • the workstation robot 7 installs the part 22 into the blank 4.
  • the assembly of blank 4 is complete and the object-moving robot 1 moves it to the finished assemblies 25.
  • Figure 2 illustrates object-moving robots 31 , 61 , 91 , central modules 32, 62, 92, grippers 33, 63, 93, blanks 34, 64, 94, workstations 41, 42, 43, 44, 45, 71 , 72, 73, 101 , 102, assembly blanks 50, parts to be attached to the blank 51 , 52, 53, 54, 55, 81 , 82, 83, 111 , 112, partial assemblies 56, 84, finished assembly 113 and working ranges 121 , 122, 123 .
  • Figure 2 illustrates an assembly cell comprising three object-moving robots 31 , 61 , 91 attached to the central modules 32, 62, 92, and ten workstations 41 , 42, 43, 44, 45, 71 , 72, 73, 101 , 102 arranged around the central modules.
  • the first unit within the assembly cell comprises the central module 32, the object-moving robot 31 attached to the central module 32 and five workstations 41 , 42, 43, 44, 45 arranged around the central module 32.
  • Assembly blanks 50 are brought into the working range 121 of the object-moving robot 31 in the first unit.
  • the robot 1 grips the assembly blank 50 using its gripper 33 and uses the gripper 33 to move it to the workstation 41 , where the part 51 is installed into it.
  • the robot 31 circulates the blank 34 attached to its gripper 33 between the other workstations 42, 43, 44, 45 within its working range, which add the parts 52, 53, 54, 55 into the blank 34.
  • the object-moving robot 31 moves the blank 34 to the partial assemblies 56 within the working range 122 of the object-moving robot 61 in the second unit.
  • the second unit comprises the central module 62, the object- moving robot 61 attached to the central module 62 and three workstations 71 , 72, 73 arranged around the central module 62.
  • the object-moving robot 61 in the second unit picks the blank 64 from the partial assemblies 56 using its gripper 63 and circulates the blank 64 between the workstations 71 , 72, 73 within its working range, which workstations add the parts 81 , 82, 83 to the blank 64.
  • the object-moving robot 61 moves the blank 64 to the partial assemblies 84 within the working range 123 of the object-moving robot 91 in the third unit.
  • the third unit comprises the central module 92, the object-moving robot 91 attached to the central module 92 and two workstations 101 , 102 arranged around the central module 92.
  • the object-moving robot 91 in the third unit picks the blank 94 from the partial assemblies 84 using its gripper 93 and circulates the blank 94 between the workstations 101 , 102 within its working range, which workstations add the parts 111 , 112 to the blank 94. After the third unit has carried out the programmed operations on the blank 94, the object-moving robot 91 moves the blank 94 to the finished assemblies 113.
  • Figure 3 illustrates object-moving robots 131 , 141 , central module 132, grippers 133, 143, blanks 134, 144, object-moving robot support structure arm 135, central module base 136, workstation modules 151 , 152, conveyor 153, component- feeding device 154, workstation module bases 161 , 162, work tables 171 , 172, workstation robots 181, 182, workstation robot support structure arms 191 , 192, and parts to be attached to the blank 201 , 202, 203, 204, 205, 206.
  • Figure 4 illustrates the vertical section 137 of the object-moving robot support structure.
  • Figure 3 illustrates an assembly cell implemented using a central module 132 and the peripheral modules 151 , 152, 153, 154.
  • Figure 4 illustrates a vertical support structure 137 and an essentially horizontal arm 135 attached to the base 136 of the central module 132.
  • the object-moving robot 131 is attached to the support structure arm 135.
  • Another object-moving robot 141 is attached to the central module base 136 below the robot 131.
  • Both object-moving robots 131 , 141 are equipped with grippers 133, 143, which can grip the blanks 134, 144.
  • Two workstation modules 151 , 152 are supported by the central module base 136 and attached to it at their bases 161 , 162.
  • the support structure arm 135 of the object-moving robot 131 is positioned so that it faces the central module 132 to prevent the vertical section 137 of the support structure from causing an obstruction between the object-moving robots 131 , 141 and the workstation robots 181 , 182.
  • the workstation robot 181 is attached to a support structure similar to that of the object-moving robot 131.
  • a work table 171 is placed below the workstation robot 181 , allowing parts to be attached to the blank 201 , 202, 203 to be placed on it.
  • the work table 171 is attached to the vertical section of the workstation robot support structure.
  • the vertical section of the support structure is narrow, allowing parts to be brought to the work table 171 from several directions, from the back 201 , from the side 202 and from the front 203.
  • the conveyor 153 and component-feeding device 154 are supported by the central module base 136.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

La présente invention a trait à un procédé et un système d'assemblage d'équipement. L'équipement selon l'invention comporte au moins une ébauche (4) et le procédé utilise un actionneur (1) équipé d'un organe de préhension (3), l'ébauche (4) est attachée à l'organe de préhension (3), l'ébauche (4) est traitée à un poste de travail (11-14), l'ébauche (4) est ensuite déplacée vers un autre poste de travail (11-14) au moyen de l'actionneur (1) et l'ébauche (4) est attachée de manière continue à l'organe de préhension (3) de l'actionneur.
PCT/FI2003/000221 2002-03-21 2003-03-21 Procede et agencement d'assemblage WO2003080288A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003212404A AU2003212404A1 (en) 2002-03-21 2003-03-21 Method and arrangement for assembly

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20020547A FI20020547A (fi) 2002-03-21 2002-03-21 Menetelmä ja laitteisto kokoonpanoon
FI20020547 2002-03-21

Publications (1)

Publication Number Publication Date
WO2003080288A1 true WO2003080288A1 (fr) 2003-10-02

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Application Number Title Priority Date Filing Date
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Country Status (3)

Country Link
AU (1) AU2003212404A1 (fr)
FI (1) FI20020547A (fr)
WO (1) WO2003080288A1 (fr)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2874190A1 (fr) * 2004-08-16 2006-02-17 Abb Mc Soc Par Actions Simplif Poste de realisation d'un travail sur une piece
WO2007128664A1 (fr) * 2006-05-05 2007-11-15 Thyssenkrupp Drauz Nothelfer Gmbh Installation de fabrication pour des composants complexes, en particulier pour des composants d'une carrosserie d'automobile
EP2095922A2 (fr) * 2008-02-27 2009-09-02 IMA Klessmann GmbH Holzbearbeitungssysteme Installation de traitement de pièces usinées en forme de plaques
DE102010052440A1 (de) * 2010-11-24 2012-05-24 Audi Ag Bearbeitungsanlage für faserverstärkte Bauteile
CN102649272A (zh) * 2011-02-25 2012-08-29 株式会社安川电机 工作系统
JP2014176924A (ja) * 2013-03-14 2014-09-25 Yaskawa Electric Corp 生産システム、ロボットセル装置及び製品の生産方法
CN106216301A (zh) * 2016-08-31 2016-12-14 广州粤研智能装备股份有限公司 一种用于清洗大型变速箱前后壳的混线清洗设备
EP3144097A1 (fr) * 2015-09-18 2017-03-22 Magna Exteriors&Interiors (Bohemia) S.r.o. Installation d'usinage modulaire
JP2018062043A (ja) * 2016-10-14 2018-04-19 株式会社不二越 加工装置
IT201700019577A1 (it) * 2017-02-21 2018-08-21 Atom Spa Sistema per la produzione di calzature
WO2018154438A1 (fr) * 2017-02-21 2018-08-30 Atom S.P.A. Système de fabrication de chaussure
DE102017005882B4 (de) 2017-06-22 2019-08-01 FPT Robotik GmbH & Co. KG Verfahren zum Betrieb eines Roboters zur Überprüfung seiner Arbeitsumgebung
EP3539736A1 (fr) * 2018-03-15 2019-09-18 Acam Solution s.r.o. Cellule de lieu de travail robotisée
CN110281259A (zh) * 2019-07-23 2019-09-27 本田金属技术（佛山）有限公司 一种安装在机械手上的双工位夹具及其控制方法

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FR2586908A1 (fr) * 1985-09-06 1987-03-13 Blanc Roger Installation pour la fabrication automatisee des chaussures
US4844678A (en) * 1984-12-19 1989-07-04 Arcofil S.A. Process for automatically feeding work stations and apparatus for practicing the process
FR2712833A1 (fr) * 1993-11-26 1995-06-02 Renault Automation Ligne organisée de postes d'assemblage pour sous-ensembles de carrosserie automobile.
US5509191A (en) * 1994-01-26 1996-04-23 Best; Norman D. Apparatus for assembling and processing small parts using a robot
FR2773092A1 (fr) * 1997-12-29 1999-07-02 Renault Ligne organisee de postes d'assemblage pour sous-ensembles de carrosserie automobile
US5992232A (en) * 1996-05-22 1999-11-30 Asahi Kogaku Kogyo Kabushiki Kaisha Dynamic balance adjusting apparatus
EP1048394A2 (fr) * 1999-04-20 2000-11-02 Bruno Germano Méthode d'assemblage robotisée
EP1225002A1 (fr) * 2001-01-12 2002-07-24 Grundfos A/S Dispositif robotisé comportant deux robots disposés coaxialement et entourés par plusieurs stations de travail

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4844678A (en) * 1984-12-19 1989-07-04 Arcofil S.A. Process for automatically feeding work stations and apparatus for practicing the process
FR2586908A1 (fr) * 1985-09-06 1987-03-13 Blanc Roger Installation pour la fabrication automatisee des chaussures
FR2712833A1 (fr) * 1993-11-26 1995-06-02 Renault Automation Ligne organisée de postes d'assemblage pour sous-ensembles de carrosserie automobile.
US5509191A (en) * 1994-01-26 1996-04-23 Best; Norman D. Apparatus for assembling and processing small parts using a robot
US5992232A (en) * 1996-05-22 1999-11-30 Asahi Kogaku Kogyo Kabushiki Kaisha Dynamic balance adjusting apparatus
FR2773092A1 (fr) * 1997-12-29 1999-07-02 Renault Ligne organisee de postes d'assemblage pour sous-ensembles de carrosserie automobile
EP1048394A2 (fr) * 1999-04-20 2000-11-02 Bruno Germano Méthode d'assemblage robotisée
EP1225002A1 (fr) * 2001-01-12 2002-07-24 Grundfos A/S Dispositif robotisé comportant deux robots disposés coaxialement et entourés par plusieurs stations de travail

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2874190A1 (fr) * 2004-08-16 2006-02-17 Abb Mc Soc Par Actions Simplif Poste de realisation d'un travail sur une piece
WO2006021678A1 (fr) * 2004-08-16 2006-03-02 Abb France Poste de realisation d'un travail sur une piece
US7650679B2 (en) 2004-08-16 2010-01-26 Abb France Method of handling a workpiece in a workstation
WO2007128664A1 (fr) * 2006-05-05 2007-11-15 Thyssenkrupp Drauz Nothelfer Gmbh Installation de fabrication pour des composants complexes, en particulier pour des composants d'une carrosserie d'automobile
EP2095922A2 (fr) * 2008-02-27 2009-09-02 IMA Klessmann GmbH Holzbearbeitungssysteme Installation de traitement de pièces usinées en forme de plaques
EP2095922A3 (fr) * 2008-02-27 2011-07-20 IMA Klessmann GmbH Holzbearbeitungssysteme Installation de traitement de pièces usinées en forme de plaques
DE102010052440A1 (de) * 2010-11-24 2012-05-24 Audi Ag Bearbeitungsanlage für faserverstärkte Bauteile
EP2492055A1 (fr) * 2011-02-25 2012-08-29 Kabushiki Kaisha Yaskawa Denki Système de travail comprenant un robot et plusieurs stations de travail
CN102649272A (zh) * 2011-02-25 2012-08-29 株式会社安川电机 工作系统
US8887893B2 (en) 2011-02-25 2014-11-18 Kabushiki Kaisha Yaskawa Denki Work system
JP2014176924A (ja) * 2013-03-14 2014-09-25 Yaskawa Electric Corp 生産システム、ロボットセル装置及び製品の生産方法
EP3144097A1 (fr) * 2015-09-18 2017-03-22 Magna Exteriors&Interiors (Bohemia) S.r.o. Installation d'usinage modulaire
CN106216301A (zh) * 2016-08-31 2016-12-14 广州粤研智能装备股份有限公司 一种用于清洗大型变速箱前后壳的混线清洗设备
JP2018062043A (ja) * 2016-10-14 2018-04-19 株式会社不二越 加工装置
IT201700019577A1 (it) * 2017-02-21 2018-08-21 Atom Spa Sistema per la produzione di calzature
WO2018154438A1 (fr) * 2017-02-21 2018-08-30 Atom S.P.A. Système de fabrication de chaussure
DE102017005882B4 (de) 2017-06-22 2019-08-01 FPT Robotik GmbH & Co. KG Verfahren zum Betrieb eines Roboters zur Überprüfung seiner Arbeitsumgebung
EP3539736A1 (fr) * 2018-03-15 2019-09-18 Acam Solution s.r.o. Cellule de lieu de travail robotisée
CN110281259A (zh) * 2019-07-23 2019-09-27 本田金属技术（佛山）有限公司 一种安装在机械手上的双工位夹具及其控制方法

Also Published As

Publication number Publication date
AU2003212404A1 (en) 2003-10-08
FI20020547A (fi) 2003-09-22
FI20020547A0 (fi) 2002-03-21

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