WO2004091867A1 - Procede et dispositif de traitement - Google Patents

Procede et dispositif de traitement Download PDF

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Publication number
WO2004091867A1
WO2004091867A1 PCT/EP2004/003836 EP2004003836W WO2004091867A1 WO 2004091867 A1 WO2004091867 A1 WO 2004091867A1 EP 2004003836 W EP2004003836 W EP 2004003836W WO 2004091867 A1 WO2004091867 A1 WO 2004091867A1
Authority
WO
WIPO (PCT)
Prior art keywords
processing
carrier
units
processing units
machining
Prior art date
Application number
PCT/EP2004/003836
Other languages
German (de)
English (en)
Inventor
Johann Hesse
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
Priority to US10/552,157 priority Critical patent/US20070164009A1/en
Priority to EP04726847A priority patent/EP1620235A1/fr
Publication of WO2004091867A1 publication Critical patent/WO2004091867A1/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
    • 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 invention relates to a processing method and a processing device for components, in particular body components, with the features in the preamble of the main claim.
  • Such processing devices are from practice e.g. known as a welding robot. They consist of a multi-axis transport device in the form of an articulated arm robot and a tool, e.g. a welding tool.
  • a welding robot consist of a multi-axis transport device in the form of an articulated arm robot and a tool, e.g. a welding tool.
  • processing stations for body components in particular so-called geostations or framing stations for stapling the body components, to use stationary or movable lateral clamping frames for clamping the components, which can be equipped with several clamping tools.
  • these clamping frames can only be attached to the outside of the vehicle body or the body components, so that accordingly only external clamping is possible. This must be taken into account when designing the body and conceiving the manufacturing process.
  • the accessibility of the components for external welding robots or the like limited. It is not possible to clamp body components on the inside.
  • the invention solves this problem with the features in the main method and device claim.
  • Process engineering has the advantage that it has a multifunctional application. It forms one So-called multi-robots, which can carry out a wide variety of activities at different locations and in particular joining, clamping or machining points on the body components. This also makes it possible to carry out several joining processes on the inside of the vehicle body or the components. In particular, it is possible to tension the inside of a vehicle body.
  • each processing unit with its possibly exchangeable tool is independently movable and functional and can be freely programmed.
  • many different functions can be carried out independently of one another by the multi-robot or its processing units.
  • This also has the advantage that only one clamping device is required for all vehicle bodies to be manufactured, which only needs different programming when changing types.
  • Machining units can have a very large working area thanks to their freely selectable multiaxiality.
  • An appropriately 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 particularly advantageous here, especially since standard components can be used for this embodiment of the machining devices.
  • Robot hand all kinematic requirements can also be met for a change of component type. With the claimed small robots, it is not even necessary to change the location on the carrier. In the case of simpler processing units, a change of location and reassembly can alternatively take place on the carrier. Furthermore, it is possible to equip a processing station, for example a geostation or a framing station, with one or more of these multi-robots, which offers particular advantages for the accessibility of the body components.
  • the clamping effort on the outside of the body components can be reduced by an inside clamping technology, which improves and facilitates the accessibility of the body for other processing or process devices, for example welding robots or the like.
  • the multi-axis for example a geostation or a framing station
  • the multi-robot can place the carrier with the small robots in a suitable manner in the interior of the body.
  • the small robots there is an improved "accessibility to hidden or difficult-to-reach internal parts of the component to which an externally arranged welding robot or the like can hardly reach.
  • the outer dimensions of the carrier and the small robots for delivery can be reduced in such a way that they can be fed through openings in the component or in the body and placed in the interior.
  • the wearer In the working position, the wearer can move from the
  • Transport device can be kept floating or additionally supported at the free end or at another suitable location.
  • Axes take place. This allows the wearer and his small robots to be reoriented in different positions. '
  • Figure 1 is a perspective view of a
  • FIG. 2 a side view of the multi-robot
  • FIG. 3 a top view of the multi-robot from FIG. 2,
  • Figure 4 and 5 side and rear view of a
  • Figure 6 a plan view of the multi-robot in
  • Figure 1 shows a processing station (1) for components (2), which can have any suitable training.
  • it is a geostation or framing station for body components (2), for example side walls and base group, which are brought on a pallet or another suitable carrier into the processing station (1) by means of a conveyor (not shown) and are exactly in a position suitable for processing be positioned.
  • the processing station (1) can be part of a larger production system and can be integrated in a transfer line formed by several stations.
  • one or more outer clamping frames (4) for example the two side frames shown in FIG. 1, can be present, which are on the station frame (3) or alternatively on the pallet in a suitable manner and be docked with precise positioning.
  • processing devices 5, 12) are present in the processing station (1). These can be, for example, process devices, in particular the welding robots (12) shown, which are arranged externally and on the floor next to or on a portal above the body components (2) and the clamping frame (4).
  • the welding robots (12) are preferably designed as articulated arm robots with six or more axes, optionally also linear additional axes.
  • the robots (12) carry suitable and possibly interchangeable tools, for example welding devices, which, however, can also be designed in any other suitable manner.
  • At least one special processing device (5) in the form of a so-called multi-robot is arranged in the processing station (1).
  • the multi-robot (5) consists of a movable transportation means (6), which are preferably 'is formed as a transport robot. This is preferably an articulated arm robot with six rotary axes.
  • the transport robot (6) can, for example, be suspended from the station frame (3) as a portal robot and is therefore located at a central point above the transfer line and can therefore also be aligned centrally and in the direction of the longitudinal axis of the body components (2).
  • the transport device (6) can be designed in any other suitable manner, for example as a multi-axis linear unit.
  • the number of axles can also vary. At least two axes that can move independently of one another are advantageous.
  • the transport device ( ⁇ ) carries a docked multi-arm unit. This consists of at least one carrier (7) on which one or more multi-axis machining units (8, 9), each with at least one Tool (11) are arranged.
  • the carrier (7) is detachably connected to a suitable connection of the transport device (6), preferably the robot hand (13) of the transport robot.
  • an interchangeable coupling can be arranged here, which enables the carrier (7) to be exchanged automatically for another carrier or another tool.
  • the carrier (7) can be in one or more parts and is preferably rigid and rigid. It has an arbitrarily suitable shape that is adapted to the machining task.
  • the carrier (7) can alternatively consist of several movable relative to each other, e.g. foldable or telescopic, and lockable in the selected position parts with appropriate drives.
  • the carrier (7) is designed as an essentially straight box-shaped support beam with closed walls.
  • the carrier (7) can alternatively have a shape that is angled once or several times, curved and / or branched, e.g. have a Y shape, and have grid-like or braced walls.
  • the carrier (7) preferably has the elongated or elongated slender beam or rod shape shown.
  • the carrier (7) has several prepared and preferably flat mounting surfaces for the processing units (8, 9).
  • the cross section of the carrier (7) is preferably essentially rectangular and, as a result, offers various flat mounting surfaces on the side walls for any and also changeable ones
  • the carrier (7) can be designed as a plate or frame or the like.
  • the processing units (8, 9) are fixed or detachably connected to the carrier (7). They have at least two separate axes of movement and can be any have a suitable design.
  • the processing units (8, 9) can be arranged on different sides of the carrier (7) and can be present several times.
  • the processing units (8, 9) are preferably designed as small robots. These are six-axis articulated arm robots in mini format that are used for
  • Example have a load capacity of 2 to 10 kg and a height h of approx. 65 cm.
  • Figures 4 and 5 show such small robots (10). These are six-axis articulated arm robots which have a frame (14) fixed to the support (7), a carousel (15) pivotally mounted thereon, a rocker arm (16) rotatably mounted thereon and a boom (17) pivotably mounted on the rocker end. exhibit.
  • An automatic interchangeable coupling between the robot hand (13) and the tool (11) can also be present.
  • the small robot (10) shown can have additional axes, for example a seventh linear telescopic axis for the robot hand (13), which enables an extension movement relative to the arm (17). There may also be a linear axis between the frame (14) and the carrier (7) be, which enables a linear displacement of the entire small robot (10).
  • the drives (18) of the small robot (10) are not shown for the sake of clarity.
  • the tools (11) can be of any suitable type. It is preferably
  • the processing units (8, 9) and their tools (11) can be programmed individually and separately in their kinematics and function. They are preferably controlled from the transport device (6).
  • the end position of the processing units (8, 9) on the workpiece (2) can be maintained by control or regulating circuits, despite any mechanical tolerances or compliance in the multi-robot system.
  • the robot controller of the transport robot (6) can be used.
  • the processing units (8, 9) are also supplied with energy and other operating resources by the transport device (6) via the carrier (7).
  • the multi-robot (5) can be used in various ways in the processing station (1). He can go to
  • the small robots (10) can be folded in with their tools (11) in order to take up as little space as possible.
  • the transport robot (6) then positions the carrier (7) with the small robots (10) at a predetermined starting position in the interior of the body (21).
  • Figure 6 shows such a working position corresponding to Figure 1 in a schematic plan view.
  • the transport device (6) can keep the carrier (7) freely suspended in the working position.
  • support is possible by means of a support device (22) shown schematically in FIG. 2.
  • a stand or support (23) is provided at the work position in a suitable position, which can be arranged, for example, on the pallet or the support of the component (2), on a lateral clamping frame (4) or at another location.
  • the support (7) can also be supported directly on the component (2), for example in a component opening, on a component projection or the like.
  • the support can take place in a form-fitting manner in such a way that the support (7) can no longer move in the support position. This can be done, for example, by positively receiving the free end of the support in a corresponding manner
  • Stand opening take place.
  • a sphere (24) for example in the form of a joint, a cone or the like, can be located on the free end face or at another suitable location on the support (7).
  • the receptacle (25) can have, for example, the shape of a flat spherical shell, a cone opening, a semi-cylindrical channel or the like. In the ball arrangement shown in FIG.
  • the transport device (6) can rotate the carrier (7) about its longitudinal axis and also about the two other rotational spatial axes. In the case of a cone pairing, only rotation about the longitudinal axis of the carrier (7) is possible.
  • a channel-shaped receptacle (25) there can be a deliberate restriction on the mobility, depending on the direction in which the channel is open.
  • the receptacle (25) can be accessible from the front, from above and / or from the side.
  • the support (22) can have one or more degrees of freedom with rotational and / or translational Have axes. In addition to a rotating support, a supporting sliding guide is also possible.
  • each small robot (10) After taking the working position or, if necessary, supporting position, each small robot (10) can extend into its preprogrammed position and carry out the process assigned to it.
  • the small robots (10) can carry out different processes, for example a clamping and a welding process.
  • the multi-arm unit makes it possible to carry out clamping tasks at various points in the interior (21) of the vehicle body (2).
  • Small robot (8, 10) parts of the other side wall (19) of the body (2), an adjacent small robot (8, 10 ') carrying out machining operations in this component area.
  • the small robots (10) with their tools (11) can be folded in again and removed together with the carrier (7) from the vehicle body (2).
  • the processing device (5) can be present several times at the processing station (1). In this case, it can assume other positions and, for example, be arranged laterally and standing.
  • the number and arrangement of the processing units (8, 9) on the carrier (7) can vary. The same applies to the constructive Training and also controlling the
  • Machining units (8.9) These can be remote-controlled movement units with two or more axes, which are actuated and adjusted, for example, via Bowden cables on the carrier (7). They are driven by a suitable adjusting device on the transport device (6) or on the carrier (7).
  • the processing units (8, 9) and, if applicable, their tools (11) can have freely programmable surfaces and, if appropriate, have a memory effect. They can also be covered with a flexible plastic layer.
  • Processing station geostation component, body part station frame clamping frame processing device, multi-robot transport device, transport robot carrier processing unit, left processing unit, right small robot tool, clamping tool process device, welding robot robotic hand frame carousel swing arm boom drive side wall body side wall body interior body support device, support stand, support sphere, ball holder

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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)
  • Chemical Kinetics & Catalysis (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Hematology (AREA)
  • Obesity (AREA)
  • Emergency Medicine (AREA)
  • General Chemical & Material Sciences (AREA)
  • Medicinal Chemistry (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Endocrinology (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)

Abstract

L'invention concerne un dispositif de traitement (5) d'éléments de carrosserie (2), comportant un robot de transport (6) à plusieurs axes. Ledit robot porte au moins un support (7) pourvu d'une ou plusieurs unité de traitement, de préférence de petits robots (10). Les petits robots (10) portent divers outils et peuvent être commandés individuellement.
PCT/EP2004/003836 2003-04-16 2004-04-10 Procede et dispositif de traitement WO2004091867A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US10/552,157 US20070164009A1 (en) 2003-04-16 2004-04-10 Processing method and processing device
EP04726847A EP1620235A1 (fr) 2003-04-17 2004-04-10 Procede et dispositif de traitement

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE20306257.4 2003-04-17
DE20306257U DE20306257U1 (de) 2003-04-17 2003-04-17 Bearbeitungsvorrichtung

Publications (1)

Publication Number Publication Date
WO2004091867A1 true WO2004091867A1 (fr) 2004-10-28

Family

ID=32892517

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2004/003836 WO2004091867A1 (fr) 2003-04-16 2004-04-10 Procede et dispositif de traitement

Country Status (4)

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

Cited By (2)

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WO2007129215A2 (fr) * 2006-05-10 2007-11-15 Emmegi S.P.A. Machine-outil
WO2023156220A1 (fr) * 2022-02-16 2023-08-24 Matuschek Messtechnik Gmbh Outil d'usinage, en particulier des pinces de soudage

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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
US8201723B2 (en) 2008-03-12 2012-06-19 Comau, Inc. Robotic high density welding body shop
US8713780B2 (en) * 2008-05-13 2014-05-06 Comau, Inc. High density welding subassembly machine
TR200909397A2 (tr) * 2009-12-14 2011-07-21 Vargin Gök Gökhan Çoklu eksene haiz bir robot.
WO2011076249A1 (fr) * 2009-12-21 2011-06-30 Wilfried Strothmann Gmbh Maschinenbau Und Handhabungstechnik Robot
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
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
US10124486B2 (en) 2014-09-26 2018-11-13 Norgren Automation Solutions, Llc Automatically positionable joints and transfer tooling assemblies including automatically positionable joints
ES2700360T3 (es) 2014-12-15 2019-02-15 Comau Llc Sistema y procedimiento de montaje de vehículo modular
EP3452391B1 (fr) 2016-05-06 2024-01-10 Comau LLC Dispositif de levage de support inversé
CA3080393C (fr) 2017-11-07 2021-09-14 Comau Llc Systeme et procede autonomes ou semi-autonomes de transport de composants
DE102017220999B4 (de) * 2017-11-23 2019-07-04 Deutsches Zentrum für Luft- und Raumfahrt e.V. Modularer Endeffektor
US11420853B2 (en) 2019-10-03 2022-08-23 Comau Llc Assembly material logistics system and methods
BR112022025091A2 (pt) 2020-06-08 2022-12-27 Comau Llc Sistema e métodos de logística de material de montagem

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DE10017897A1 (de) * 2000-04-11 2001-10-25 Tuenkers Maschinenbau Gmbh Gerüstsystem, zur Verwendung im Karosseriebau der Kfz-Industrie, z. B. zum Anordnen von Kniehebelspannvorrichtungen, Saugvorrichtungen, Zentrierdornen, Sensoren, Schweissvorrichtungen, Clinchvorrichtungen, Nietvorrichtungen o. dgl.. z. B. zur Verbindung mit einem Roboterarm o. dgl.

Cited By (3)

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Publication number Priority date Publication date Assignee Title
WO2007129215A2 (fr) * 2006-05-10 2007-11-15 Emmegi S.P.A. Machine-outil
WO2007129215A3 (fr) * 2006-05-10 2008-06-19 Emmegi Spa Machine-outil
WO2023156220A1 (fr) * 2022-02-16 2023-08-24 Matuschek Messtechnik Gmbh Outil d'usinage, en particulier des pinces de soudage

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US20070164009A1 (en) 2007-07-19
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