WO2005025802A1

WO2005025802A1 - Support system for clamping devices comprising a connecting flange that is to be joined to a robot

Info

Publication number: WO2005025802A1
Application number: PCT/EP2004/010013
Authority: WO
Inventors: Wilhelm Steinhart; Botho Kikut; Elmar Nüchter; Arthur Wiedmeier
Original assignee: Kuka Schweissanlagen Gmbh
Priority date: 2003-09-09
Filing date: 2004-09-08
Publication date: 2005-03-24
Also published as: EP1663571A1; DE20314075U1

Abstract

The invention relates to a support system for clamping devices (13) used for fixing tools or workpieces (14). Said support system comprises a support plate (1) which is provided with numerous breakthroughs (2). One or several plates (12) of fixtures (3) for clamping tools (13) can be fixed in any position to the front face (20) of said support plate (1) while a connecting flange (8) that is to removably joined to a robot (22) is provided on the rear face (21) thereof. The connecting flange (8) is disposed in the center of the support plate (1) that is embodied as a web-type plate while being raised in relation to a base plate (9) located on the front side.

Description

SUPPORT ARRANGEMENT FOR CLAMPING DEVICES WITH A CONNECTING FLANGE FOR CONNECTION TO A ROBOT

The invention relates to a carrier arrangement for clamping devices for fastening tools or workpieces with the features in the preamble of the main claim.

In practice, stationary clamping devices in massive construction made of steel with a high weight are used. Due to the high weight, the clamping devices can only be replaced using a crane or other lifting or transport equipment.

From DE 199 01 152 AI it is known to use a gripping device with a filigree tubular frame for handling workpieces with multi-axis robots for weight reasons. The clamping tools are fastened to the pipes with clamps.

DE 202 02 108 Ul shows a sandwich panel for the construction of stationary workpiece clamping devices. The sandwich panel has top and bottom panels that pass through

Support pins are spaced. The upper plate forms a clamping surface and has a closed surface with fastening holes that are attached to the connection points of the support pins and protrude into the pins.

DE 87 13 775 Ul discloses a conventional welding turntable, which has a circular turntable plate with radial slots for receiving clamping devices. The turntable plate is attached to a lifting slide with swivel arms and is adjustable with multiple axes. From DE 198 04 767 C1 a workpiece carrier for assembly systems with robots is known, on which several different workpieces are provided in a position-oriented manner and presented to the robot within easy reach. The workpiece carrier has a perforated carrier plate in the form of a web plate with vertical openings. The perforations, which are rectangular in cross section, are used to fasten workpiece holders in which the workpieces are held loosely. The openings all have the same shape and form a uniform one

Pitch to facilitate the programming of the assembly robot on the assembly of the carrier plate and the position of the workpieces to be picked up.

DE 298 21 418 U1 relates to a base plate for the construction of stationary devices for the workpiece construction. The base plate is designed as a lattice made of aluminum, with concave spherical caps being attached to the thickened points of the lattice webs as reference and support points in a fixed grid dimension. The workpiece holders have special foot plates for direct connection to the base plate. The base plates have at least three convex projecting spherical caps on the underside, which fit precisely into the concave spherical caps and are supported and, if necessary, screwed there. Due to the supports limited to the spherical caps, the stability and the adjustment possibilities are limited.

It is therefore an object of the present invention to show a better carrier arrangement suitable for flexible use.

The invention solves this problem with the features of the main claim. The claimed carrier arrangement has a small despite various connection options for clamping devices for fastening tools or workpieces Weight and offers the possibility to handle components flexibly. Due to the connection flange on the carrier plate, the carrier arrangement is particularly suitable for handling by robots.

The carrier plate enables greater freedom of choice and better options for reproducible positioning of the clamping devices compared to gripper systems with a tubular frame.

The carrier plate is preferably made of a light metal material, in particular cast aluminum. It has a base plate with grid-like webs which intersect on the rear, the intersection areas of which are intended to accommodate threaded bores and / or fitting bores. As a result, the carrier plate has a lightweight grid or honeycomb shape.

Intermediate plates of any shape and size can be connected to the carrier plate, which act as an adapter and in turn carry the holders for the clamping tools. This enables the intermediate plates to be fastened to the carrier plate in the plane of the surface, for which purpose the threaded or fitting holes in the crossover area of the webs are intended. In this way, the brackets (stands) attached to the intermediate plates can be brought into the position required for attaching the tool or workpiece.

The advantage of this arrangement according to the invention consists on the one hand in the low weight of the support arrangement and on the other hand in its versatility for handling tools or workpieces with the aid of manipulators, preferably six-axis articulated arm robots. Advantageous developments of the teaching according to the invention are shown in the subclaims.

The connecting flange for connection to the robot is located in the center of the carrier plate. This connecting flange is raised on the back of the carrier plate opposite the base plate of the carrier plate and stiffened by diagonal webs with the surrounding frame of the carrier plate. The base plate of the carrier plate can be left unused in the area of the diagonal webs, which increases the strength of the carrier plate according to the invention without significantly increasing the weight.

In one embodiment, the are intersecting

Crosspieces of the carrier plate are arranged at right angles to one another and thickened in the intersection area, the base plate of the carrier plate being recessed between the crossing crosspieces. The openings (cutouts) in the base plate are preferably circular.

However, the invention does not exclude the possibility of providing other cross-sectional shapes of the cutouts, for example prismatic ones. The web shapes can also vary, so that e.g. hexagonal honeycomb structures are created.

Finally, the invention provides that the carrier plate with its intermediate plates and brackets and, if appropriate, with the workpiece on an upright

Stand can be arranged so that it can be loaded manually or kept ready for a next use. The invention is shown schematically and for example in the drawings. Show it:

FIG. 1: a bottom view of a carrier plate,

FIG. 2: a partial cross section through the carrier plate according to FIG. 1 along the section line II-II,

FIG. 3: a partial cross section through the carrier plate according to FIG. 1 along the section line III-III,

FIG. 4: a bottom view of the carrier plate with intermediate plates attached to it,

FIG. 5: a side view of the carrier plate with intermediate plates and holders for a workpiece,

FIG. 6: a perspective arrangement of the carrier plate according to FIG. 5,

FIG. 7: a top view of a workpiece screwed to the carrier plate,

FIG. 8: a perspective rear view of a tripod on which a carrier plate is placed,

FIG. 9: a perspective representation of a production plant with robots and carrier arrangements,

Figure 10: a variant of the bore arrangement on the support plate in broken plan view and FIG. 11 shows a section through the carrier plate according to section line XI-XI from FIG. 10.

The invention relates to a carrier arrangement (27) which comprises at least one carrier plate (1). A tripod (17) or another support device and possibly a robot (22) can also be included.

In the exemplary embodiment in FIG. 1, a preferably rectangular or square carrier plate (1) is used, which is made of a suitable material. It preferably consists of a light metal material, in particular cast aluminum. This carrier plate (1) has a multiplicity of openings (2) in order to substantially reduce the weight of the carrier plate (1) through this grid shape. The openings (2) are delimited by grid-like webs (4) which intersect with one another and which merge into a peripheral frame (11) on the outside. The openings (2) have e.g. a circular or cylindrical shape and are evenly distributed over the plate surface. The webs (4) intersect at right angles.

In the intersection area (5) of the individual webs (4) there can be one or more threaded bores (6) which are intended for fastening intermediate plates (12). The intermediate plates (12) are dashed and shown schematically in Figure 4. The intersection areas (5) of the webs (4) are thickened in order to offer sufficient stability for the screw connections (15) anchored therein.

The carrier plate (1) is designed, for example, as a web plate. It has on the front (20) an essentially flat base plate (9) with the openings (2), which offers a mounting level and a contact surface for the intermediate plates (12). The threaded holes (β) open on the surface of the base plate (9) and are accessible from here. The grid-like webs (4) are arranged under the base plate (9) and protrude from it at right angles.

A connection flange (8), which is intended for connection to a robot hand (23), is located on the underside or rear side (21) of the carrier plate (1), preferably at a central location. This connecting flange (8) is stiffened, for example according to FIG. 1, with diagonal webs (10) relative to the surrounding frame (11) of the carrier plate (1). The mounting flange (8) is also relative to the base plate (9) of the Trägerpla ^"tte (1) formed raised, as can be seen from Figure 2 and 8. FIG.

The connecting flange (8) preferably has a ring shape and is equipped on the free surface with a central centering opening and with screw holes for connection to the output flange of the robot hand (23). The connecting flange (8) is surrounded on the outside at a radial distance by a concentric, annular web wall, to which the webs (4, 10) connect.

In the example in FIG. 3, a partial cross section through a carrier plate (1) is shown, in which the individual web (4) is provided with threaded bores (6, 7), which are provided both on the top and on the bottom of the web (4) could be. The threaded hole (6) on the top is used to fasten an intermediate plate (12). On the underside, the threaded hole (7) can be used

Attachment of a support flange (18) for a tripod or a stand (17) can be used.

The area of the connecting flange (8) is significantly smaller than that of the surrounding support plate (1). The base plate (9) has no openings (2) in the area of the connecting flange (8) and also the diagonal webs (10). On however, there may be threaded holes (6) at these points. The threaded bores (6, 7) can be distributed in a certain predetermined grid.

The example in FIG. 4 shows that one or more intermediate plates (12), in any basic shape and at any place, can be attached to the carrier plate (1). To fasten the intermediate plates (12), the threaded bores (6) are provided in the intersection area (5) of the grid-like webs (4) of the carrier plate (1). Since both the basic shape of the intermediate plate (12) and the choice of the position of the threaded holes (6) can be varied as desired, the intermediate plate (12) can be positioned in any desired manner on the carrier plate (1). The threaded holes (6) can be on several or all

Crossing areas (5) of the carrier plate (1) be present from the outset or alternatively can be attached if necessary.

As can be seen from Figures 5 and 6, on the intermediate plates (12), which are connected to the carrier plate (1) in the surface plane so as to be displaceable, holders (3), e.g. in the form of stands (24) with base plates (25), which in turn have screw connections (16). The screw connections (15) serve to fasten the intermediate plates (12) to the carrier plate (1). Clamping devices (13) or other tools can be attached to the brackets (3).

The intermediate plates (12) form adapter plates for the optional positioning of one or more brackets (3) on the front (20) and the surface of the carrier plate (1). The intermediate plates (12) can be made as required in the required size and shape and have several for attachment and positional reference to the support plate (1) Through holes for the screw connections (15) in a suitable number and arrangement with respect to the existing and used threaded holes (6). The brackets (3) and their clamping devices (13) can in turn be attached to the intermediate plate (12) in a desired position reference and thus receive a defined position on the carrier plate (1), with which a position and orientation reference to other neighboring brackets (3) and clamping devices (13) can be produced.

In this way, a workpiece (14) or a tool (not shown) can be attached to the support plate (1) in an adjustable manner, the overall arrangement being particularly lightweight and being manageable by a robot (22).

Figure 7 shows a plan view of the carrier plate (1) with a workpiece (14) attached, the openings (2) in the carrier plate (1) e.g. have a circular shape and it is left open in which way the carrier plate (1) is stabilized by webs or the like.

In the above-described exemplary embodiments with the threaded bores (6), fitting screws (16) are used to fasten the intermediate plates (12) and the base plates (25) in the correct position.

Figures 10 and 11 show an alternative. As in Figure 10 in a partial plan view of the

Front (20) of the carrier plate (1) illustrates, instead of the threaded bores (6), fitting bores (35) are provided in places. The threaded bores (6) and the fitting bores (35) can alternate in a uniform pattern. For precise positioning of the intermediate plate (12), which is schematically indicated in FIG. 10, there are fitting holes (35) with corresponding fitting pins (36) used on the intermediate plate (12). In the adjacent threaded holes (6)

Fastening screws (37) are screwed in, for which there are excess holes or clearance on the intermediate plate (12). These screws (37) only have fastening tasks and can be designed as simple screws.

The same fastening technology with dowel holes (35) and dowel pins (36) and fastening screws (37) can also be used to position and fasten the base or base plates (25) to the intermediate plate (12).

Finally, FIG. 8 schematically shows a stand (17) on which a carrier plate (1) with or without a workpiece or tool can be placed in the rest position. With (18) e.g. Two rear support flanges for fastening the support plate (1) to the stand (17) are shown schematically, which are arranged at the height and on both sides of the connection flange (8). The single support flange (18) can e.g. consist of a base plate screwed to the webs (4) on the threaded holes (7) and a protruding bracket with a mounting hole into which a high-rise guide pin on the stand (17) engages when it is set down. Alternatively, the webs (4) can also have alternating threaded bores (7) and fitting bores (35) on the underside for fixing the support flanges (18) in the correct position.

The carrier plate (1) can be detachably attached or suspended by the robot (22) in an ergonomically favorable inclined position on the correspondingly aligned tripod (17) or another suitable support device. The height of the support flanges (18) is selected so that a stable hanging position is achieved, the Support plate (1) on the back (21) can be supported by a protruding support (26) on the stand (17) and can be held in the desired inclined position relative to the stand (17). The stand (17), the support flanges (18) and the support (26) are precisely manufactured and precisely determine the position and orientation of the support plate (1). This precision makes handling with the robot (22) easier. The robot hand (23) is preferably provided with an interchangeable coupling (not shown) and can be detached from the carrier plate (1) and coupled again if necessary.

FIG. 9 shows a perspective view of a fenced-in production plant or production cell (28) with a carrier arrangement (27). In the manufacturing cell (28) e.g. two multi-axis articulated arm robots (22), each carrying a carrier plate (1) with a workpiece or component (14) arranged thereon and connected to one or more processing devices (29) arranged in the work area, e.g. stationary welding guns. Alternatively, one of the robots (22) can carry the carrier plate (1) with the workpiece or component (14) and hold the other robot (22) equipped with a tool for processing.

The components (14) are fed to the production cell (28) via a loading station (30). For this purpose, a loading opening with a lockable gate is arranged in the fencing, through which a worker can feed the components (14) and transfer them to a support plate (1) and its clamping devices (13) positioned in the loading opening. This carrier plate (1) is temporarily arranged for loading on a stand (17) and can be detached from the robot (22). The worker removes the components (14) from an assigned magazine (31). As an alternative, an automatic conveyor system for the component feed can be present. After processing in the production cell (28), the components (14) can be returned to a suitable point. This can be the loading station (30) in a double function. Alternatively, a separate unloading station (not shown) can be provided.

In the embodiment shown, each robot (22) has its own carrier plate (1), which remains within the production cell (28) during operation. The

Carrier plates (1) can be designed differently with their clamping devices (13) and can be adapted to different components (14). As a result, different components (14) can be processed in the free mix in the production cell (28), if necessary. The carrier plates (1) can also have a uniform size or a different size and shape depending on the component.

An exchange of carrier plates (1) in the production cell (28) is also possible. For this purpose there is a change place (32), also secured with gates, where a suitable means of transport (33), e.g. the forklift shown, carrier plates (1) with different clamping tool assemblies are fed and picked up. Different-equipped carrier plates (1) can be stored in an adjacent magazine (34). The carrier plates (1) are preferably fed empty at the changing station (32) and equipped with a component (14) at the loading station (30). Alternatively, the component can be fitted outside the robot cell (28), the latter then being supplied with loaded carrier plates (1) and removed again after processing.

Modifications of the embodiment shown are possible in various ways. The openings (19) can have any other distribution and another Form, for example a prismatic, in particular hexagonal, honeycomb-like shape. The shape of the webs (4) is adapted accordingly. The base plate (9) with its wall areas arranged around the openings (2) may be omitted and replaced by the honeycomb or lattice structure of the webs (4). The configurations of the intermediate plates (12) and the holders (3), on which, alternatively, in favor of a direct fastening of clamping devices (13) or other tools or other components to the, are also variable

Intermediate plates (12) can be omitted. The stand (17) and the support flanges (18) are also unnecessary or can be replaced by another support structure.

LIST OF REFERENCE NUMBERS

support plate

Breakthrough, recess

Bracket grid-like webs

crossing area

Bore, threaded hole

flange

Base plate diagonal bars surrounding frame

intermediate plate

jig

Workpiece, component

screw

Screw fitting, fitting screw

Tripod, stand

support flange

perforation

front

back

robot

robotic hand

stand

Base plate, base plate

support

carrier assembly

Manufacturing plant, manufacturing cell

Processing device, welding gun

loading

Components magazine

change course

Mode of Transport

Magazine carrier plates

Bore, fitting bore Dowel pin screw, fastening screw

Claims

1.) Carrier arrangement for clamping devices for fastening tools or workpieces, consisting of a carrier plate (1) provided with numerous openings (2), on the front (20) of which one or more plates (12) of holders (3) for clamping tools are optional Positioning can be fastened, characterized in that the carrier plate (1) has a connection flange (8) on the rear side (21) for detachable connection to a robot (22).

2.) Carrier arrangement according to claim 1, characterized in that the connecting flange (8) is arranged in the center of the carrier plate (1).

3.) Carrier arrangement according to claim 1 or 2, characterized in that the carrier plate (1) is designed as a web plate and on the front (20) has a substantially flat base plate (9), under which a plurality of web-like crossing webs ( 4) are arranged.

4.) Carrier arrangement according to claim 1, 2 or 3, characterized in that the connecting flange (8) is raised relative to the base plate (9).

5.) Support arrangement according to one of the preceding claims, characterized in that the connecting flange (8) is stiffened by diagonal webs (10) with a peripheral frame (11) of the support plate (1).

6.) Support arrangement according to one of the preceding claims, characterized in that support flanges (18) are arranged on the rear side (21) of the support plate (1) and are adapted to an upright stand (17).

7.) Carrier arrangement according to one of the preceding claims, characterized in that the support flanges (18) are arranged on both sides of the connecting flange (8).

8.) Carrier arrangement according to one of the preceding claims, characterized in that the carrier plate (1) consists of a light metal material, in particular of cast aluminum.

9.) Support arrangement according to one of the preceding claims, characterized in that threaded bores (6, 7) are arranged at a plurality of intersection areas (5) of the webs (4).

10.) Support arrangement according to one of the preceding claims, characterized in that threaded bores (6, 7) and fitting bores (35) are arranged alternately at the intersection areas (5).

11.) Carrier arrangement according to one of the preceding claims, characterized in that the threaded bores (6, 7) and possibly fitting bores (35) are arranged on the top and / or the bottom of the webs (4).

12.) Carrier arrangement according to one of the preceding claims, characterized in that those located on the top of the webs (4) Thread bores (6) and, if applicable, fitting bores (35) on the front (20) of the base plate (9).

13.) Carrier arrangement according to one of the preceding claims, characterized in that the webs (4) of the carrier plate (1) which intersect at right angles are thickened in the crossing region (5).

14.) Carrier arrangement according to one of the preceding claims, characterized in that the base plate (9) has recesses (2) between the crossing webs (4).

15.) Carrier arrangement according to one of the preceding claims, characterized in that the base plate (9) in the region of the diagonal webs (10) is not recessed.

16.) Carrier arrangement according to one of the preceding claims, characterized in that the openings (2) of the base plate (9) are circular.

17.) Carrier arrangement according to one of the preceding claims, characterized in that the brackets (3) for the clamping tools are fastened to intermediate plates (12), which in turn can be screwed to the threaded holes (6) of the carrier plate (1) in a selectable position.