WO2005108019A2 - Positionier-und bearbeitungssystem und geeignetes verfahren zum positionieren und bearbeiten mindestens eines bauteils - Google Patents
Positionier-und bearbeitungssystem und geeignetes verfahren zum positionieren und bearbeiten mindestens eines bauteils Download PDFInfo
- Publication number
- WO2005108019A2 WO2005108019A2 PCT/EP2005/004428 EP2005004428W WO2005108019A2 WO 2005108019 A2 WO2005108019 A2 WO 2005108019A2 EP 2005004428 W EP2005004428 W EP 2005004428W WO 2005108019 A2 WO2005108019 A2 WO 2005108019A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- positioning
- component
- processing
- machining
- Prior art date
Links
- 238000003754 machining Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004519 manufacturing process Methods 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 238000010422 painting Methods 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39129—One manipulator holds one piece, other inserts, screws other piece, dexterity
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the invention relates to a positioning and processing system with a positioning device for the position-defined positioning of one or more components and with at least one processing robot for automated processing of the component, according to the preamble of claim 1.
- the invention relates to a method for positioning and processing at least one component by means of the positioning and processing system of the type mentioned at the beginning, according to the preamble of claim 8.
- DE 100 50 481 AI discloses a system of cooperating robots and a method for controlling them.
- the system contains robots that are intended for processing a component, as well as further robots that transfer the corresponding component, i.e. H. pick up or put down.
- Several robots can each have their own control.
- the system according to the invention is characterized in that the positioning device has at least one positioning robot, the processing robot and the positioning robot each being provided with a control and / or regulating device and having a cooperating operative connection with one another.
- a cooperative operative connection between the robots can be obtained, for example, by one of the robots being a so-called "master” robot, the movements of which are followed by the other, so-called “slave” robots.
- a control principle with the help of which such cooperation or coupling of several robots can be achieved is e.g. B. known from EP 752 633 AI, the content of which is hereby incorporated into the present application.
- the component positioning by means of the positioning device includes both the transport of the component into one or more processing positions and the processing-stable provision of the same component by means of the positioning robot during component processing by the processing robot. Since the robots or their control and / or regulating devices can cooperate with one another, it is possible to use the
- the positioning device can additionally have at least one stationary component clamping device.
- the use of a stationary component clamping device can be useful, for example, when processing several components that are to form a structural unit after processing.
- One component can be fixed in the stationary component clamping device, while another component can be moved into a defined processing position relative to the stationary fixed component by means of the positioning robot.
- the advantages of flexible robot component positioning can thus be combined with the advantages of stationary component fixation. This means that the positioning and machining system can also be combined with traditional component clamping concepts.
- the control and / or regulating device is preferably operatively operatively connected to the component clamping device. This enables automated operation of the positioning and processing system even when using a stationary component clamping device.
- the processing robot can be a production robot and / or an assembly robot and / or a measurement robot. Different machining functions can thus be fulfilled, simultaneously or in succession, as part of a manufacturing process by means of the machining robot.
- the manufacturing robot can be a welding robot or a painting robot, for example, and the assembly robot can be a screwing robot, for example.
- the processing robot and the positioning robot are each advantageously designed as an industrial robot with a vertical articulated arm.
- This can be a traditional six-axis or a seven-axis articulated arm robot.
- the use of vertical articulated arm robots is particularly widespread in medium and large series production, so that the possible uses of the positioning and processing system in automated production are very large and versatile.
- the system is preferably a fully automated positioning and processing system for several components to create a component unit.
- a system can be used particularly advantageously, for example, in vehicle body construction.
- the object is achieved by a method with the features of claim 8.
- the method is characterized in that the positioning robot moves the component at least temporarily in a defined manner during a machining process using the machining robot. Due to the possibility of mutually cooperating positioning robots and processing robots, it is now possible to implement dynamic component positioning, i.e. component positioning with defined movement of the component in space, relative to a processing robot, which may also be moved simultaneously for component processing, during the processing process of the component , As a result, particularly favorable machining positions of the component can be set by means of the positioning robot in cooperation with the machining robot. Of course, combinations of static and dynamic component positioning in space can also be realized using the positioning robot.
- Such positioning of the component in relation to the machining accessibility of a component area may be necessary for the machining robot.
- the same component is subjected to a machining process by means of the machining robot during a movement of the component by means of the positioning robot into a defined machining position. This makes it possible to carry out machining measures on the component by means of the machining robot already during the positioning of the component by means of the positioning robot. The transport of the component by means of the positioning robot into a processing position can thus already be used to carry out the first processing steps using a processing robot.
- the single figure shows a schematic perspective view of an inventive positioning and processing system according to a possible embodiment.
- a positioning and processing system 10 is shown schematically, which has a positioning device 12 for positioning separate components 14, 16 in the form of body panels for a vehicle and two processing robots 18.
- the positioning device 12 contains a positioning robot 20 and a stationary component clamping device 22, the component clamping device 22 comprising the component 14 and the Positioning robot 20 each hold component 16 in a defined processing position in a processing-stable manner.
- this machining position of the components 14, 16, the same are machined by means of the machining robot 18, in the present exemplary embodiment being welded.
- the components 14, 16 form a component unit 24 for a vehicle body (not shown in the figure).
- the processing robot 18 and the positioning robot 20 are each provided with a control and / or regulating device and are in a cooperating operative connection with one another.
- the robots 18, 20 are each designed as industrial robots with a vertical articulated arm, which are six-axis robots.
- the component clamping device 22 and the positioning robot 20 are each provided with suitable gripping or clamping means.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
- Multi-Process Working Machines And Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004021388A DE102004021388A1 (de) | 2004-04-30 | 2004-04-30 | Positionier- und Bearbeitungssystem und geeignetes Verfahren zum Positionieren und Bearbeiten mindestens eines Bauteils |
DE102004021388.7 | 2004-04-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2005108019A2 true WO2005108019A2 (de) | 2005-11-17 |
WO2005108019A3 WO2005108019A3 (de) | 2006-02-23 |
Family
ID=34982041
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2005/004428 WO2005108019A2 (de) | 2004-04-30 | 2005-04-26 | Positionier-und bearbeitungssystem und geeignetes verfahren zum positionieren und bearbeiten mindestens eines bauteils |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102004021388A1 (de) |
WO (1) | WO2005108019A2 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008031948A1 (fr) * | 2006-09-14 | 2008-03-20 | Abb France | Station de travail avec robot comportant une tête de positionnement et une tête de fixation, et procédé de fixation au moyen d'une telle station. |
EP1826728A3 (de) * | 2006-02-22 | 2008-09-03 | Giesecke & Devrient GmbH | Lasermerkierbares Sicherheitselement |
US7574987B2 (en) | 2005-12-02 | 2009-08-18 | Calix Ab | Device for heating the coolant of a motor vehicle |
US10401845B2 (en) | 2016-01-05 | 2019-09-03 | Caterpillar Inc. | Manufacturing system having sub-dimensional processing modules |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202007002364U1 (de) | 2007-02-14 | 2008-06-19 | Kuka Systems Gmbh | Positioniereinrichtung |
DE102008015779A1 (de) * | 2008-03-26 | 2009-10-01 | Fpt Systems Gmbh | Fahrerloses Transportsystem zum Transport, Aufnehmen und Absetzen von Lasten |
DE102008016414B4 (de) * | 2008-03-31 | 2018-01-04 | Kuka Roboter Gmbh | Röntgenvorrichtung und medizinischer Arbeitsplatz |
US8355815B2 (en) | 2009-02-12 | 2013-01-15 | Baker Hughes Incorporated | Methods, systems, and devices for manipulating cutting elements for earth-boring drill bits and tools |
DE202011052222U1 (de) | 2011-12-07 | 2013-03-15 | Kuka Systems Gmbh | Bearbeitungseinrichtung |
JP6661804B2 (ja) | 2018-07-10 | 2020-03-11 | 株式会社星宇ハイテックSungwoo Hitech Co., Ltd. | 部品組立用ロボットシステムおよび制御方法 |
US10899012B2 (en) | 2019-02-15 | 2021-01-26 | GM Global Technology Operations LLC | Coordinated robot to robot component assembly |
US11364623B2 (en) | 2019-02-15 | 2022-06-21 | GM Global Technology Operations LLC | Component assembly system |
US11034024B2 (en) | 2019-02-15 | 2021-06-15 | GM Global Technology Operations LLC | Fixtureless component assembly |
DE102020202084A1 (de) | 2020-02-19 | 2021-08-19 | Psa Automobiles Sa | Greifereinrichtung für ein Montagesystem sowie Montagesystem mit einer derartigen Greifereinrichtung |
CN113910234B (zh) * | 2021-10-27 | 2022-10-14 | 因格(苏州)智能技术有限公司 | 双机械手控制方法与存储介质 |
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EP0470939A1 (de) * | 1990-08-08 | 1992-02-12 | COMAU S.p.A. | Verfahren Türen an Fahrzeugkarosserien anzubringen und Ausrüstung zur Durchführung dieses Verfahrens |
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DE10050481A1 (de) * | 2000-10-12 | 2002-05-02 | Motoman Robotec Gmbh | System aus kooperierenden Robotern und Verfahren zu deren Steuerung |
WO2004026672A2 (de) * | 2002-09-13 | 2004-04-01 | Daimlerchrysler Ag | Verfahren und vorrichtung zur lagegenauen montage einer klappe an einem bauteil |
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JPS63216689A (ja) * | 1987-03-04 | 1988-09-08 | 株式会社日立製作所 | 自動作業装置 |
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JP3559306B2 (ja) * | 1994-04-15 | 2004-09-02 | ファナック株式会社 | 走行ロボット装置及び該装置を用いた組立作業実行方法 |
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DE10235943A1 (de) * | 2002-08-06 | 2004-02-19 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum synchronen Steuern von Handhabungsgeräten |
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2004
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2005
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EP0470939A1 (de) * | 1990-08-08 | 1992-02-12 | COMAU S.p.A. | Verfahren Türen an Fahrzeugkarosserien anzubringen und Ausrüstung zur Durchführung dieses Verfahrens |
EP0521440A2 (de) * | 1991-07-05 | 1993-01-07 | Kabushiki Kaisha Daihen | Manuelle Lernkontrollvorrichtung für Arbeitsvorgänge in einem Industrierobotersystem |
DE10050481A1 (de) * | 2000-10-12 | 2002-05-02 | Motoman Robotec Gmbh | System aus kooperierenden Robotern und Verfahren zu deren Steuerung |
WO2004026672A2 (de) * | 2002-09-13 | 2004-04-01 | Daimlerchrysler Ag | Verfahren und vorrichtung zur lagegenauen montage einer klappe an einem bauteil |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7574987B2 (en) | 2005-12-02 | 2009-08-18 | Calix Ab | Device for heating the coolant of a motor vehicle |
EP1826728A3 (de) * | 2006-02-22 | 2008-09-03 | Giesecke & Devrient GmbH | Lasermerkierbares Sicherheitselement |
WO2008031948A1 (fr) * | 2006-09-14 | 2008-03-20 | Abb France | Station de travail avec robot comportant une tête de positionnement et une tête de fixation, et procédé de fixation au moyen d'une telle station. |
FR2905887A1 (fr) * | 2006-09-14 | 2008-03-21 | Abb Mc Soc Par Actions Simplif | Station de travail avec robot comportant une tete de positionnement et une tete de fixation |
US10401845B2 (en) | 2016-01-05 | 2019-09-03 | Caterpillar Inc. | Manufacturing system having sub-dimensional processing modules |
Also Published As
Publication number | Publication date |
---|---|
DE102004021388A1 (de) | 2005-12-01 |
WO2005108019A3 (de) | 2006-02-23 |
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