WO2005108019A3 - 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 PDF

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Publication number
WO2005108019A3
WO2005108019A3 PCT/EP2005/004428 EP2005004428W WO2005108019A3 WO 2005108019 A3 WO2005108019 A3 WO 2005108019A3 EP 2005004428 W EP2005004428 W EP 2005004428W WO 2005108019 A3 WO2005108019 A3 WO 2005108019A3
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
machining
component
robot
appropriate method
Prior art date
Application number
PCT/EP2005/004428
Other languages
English (en)
French (fr)
Other versions
WO2005108019A2 (de
Inventor
Alexander Alonso Garcia
Andreas Ehring
Ralf Giessler
Original Assignee
Daimler Chrysler Ag
Alexander Alonso Garcia
Andreas Ehring
Ralf Giessler
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 Daimler Chrysler Ag, Alexander Alonso Garcia, Andreas Ehring, Ralf Giessler filed Critical Daimler Chrysler Ag
Publication of WO2005108019A2 publication Critical patent/WO2005108019A2/de
Publication of WO2005108019A3 publication Critical patent/WO2005108019A3/de

Links

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]

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

Das Positionier- und Bearbeitungssystem (10) enthält eine Positioniervorrichtung (12) zur lagedefinierten Positionierung eines oder mehrerer Bauteile (14, 16) und mindestens einen Bearbeitungsroboter (18) zur automatisierten Bearbeitung des Bauteils (14, 16). Hierbei ist vorgesehen, dass die Positioniervorrichtung (12) mindestens einen Positionierroboter (20) aufweist, wobei der Bearbeitungsroboter (18) und der Positionierroboter (20) jeweils mit einer Steuerungs- und/oder Regelungseinrichtung versehen sind und miteinander in kooperierender Wirkverbindung stehen. Ferner ist ein Verfahren zum Positionieren und Bearbeiten mindestens eines Bauteils (14, 16) mittels des Positionier­und Bearbeitungssystems (10) vorgesehen.
PCT/EP2005/004428 2004-04-30 2005-04-26 Positionier-und bearbeitungssystem und geeignetes verfahren zum positionieren und bearbeiten mindestens eines bauteils WO2005108019A2 (de)

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 WO2005108019A2 (de) 2005-11-17
WO2005108019A3 true 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)

Families Citing this family (15)

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Publication number Priority date Publication date Assignee Title
SE0502643L (sv) 2005-12-02 2007-02-13 Calix Automotive Ab En anordning
DE102006008247A1 (de) * 2006-02-22 2007-08-23 Giesecke & Devrient Gmbh Lasermarkierbares Sicherheitselement
FR2905887B1 (fr) * 2006-09-14 2008-11-21 Abb Mc Soc Par Actions Simplif Station de travail avec robot comportant une tete de positionnement et une tete de fixation
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
US10401845B2 (en) 2016-01-05 2019-09-03 Caterpillar Inc. Manufacturing system having sub-dimensional processing modules
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
US11364623B2 (en) * 2019-02-15 2022-06-21 GM Global Technology Operations LLC Component assembly system
US10899012B2 (en) * 2019-02-15 2021-01-26 GM Global Technology Operations LLC Coordinated robot to robot component assembly
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

Citations (4)

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Publication number Priority date Publication date Assignee Title
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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JPS63216689A (ja) * 1987-03-04 1988-09-08 株式会社日立製作所 自動作業装置
JP2880590B2 (ja) * 1991-07-24 1999-04-12 株式会社不二越 産業用ロボットの同期制御方法
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
DE29705138U1 (de) * 1997-03-20 1997-07-31 MOTOMAN robotec GmbH, 85391 Allershausen Steuergerät
EP1090722B1 (de) * 1999-09-16 2007-07-25 Fanuc Ltd Steuerungssystem zum synchronen kooperativen Betreiben einer Mehrzahl von Robotern
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Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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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Also Published As

Publication number Publication date
WO2005108019A2 (de) 2005-11-17
DE102004021388A1 (de) 2005-12-01

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