WO2009000512A2 - Porteur de composants transportable - Google Patents

Porteur de composants transportable Download PDF

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Publication number
WO2009000512A2
WO2009000512A2 PCT/EP2008/005120 EP2008005120W WO2009000512A2 WO 2009000512 A2 WO2009000512 A2 WO 2009000512A2 EP 2008005120 W EP2008005120 W EP 2008005120W WO 2009000512 A2 WO2009000512 A2 WO 2009000512A2
Authority
WO
WIPO (PCT)
Prior art keywords
component
component carrier
frame
adjustment
conveyor
Prior art date
Application number
PCT/EP2008/005120
Other languages
German (de)
English (en)
Other versions
WO2009000512A3 (fr
Inventor
Johann Maischberger
Wilhelm Steinhart
Hans Michael Moser
Original Assignee
Kuka Systems 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 Systems Gmbh filed Critical Kuka Systems Gmbh
Publication of WO2009000512A2 publication Critical patent/WO2009000512A2/fr
Publication of WO2009000512A3 publication Critical patent/WO2009000512A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines

Definitions

  • the invention relates to a transportable component carrier for conveying components, in particular vehicle bodies or body parts, with the features in the preamble of the main claim.
  • Such a component carrier is known from practice. It is designed as a pallet or skid mounted on a conveyor, e.g. a roller conveyor or belt conveyor is transported in a manufacturing plant with multiple processing stations.
  • the pallet has a frame-like frame with one or more component holders adapted to a particular component variant, e.g. a vehicle model or a body type are adapted.
  • a particular component variant e.g. a vehicle model or a body type are adapted.
  • different pallets or skids are used, which are each adapted to a body variant and used as needed.
  • the unneeded palettes or skids are cached in magazines.
  • the invention solves this problem with the features in the main claim.
  • the claimed component carrier can be adapted to different component variants, wherein the frame of the component carrier can be obtained and does not have to be changed.
  • the component holders are movable and can be adjusted by means of an adjustment in the desired
  • the component holders can be arranged directly adjustable on the frame.
  • one or more additional support elements may be present, which carry the component receptacles and in turn are adjustably mounted relative to the frame. This technique offers many possibilities for easy and quick adaptation.
  • the convertible component carrier has the advantage that the racks need not be changed and their number may be limited.
  • the number may e.g. be determined by the number of existing processing stations in a manufacturing plant, with possibly still a certain surplus to ensure availability is available.
  • the component carriers can be moved in a closed conveyor cycle. Due to the moderate number of carriers, buffers can be formed in a return or elsewhere in the conveyor cycle without great construction costs.
  • the variant-related component receptacles and / or support elements need to be stored, which are relatively small and require little space.
  • the construction, cost and space required for the component carrier technology to cover all existing component carrier variants can thereby be drastically reduced.
  • adjustments to the component carriers are easily and quickly possible when modifying existing component variants or exchanging and supplementing new component variants.
  • the adjustment can be designed to be flexible and allow a wide variety of component carrier configurations.
  • the conversion of the component carrier can be done manually in the simplest variant. Furthermore, a fully automatic conversion with a corresponding conversion device is possible. For this purpose, the
  • Locking devices or fixing a suitable training for mechanical operation and operation, in particular by a handling device, preferably a multi-axis manipulator, have. They can be designed for this purpose in particular as automatically or automatically operated quick-release fasteners.
  • the component receptacles and / or support elements can be changed or changed simultaneously by a manipulator in their position, with the aid of a corresponding tool, the manipulator at the same time
  • Locking device or fixing device opens and closes. Thanks to the locking or fixing device, the component receptacles and / or support elements can be secured in their variant-related positions.
  • the conversion station is equipped with a handling device and at least one magazine for variant-related component receptacles and / or support elements and requires little space.
  • the construction and cost is low.
  • the handling device may consist of one or more multi-axis manipulators, preferably in the form of articulated arm robots.
  • Multi-axis adjustable positioning devices allow a quick and easy positioning of component holders, clamping tools or the like . Due to the multiple lockable joints is a wide spatial positioning range in conjunction with a high
  • Multi-axis joints on the base and head are useful for offering sufficient degrees of freedom, which recommends training as a ball joint because of the ease of use and the advantageous locking options. You can also form the multi-axis joint of several separate uniaxial joints. Furthermore, only one single uniaxial joint can be present at the base and head part.
  • the wrist joint is favorably designed as a uniaxial joint, which provides greater stability in the Armanlenkung.
  • the positioning device according to the invention also offers the possibility of a mechanical adjustment, for example by means of one or more manipulators or robots. As a result, the positioning can be switched partially or fully automatically and locked with their joints. To expand the positioning possibility, it is advantageous to make the positioning device movable relative to the component carrier or another base by means of one or more additional axes. These additional axes, which may be equipped with controllable drives, also permit manual or automatic adjustment.
  • the positioning can also be designed as a modular system and covers by the flexibility and adaptability unlimited applications.
  • the claimed positioning can be used for a variety of purposes and types. Special advantages exist in the area of clamping technology.
  • the tensioning bed formed by a plurality of tensioners arranged on positioning devices can be used in one
  • Workpiece replacement can be changed quickly and above all automatically.
  • the conversion can be done with the help of manipulators or robots, which are provided anyway for processing the workpieces or body parts and carry a possibly replaceable adjusting tool. With the adjusting tool you can at the
  • Positioning device defined manner attack and ensure accurate adjustment of the arms and the head part.
  • About the adjusting tool and the affected joints and their fixation devices can be locked.
  • another manipulator or robot can provide the lock.
  • Figure 1 a schematic plan view of a
  • FIG. 2 shows a perspective view of a pallet-shaped component carrier with a plurality of movable component holders and their adjustment possibilities
  • Figure 3 a variant of the component carrier as Einholmhas with an indicated component in
  • FIG. 4 shows a pallet-like component carrier with adjustable component receptacles in conjunction with a push rod conveyor
  • FIGS. 8 to 10 show a locking device in several cut and folded illustrations
  • Figure 11 a station with a robot and a
  • FIGS. 12 and 13 show a positioning device in two folded side views;
  • Figures 14 to 18 different variants of
  • FIG. 19 shows a detail of a setting tool with a locking pin
  • Figure 20 a side view of a positioning device with a clamping tool and an additional axis.
  • the invention relates to a transportable component carrier (10) for conveying components (4) which can be adapted to different component variants.
  • the invention further relates to a setup station (97) and a method for retrofitting and variant-related adaptation of the component carrier (10).
  • the invention furthermore relates to a production plant (1), in particular a shell construction, which is equipped with one or more such setup stations (97) and one or more such component carriers (10).
  • the components (4) can be of any type and size. Preferably, these are vehicle bodies or body components. In addition, any other types of workpieces are possible.
  • the components (4) have
  • the components (4) can vary in any mix, with variants being possible in particular for vehicle bodies and body components by different vehicle models and within a model series by different types.
  • different component variants by the letters A, B and C are symbolized.
  • the shapes and dimensions of the subfloor and / or the side walls and the location and design of the reference points vary.
  • FIG. 1 shows in a schematic plan view a production plant (1) for components (4) of different variants A, B, C, which are e.g. is designed as shell construction for vehicle bodies.
  • a vehicle body consists e.g. from a floor assembly, two side walls, roof parts, transverse stiffeners in the engine and luggage compartment and the like.
  • Such a vehicle body (4) is built in several processing stations (2,3) one behind the other and completed.
  • the vehicle bodies (4) or their body components are transported by means of a conveyor (11) through the manufacturing plant (1), which preferably takes place in a closed delivery circuit (94).
  • the conveying device (11) has one or more component carriers (10) and one or more conveying devices (68) for transporting these loose component carriers (10).
  • the component carriers (10) and the conveyors (68) may be formed differently, e.g. Figures 2 to 4 described below show three variants.
  • the component carriers (10) with their components (4) are transported along an eg straight transfer line (12) through the one or more rows of processing stations (2, 3).
  • the production plant (1) can have a plurality of production lines (90, 91, 92) with correspondingly formed rows of processing stations (2, 3).
  • the production line (90,91,92) can be arranged in parallel as in Figure 1, wherein for the transfer of the component carrier (10) transverse conveyor (95) are present.
  • the manufacturing plant (1) may be a joining plant with one or more production lines (90, 91, 92) for producing a vehicle body (4) from body components, such as side walls or side wall parts, roof parts, underbody, cross braces, etc.
  • the body components can be roughly positioned in a first processing station to each other and by tabs or the like. relatively loose to a vehicle body (4) are prefixed.
  • a subsequent processing or joining station (2) which represents, for example, a geometry or framing station, a geometry-accurate clamping and stapling of the body components by welding, gluing, soldering or the like. Take place.
  • a loosely pre-filled body component by welding, gluing, soldering or the like.
  • Vehicle body (4) here body parts are supplied individually or in groups.
  • the vehicle body (4) can be finished, e.g. be welded, where appropriate, further body components are supplied and joined.
  • the finished vehicle body (4) can at a delivery point
  • the manufacturing plant (1) may be an assembly plant.
  • the production lines (90,91) may e.g. Be assembly lines in which the component carrier (10) with axes, gearbox, motor and the like. Is equipped.
  • the subsequent attachment line (92) the otherwise produced vehicle body can be supplied and connected to the parts on the component carrier (10).
  • the empty component carrier (10) can in the delivery cycle
  • the component carrier (10) can be transported in a clock-bound manner.
  • the number of component carriers (10) is at least as large as the number of processing stations (2, 3). Their number can also be significantly greater, with the non-integrated in the manufacturing process component carrier (10) at a suitable location, e.g. the return line (96) or a memory location connected there, if necessary, can be temporarily stored.
  • a set-up station (97) is arranged in the conveying circuit (94) in which the component carriers (10) can be converted and adapted to the respectively required component variant A, B, C. This can be done manually, semi-automatically or fully automatically.
  • Setup station (97) can for this purpose have a conversion device (98), which has one or more magazines (105) and optionally in the semi- and fully automatic variant, a handling device (99).
  • conversion device (98) which has one or more magazines (105) and optionally in the semi- and fully automatic variant, a handling device (99).
  • Your workspace captures the transfer line (12) with one or more component carriers (10) and the magazine (105).
  • Two or more manipulators (100, 101) are arranged, for example, on both sides of the transfer line (12) and can jointly retrofit a component carrier (10) or convert several component carriers (10) separately from each other and with temporal overlap.
  • Each manipulator (100, 101) can have its own magazine (105).
  • the manipulators (100, 101) are designed, for example, as articulated-arm robots with six or more axles, which also have a multi-axis manipulator or robot hand (102).
  • a tool (103) may be, for example, a grasping tool.
  • Another tool (104) may, for example, be an actuating device for a subsequently explained locking device (110) or fixing device.
  • the tools (103, 104) may be separate tools and handled by different manipulators (100, 101). Alternatively, the tools (103, 104) may be connected to a combination tool having one or more auxiliary axes received from a manipulator
  • FIGS. 11 and 19 show such a composite tool in the form of an adjusting tool (17).
  • the component carrier (10) are formed variant-related. They include, for example, a frame (88), which is uniform for all component carriers (10) and carries one or more variant-related component holders (63) which can be arranged directly on the frame (88).
  • the frame (88) is formed as a frame or pallet (89) and consists of longitudinal and transverse beams.
  • the frame (88) as a longitudinal spar (50) is formed, which may be formed as in the embodiment shown as a straight single spar or in a variant not shown as limb Hol which has two or more shorter rail elements which are spaced apart or can be connected by coupling rods or Holmgelenke.
  • the variant-related component receptacles (63) cooperate with the aforementioned reference points on the components (4) and are adapted thereto. You can have a suitable shape for this purpose and have, for example, on the top of appropriately designed receiving contours (108,109).
  • the component receptacles (63) are arranged movably, which is possible in different ways. They can be arranged to be movable directly on the frame (88) in the manner previously mentioned and shown in FIG. Alternatively or additionally, a component carrier (10) may have one or more support elements (59), which in turn carry one or more component receptacles (63).
  • the support elements (59) can be arranged to be movable on the frame (88).
  • the component receptacles (63) can also be arranged rigidly on a support element (59) and can be movably connected to the frame (88) via this.
  • the support elements (59) are preferably smaller in area requirement than the frame (88) and have e.g. the form of slender supporting bars (60) shown in Figures 2 and 3, which are e.g. extend transversely to the longitudinal direction of the frame (88) and form transverse bars. These are axially spaced on the frame (88) and can protrude laterally beyond the frame (88).
  • Adjustments (67) and a locking device (110) or fixing device are provided for the component receptacles (63) and / or the support elements (59).
  • the adjustment (67) may be different, e.g. a detachable and replaceable arrangement of the component carrier (10) and / or of the support element (59) is provided.
  • Figure 4 illustrates in the upper left hand corner, e.g. one
  • Component carrier (10) with a receiving contour (108) against another component receptacle (63) with another Shooting contour (109) to be changed.
  • the adjustment (67) can provide a positionally variable arrangement of the component receptacle (63) and / or of the support element (59).
  • the adjustment (67) can provide a positionally variable arrangement of the component receptacle (63) and / or of the support element (59).
  • Variant of Figure 2 arranged on a cross member of the frame (88) component receptacles (63) are adjusted at a distance transversely to the frame longitudinal axis.
  • the same figure shows in the left part of a longitudinal adjustment of a support member (59) on the frame (88).
  • the adjustment (67) can have a Verstellraster.
  • a further variant is shown in which on a support element (59) or possibly directly on the frame (88) one or more support arms (106) are arranged, which one or more variant-related component receptacles (63) in wear rigid or detachable connection.
  • the adjustment (67) can in this case have a movable bearing (107), which in the embodiment shown is a pivot bearing for the support arm (106), thereby brought into different angular positions relative to the frame (88) and there also in a suitable manner can be locked.
  • the adjustment (67) may also have a fixing device, not shown, for securing the adjusted pivot position of the or the support arms (106).
  • Figures 11 to 20 show a multi-arm variant of an articulated adjustment (67) with support arms (106,106 ') and possibly a movable storage (107).
  • a movable bearing (107) by a spindle slide or other linear actuator can be formed with which a component receptacle (63) and / or a support member (59) relative to the frame (88) can be moved.
  • a fixing device not shown, for position assurance can be present.
  • FIGS. 5 to 7 show, by way of example, several variants of such an adaptation.
  • a wide support element (59) with component receptacles (63) is exchanged for a narrower support element (59) with similar or different component receptacles (63).
  • Figure 6 remains a support member (59) at its mounting location, wherein component receptacles (63) with a receiving contour (108) against other component receptacles (63) with a different receiving contour (109) are changed.
  • Figure 7 shows a third embodiment in which on a support member (59) on the top and bottom of different component receptacles (63) with different receiving contours (108,109) are arranged rigidly or detachably.
  • the support member (59) is rotated or turned about its longitudinal axis, whereby the other receiving contour (109) comes up in the engaged position to the reference points of the component (4).
  • the frame (88) has at least one adaptation surface (58) for the adjustable reception of at least one support element (59) and / or a component receptacle (63).
  • This adaptation surface (58) is e.g. The surface of the cross-section preferably rectangular longitudinal spar (50) of Figure 3.
  • the adaptation surface (58) may be arranged on the upper side of the side members and / or cross member.
  • the support member (59) has at a suitable location, for example at the top, at least one adaptation surface (62) for the adjustable recording of at least one component receptacle (63).
  • the adaptation surfaces (58, 62) represent defined interfaces and may also include the aforementioned adjustment grid.
  • At the adaptation surfaces (58,62) takes place a preferably positive connection. This can be done via connector parts (114), which consist for example of pins and receiving openings.
  • the connector parts (114) may be separate from the locking device (110). Alternatively, they can be integrated in them, which will be explained below and illustrated in FIGS. 8 to 10.
  • the locking device (110) and / or the fixing device can be arranged on the component receptacles (63) and / or the support elements (59), in particular support bars (60) and / or on the arms (106, 106 '). It is located e.g. on or next to an adaptation surface (58, 62) or on an adjustment grid or a joint of the adjustment (67).
  • Fixing device can be operated manually and consist of a screw or clamp connection in the simplest embodiment.
  • Locking device (110) and / or fixing device which can be operated by a manipulator (100,101) with the aforementioned tool (104) mechanically and remotely controlled. This can e.g. be a quick release.
  • Fixing device has at least one trigger element (113), which is a suitable training for an operation with the Tool (104) has.
  • a tool (104) may be, for example, a plunger, which is extended in response to a control signal and presses against the quick release (110).
  • the locking device or the quick release (110) can also be manually operated if necessary.
  • FIGs 8 to 10 show a possible embodiment of such a locking device (110).
  • the frame (88) has a blocking opening (112), e.g. points upward and which may be part of the adjustment (67), in particular the Verstellrasters, but need not be.
  • a bolt (111) or locking pin In the locking opening (112) engages a bolt (111) or locking pin, which can be opened and closed by means of a tool (104) actuated trigger (113).
  • the bolt (111) is arranged and supported on a support element (59) or on a component receptacle (63).
  • the locking opening (112) and the bolt (111) may represent plug connection parts (114).
  • the latch (111) has locking means at the bottom, e.g. Locking balls, on, which are adjustable transversely to the bolt axis. The adjustment can be effected by the trigger (113). This interspersed with his slim
  • the trigger (113) has a laterally protruding support plate against which compression springs located at the forward end of the latch normally pull the trigger (113) down to the position shown in Figure 9 in which the cone and the subsequent one wider trigger shaft push the locking balls outwards.
  • the locking device (110) may alternatively be designed as a bayonet lock, clamp lock or in any other way and be provided for a robot operation.
  • the single or multiple existing conveyor (68) may be formed differently in the manner mentioned above.
  • the conveyor (68) may be a conventional roller conveyor or belt conveyor extending along a production line (90,91,92) and at the same time a guideway (69) and a Drive for the frame or pallets (89) offers.
  • the conveyor (11) is designed as Einholm machineer.
  • a conveyor line or a production line (90,91,92) several of the conveying devices (68) shown in Figure 3 can be arranged in alignment one behind the other and together with Holm arrangementen (70) form a continuous guideway (69).
  • the individual conveyors (68) can be arranged in the processing stations (2,3) with a suitable mutual distance. Their length corresponds to the station length.
  • a conveyor (68) may extend through two or more processing stations (2,3) and have a correspondingly greater length.
  • the longitudinal spar (50) has e.g. a rectangular in cross-section massive beam shape or hollow tube shape and has flat walls.
  • the side walls in this case form lateral guide surfaces (56) for the spar guide (70).
  • the underside of the longitudinal spar (50) may form a flat support surface (57).
  • the spar guide (70) consists of several in the conveying direction at a distance one behind the other arranged guide elements (72) which a frame (73) and a substantially U-shaped guide assembly with
  • the side guide (74) may consist of paired upper lateral guide rollers (74) and lower lateral guide rollers (76) which engage in the upper and lower portions of the lateral guide surfaces (56) of the upwardly still a bit projecting longitudinal spar (50).
  • the support guide (77) can be formed by a correspondingly wide support roller (78) with a horizontal axis of rotation. The distance of the guide elements (72) and the mutual distance of conveyors (68) is chosen so large that the longitudinal spar (50) is always supported at several points simultaneously and guided laterally.
  • the drive device (71) can be designed in any suitable manner. In the embodiment shown it has a revolving driven drive element (80), which is e.g. may consist of a flat belt (81) which is guided around the support rollers (78) in an endless loop and is between the support rollers (78) and the longitudinal spar (50).
  • the longitudinal spar (50) rests on the belt (81) and is pressed on at least in the support roller area, wherein it is entrained in a circumferential movement of the belt (81) by force and frictional engagement.
  • the drive device (71) has at one end face a preferably along the conveying direction aligned drive (82) with a
  • the conveyor (68) can be arranged with its components on a base plate and thereby be supported directly on the bottom (83) of the system (1).
  • Rotary be movably arranged Furthermore, a variant as an overhead conveyor with attachment to a wall, a frame or the like is possible.
  • the conveyor (68) is designed as a push rod conveyor (115).
  • the pallet-shaped or frame-shaped frame (88), in turn, may be provided with its own drive (117) and roll or slide along a conveyor track (69) formed by two parallel guide rails and rails which extend along the production lines (90, 91). 92).
  • the push rod conveyor (115) may be one or more reversing driven and moving push or pull rods with carriers (116) which engage in a suitable manner to one or more component carriers (10).
  • the drivers (116) can be movable and individually or together remotely controllable, so that the intervention on the component carrier (10) can be established and released if necessary.
  • the positioning of the component carriers (10) in the processing stations (2, 3) can take place in any suitable manner, e.g. by position measurement and drive control, controllable end stops or the like.
  • Figure 4 indicates a further possibility in which a component carrier (10) slide during the transport movement on a stationary slide or runway and is thereby raised under relief of the drive (117) in a defined altitude. About locking rollers or the like, the position can be determined and taken in the axial direction.
  • the components (4) can be taken over by lifting devices or the like and positioned for the respective processing operations.
  • FIGS. 11 to 20 show the initially mentioned variant of the articulated adjustment (67) with support arm (106) and movable storage (107) of Figure 2.
  • This variant has independent inventive significance and can be constructed and used in other configurations.
  • the adjustment (67) instead of a component receptacle (63) carry a clamping tool (45) and form part of a clamping device (46).
  • the arrangement shown in FIGS. 11 to 20 can generally form a positioning device (18) which can be adjusted and locked by machine, in particular by a manipulator (100). This is also a remote control possible.
  • FIG. 11 shows schematically a setup station (97) with at least one manipulator (100, 101) and with at least one multi-arm positioning device (18) for one or more component receptacles (63).
  • the station may alternatively be a processing station (2), wherein an adjustable clamping device (46) for workpieces, in particular body components (4), is formed by a plurality of positioning devices (18).
  • the multi-axis manipulator (100) is designed, for example, as a six-axis articulated-arm robot, which has a multi-axially movable robot hand (102) and, if necessary, can have driving axes or other additional axes.
  • Several such manipulators (100, 101) can be arranged in the set-up processing station (97, 2).
  • the workpiece is not shown for clarity. It may be one or more parts and be of any type, shape and size as in the previous embodiments. These are preferably body components, in particular sheet metal components, e.g. Side walls of vehicle bodywork or the like.
  • the multiaxial adjustable positioning device (s) (18) are, as in the previous embodiments of Figures 1 to 10, on a component carrier (10) of the type described, e.g. mounted on the support beam (60), detachable or adjustable.
  • the adjustment (67) can in the embodiment shown by one or more manipulators (100,101) by means of a previously described actuator (104) or a special
  • tensioning device in the variant as a tensioning device (46), the positioning device (s) (18) on another substrate (44), for example, a stationary or movable Frame, be arranged and each one or more Spanntechnikmaschine ⁇ (45) wear.
  • the tensioning device (46) can have further stationary and rigidly arranged clamping tools on the base (44).
  • the adjustment (67) or positioning device (18) is shown in more detail in FIGS. 12 and 13. It has at least two supporting arms (106,106 '), a base (22) and a head part (23), which are interconnected articulated and lockable.
  • the arms or support arms are interconnected articulated and lockable.
  • the base (22) can be connected to the component carrier (10) or the substrate (44) by screws or the like. be firmly connected. Alternatively, it can be adjusted relative to the component carrier (10) or base (44) by means of one or more additional axles (47) which are optionally equipped with a drive (48).
  • Figures 11 and 20 show this arrangement.
  • the drives (48) are connected to a controller in the station (2,97), to which also the manipulators (100) can be connected.
  • a multi-axis adjustable joint (27) is arranged between the one arm (106) and the base (22) between the one arm (106) and the base (22) . Between the other arm (106 ') and the head part (23), which can carry any structure (19), also a multi-axis adjustable joint (28) is arranged.
  • the multi-axis joints (27, 28) can be designed in any suitable manner. In the illustrated embodiment, they are designed as ball joints.
  • the ball members may be disposed at the ends of the arms (106, 106 ') with the associated socket members located on the base (22) and head (23).
  • the ball diameter can be much larger than the arm thickness.
  • a ball and socket joint may be replaced by another joint arrangement, eg by two or more locally separated uniaxial joints.
  • the joint (27) may have a different number of degrees of freedom, eg less degrees of freedom. It can then, for example, consist of a single uniaxial joint, eg a disc joint.
  • a uniaxially adjustable joint (29) is arranged, which may be formed as a disc joint.
  • the hinge axis may extend transversely to the longitudinal axes of the arms (106, 106 '). In the upright stretching position of the arms (106, 106 ') shown in FIG. 13, the axis of rotation of the joint (29) runs parallel to the component carrier (10) or
  • the arms (106, 106 ') likewise have a thickening on the facing ends, which can have a circular shape concentric with the axis of the joint.
  • the arms (106,106 ') stepped down to this end portion and reduced to half the wall thickness, wherein the stepped shoulders for joint formation lie against each other and with a pivot pin or the like. are provided.
  • the arms (106,106 ') may be formed as solid or hollow parts and made of any material, e.g. Steel or light metal.
  • Joint thickenings can be formed on the arms (106, 106 '). They may alternatively be formed as separate components and releasably connected to the arm ends (106, 106 '), e.g. by a thread, a lockable plug connection or the like .. For a single component training a modular system is possible.
  • the arms (106, 106 ') have a substantially straight extension and a tong shape in the illustrated embodiment. You can alternatively use a curved or have angled shape.
  • the joints (27,28,29) each have a controllable fixing device (30,31,32), which can be operated manually or by machine.
  • a machine operation is e.g. via one or more of the manipulators (100, 101).
  • the fixing devices (30,31,32) can be controlled or operated otherwise.
  • they can also have integrated drives or adjusting means, which may also be connected to the aforementioned control.
  • fixators can be used in any suitable
  • FIGS. 12 to 18 show different variants of the fixing devices (30, 31) on the ball joints for this purpose
  • the fixing device (32) on the rotary or disc joint (29) may be formed.
  • the base (22) and the head part (23) each have the aforementioned shell body for receiving the ball of the joint (27).
  • On the shell body is a
  • Cover plate (35) removably attached, which is also adapted to the ball contour. It is located above the center of the sphere and prevents detachment of the ball from the shell part. As FIG. 12 makes clear, gaskets or other sealing means for protecting the joints (27, 28, 29) from environmental influences may also be present.
  • FIGS 14 and 15 show the formation of a fixing device (30,31) as a hydraulic
  • a seal (33) in the cover plate or above the cover plate (35) is arranged and seals the fluid space between the ball and the base shell.
  • the seal is located above the ball center point, so that a fluid which is fed under pressure into the space between ball and shell via a fluid connection (34) develops a clamping force in all directions and clamps and locks the joint (27, 28) in a force-fitting manner.
  • FIG. 16 shows a variant of the fixing device (30, 31) in the form of a mechanical clamping device.
  • the base (22) or the head part (23) is here slotted at the level of the ball center and laterally open, whereby two at the rear end movably interconnected jaws (36) arise, which surround the ball in their shell halves and by means of a clamping lever (37 ) with toggle or bolt over the slot away against each other for fixing the ball can be clamped.
  • pivotable eccentric levers (38) are provided for forming the fixing device (30, 31), which have a contour adapted to the ball on the front side and engage with these eccentric jaws above the ball center point and the ball downward in FIG the shell receptacle and can press laterally against a fixed stop shown in Figure 18.
  • the clamping levers (37) and eccentric levers (38) can be driven manually or by a machine drive under the control of the control.
  • the levers (37, 38) form releases (113) of the type mentioned in the introduction and can alternatively also be actuated by a manipulator (100, 101) with a suitable tool (104). This may be the same or similar to the tool (104) formed in the previous embodiments.
  • the fixing device (32) on the arm joint (29) can also be designed as a hydraulic or mechanical clamping or clamping device.
  • This can be, for example, a mechanical quick-release with a rotatable clamping lever, as used for example in the wheel assembly of bicycles.
  • a clamping device can be designed here as well as in the other cases as a toggle clamp.
  • Such a clamping and clamping technique can also be designed in a favorable manner by means of a suitable trigger (103) on an operation by a manipulator (100,101), which can conveniently be done in conjunction with the adjusting tool (17) described below. This allows the manipulator (100) with the adjusting tool (17,104) in addition to the adjustment of the positioning device (18) also cause an opening and closing of the fixing devices (30,31,32).
  • actuating part (24, 25) which is suitable for connection to a manipulator (100, 101).
  • actuators (24, 25) are arranged on one of the arms (106, 106 ') and on the head part (23).
  • the adjusting part (24) on the arm (106 1 ) the arm geometry and the orientation of the arms (106,106 ') relative to the base (22) and the substrate (44) can be adjusted.
  • FIGS. 12 and 13 show the various turning and pivoting possibilities.
  • the second adjusting part (25) on the head part (23) the latter can be pivoted multi-axially about the vertical and transverse axes of the joint (28) and rotated.
  • FIGS. 11 and 20 show different alignment possibilities of the head part (23) for this purpose.
  • the control parts (24,25) can be designed and arranged for their function in any suitable manner. In particular, they can also be present multiple times. In the embodiment shown, they are lateral Formed on the rod part of the arm (106 ') and the head part (23) and each have a continuous eye (26) for receiving an actuator, in particular a Absteckbolzens shown in Figure 19 (39).
  • the actuators (24,25) can be actuated simultaneously or sequentially by a single or multiple manipulators (100).
  • the manipulator (100, 101) carries on its robot hand (102) an adjusting tool (17, 104), which can cooperate detachably with one or more setting parts (24, 25).
  • the Aussteckbolzen shown in Figure 19 (39) which by means of a suitable drive, e.g. a pneumatic cylinder, can be pushed back and forth in the longitudinal direction.
  • the adjusting tool (17) has a frame (43) with an insertion opening for an actuating part (24, 25).
  • the Absteckbolzen (39) can be pushed through the eye (26) and through a plug-in opening (42) on the frame (43).
  • the Absteckbolzen (39) has a shaft (41) whose diameter is adapted to the diameter of the eye (26) with little play.
  • the shaft (41) continues forward in a stepped and tapered tip (40), the bolt diameter is adapted to the insertion opening (42) with a small play of movement.
  • On the shaft (41) also a collar is arranged.
  • the diameter differences on the shaft (41) and tip (40) and eye (26) and insertion opening (42) are shown in the drawing larger than in reality.
  • the adjusting tool (17) For docking the adjusting tool (17) on the adjusting part (24,25), the adjusting tool (17) is positioned and aligned with its retracted parking bolt (39) relative to the eye (26). Subsequently, the Absteckbolzen (39) is advanced and penetrates only with the tip (40), the larger diameter eye (26) and immersed in the insertion opening (42). In this first arrested Intermediate position exists motion and leadership game between the Absteckbolzen (39) and the control part (24,25). In addition, an additional alignment and support of the adjusting tool (17) with positive engagement relative to the arm (106,106 ') or the head part (23) or the adjusting part (24,25) take place.
  • the manipulator (100) now adjusts the positioning device (18) when the fixing devices (30, 31, 32) are released and, in particular, initially brings the arm (106, 106 ') into the desired position.
  • the docked control part (24,25) follows all adjusting movements of the manipulator (100).
  • the locking pin (39) is further advanced to its end position.
  • the shaft (41) penetrates into the eye (26), wherein any position inaccuracies are absorbed by the oblique transition between the tip (40) and shaft (41) and chamfers on the edge of the eye.
  • the actuating part (24, 25) and the arm (106 ') or the head part (23) are thereby forced into the position specified by the manipulator (100).
  • the Absteckbolzen (39) with its collar spans the control part (24,25) against the rear arm of the frame (43).
  • the adjusting tool (17) may have an integrated actuating device for one or more fixing devices (30, 31, 32). In this case, it is favorable if, during docking between the respective fixing device (30, 31, 32) and the adjusting tool (17), a defined location and position reference is produced.
  • the actuator may be an internal controllable drive, such as an electric motor with spindle drive, a pneumatic cylinder or the like. have, which an adjusting means, such as a push or pull rod, a Swivel lever or the like. For opening and closing of the respective fixing device (30,31,32) operated.
  • the adjusting tool (17) can hereby engage over one or more relevant joints (27, 28, 29).
  • the adjusting tool (17) can have a fluid supply and a media coupling for fluidically operated fixing devices (30, 31, 32) which detachably cooperate with the aforementioned fluid connection (34).
  • Such an arrangement is particularly suitable for the head part (23), in which a fixed spatial association between the actuating part (25) and a fluid connection (34) may exist.
  • a fluid coupling is automatically closed.
  • Embodiments are possible in various ways.
  • the number of positioning means (18) for forming a tensioning device (46) may vary, as well as its position.
  • clamping tools (45) other tools in any suitable manner on the acting as a console headboard (23) can be detachably mounted. This can, for example, pin, hold-down, guide pins, thrust units or the like. be.
  • any other constructions can also be arranged on the head part (23).
  • a plurality of positioning devices (18) it is possible for a plurality of positioning devices (18) to jointly carry a construction (19) or a tool and to cooperate in a coordinated manner for its orientation and to be adjusted together.
  • joining station 3 processing station joining station

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

L'invention concerne un porteur de composants transportable (10) destiné à transporter des carrosseries de véhicules ou des composants de carrosserie (4) dans une chaîne de montage (1), le porteur de composants (10) présentant une structure (88) pourvue d'un ou plusieurs logements à composants (63). Le porteur de composants (10) est conçu de façon à être adapté à diverses variantes de composants, les logements à composants (63) étant conçus de façon mobile. Un élément de réglage (67) comportant un dispositif de verrouillage (110) ou un dispositif de fixation (30, 31, 32) pouvant être actionné par machine est également prévu.
PCT/EP2008/005120 2007-06-26 2008-06-25 Porteur de composants transportable WO2009000512A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202007009014.5 2007-06-26
DE202007009014U DE202007009014U1 (de) 2007-06-26 2007-06-26 Transportabler Bauteilträger

Publications (2)

Publication Number Publication Date
WO2009000512A2 true WO2009000512A2 (fr) 2008-12-31
WO2009000512A3 WO2009000512A3 (fr) 2009-02-19

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PCT/EP2008/005120 WO2009000512A2 (fr) 2007-06-26 2008-06-25 Porteur de composants transportable

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DE (1) DE202007009014U1 (fr)
WO (1) WO2009000512A2 (fr)

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FR2961466A3 (fr) * 2010-06-21 2011-12-23 Renault Sa Organe de support destine a etre fixe sur une structure de support d'une caisse de vehicule automobile
FR2961467B1 (fr) * 2010-06-21 2013-05-17 Renault Sa Organe de support destine a etre fixe sur une structure de support d'une caisse de vehicule automobile
FR2979889A1 (fr) * 2011-09-08 2013-03-15 Renault Sa Organe de support destine a etre fixe sur une structure de support d'une caisse de vehicule automobile
DE102015115521A1 (de) 2015-09-15 2017-03-16 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Lastaufnahmeeinrichtung
DE102015217681B4 (de) * 2015-09-16 2017-11-30 Thyssenkrupp Ag Zuführvorrichtung zum Zuführen und/oder Plazieren zumindest eines Bauteils an eine Bearbeitungsanlage
DE102015222170A1 (de) * 2015-11-11 2017-05-11 Volkswagen Aktiengesellschaft Rahmenanordnung
DE102018203045A1 (de) * 2018-03-01 2019-09-05 Bayerische Motoren Werke Aktiengesellschaft Robotervorrichtung zum automatischen Durchführen wenigstens einer Manipulation an einem mittels einer Stetigfördereinheit transportierbaren Werkstück und Verfahren zum Betreiben einer solchen Robotervorrichtung
DE102018107811A1 (de) * 2018-04-03 2019-10-10 Torsten Hösker Überflurfördereinrichtung mit Kleberverbindung
CN109911533A (zh) * 2019-03-07 2019-06-21 广州市加杰机械设备有限公司 一种辊床滑撬线的车体转运装置
WO2021018399A1 (fr) * 2019-08-01 2021-02-04 Abb Schweiz Ag Plaque d'usinage pour transporter différentes pièces de travail dans une ligne de montage, et son procédé de configuration
DE102020120219B3 (de) * 2020-07-31 2021-06-24 Bayerische Motoren Werke Aktiengesellschaft Karosseriestruktur für einen elektrisch betreibbaren Personenkraftwagen
CN113460507B (zh) * 2021-07-29 2022-11-22 合肥康尔信电力系统有限公司 一种柴油发电机转运夹持装置及其工作方法
DE102021123009A1 (de) 2021-09-06 2023-03-09 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Flurförderwagen zum Transport von Fahrzeugteilen
DE102022111987A1 (de) 2022-05-12 2023-11-16 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Vorrichtung zum Transport einer Fahrzeugkarosserie

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DE202007009014U1 (de) 2008-11-13

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