WO2009018812A1 - Procédé pour le traitement et/ou le transfert mécanisé de pièces - Google Patents

Procédé pour le traitement et/ou le transfert mécanisé de pièces Download PDF

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Publication number
WO2009018812A1
WO2009018812A1 PCT/DE2008/001271 DE2008001271W WO2009018812A1 WO 2009018812 A1 WO2009018812 A1 WO 2009018812A1 DE 2008001271 W DE2008001271 W DE 2008001271W WO 2009018812 A1 WO2009018812 A1 WO 2009018812A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
component
space
monitored
components
Prior art date
Application number
PCT/DE2008/001271
Other languages
German (de)
English (en)
Inventor
Robert Lehner
Original Assignee
Symax Systemtechnik Sondermaschinenbau 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 Symax Systemtechnik Sondermaschinenbau Gmbh filed Critical Symax Systemtechnik Sondermaschinenbau Gmbh
Publication of WO2009018812A1 publication Critical patent/WO2009018812A1/fr

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
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • 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], 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], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40201—Detect contact, collision with human
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40203—Detect position of operator, create non material barrier to protect operator
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40409—Robot brings object near operator, operator places object in correct position
    • 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 method according to the preamble of claim 1.
  • Components within the meaning of the invention are components or components, also assemblies and workpieces of various kinds, which are moved, for example, during assembly or disassembly and / or machining by means of a manipulator by machine between two positions, e.g. for picking up at least one component at a supply position and for inserting this component into a processing machine, for example into a milling machine, or vice versa for removing at least one component from a processing machine, for example a milling machine, and for depositing this component at a storage position.
  • Manipulators in the sense of the invention are generally motor-driven or moving devices or transport or transfer devices with which components during assembly and / or dismantling machine, i. be moved by controlling with a program controlled motion sequence. Manipulators in this sense are in particular robots.
  • access protected space or “access protected area” is to be understood as meaning, in particular, that space or area in which the manipulator, for example the robot or robotic arm, moves in an automatic mode and which is blocked for persons or their access while the system is running in which the movement of the robot or robot arm in the access-protected space or area can in particular also comprise pivoting and rotating movements about one and / or several axes, also over a respective larger angular range.
  • Processing in the sense of the invention generally means any kind of processing of the components, including assembly as well as any type of processing of the components, for example, a machining with a forming and / or machining process of any kind.
  • the object of the invention is to Qualcomm a method with which it is safe, especially with reduced control effort and time-saving possible to move components between two positions by machine and thereby store exact location at one of these positions in an automatic mode or remove. To solve this problem, a method according to claim 1 is formed.
  • the manipulator or its component holder is first moved in a monitored automatic mode to a supply position adjacent to the component to be picked up and provided at the first position. From this deployment position is then done manually controlled the final movement of the component holder to the waiting component, in a sequence of motion control of the manipulator, are locked in all the movements of the manipulator except for the short movements required to approach the waiting component.
  • the manipulator or the component holder moves with the component into a monitored automatic mode from the unprotected space or area into the access-protected space or area, in which then possibly also pivoting and rotating the Manipulator to one or more axes the positionally accurate placement of the component at the second position, for example, the positionally accurate insertion of the component in or on a processing machine, eg Milling machine is done.
  • a processing machine eg Milling machine
  • the monitored automatic mode both when approaching the manipulator to the ready position, as well as moving away the manipulator in the access protected area or room, but also in the manual approach or lead away the component recording to or from the first position is a constant monitoring the movement space of the manipulator or the component recording by means of a suitable sensor, for example by means of opto-electrical sensors, such as Cameras, etc., so that the monitored automatic operation, but also the manually controlled movement are immediately stopped automatically when a person or a part of a person or objects or obstacles in the monitored movement space (the manipulator and / or component recording surrounding envelope ) are located.
  • a suitable sensor for example by means of opto-electrical sensors, such as Cameras, etc.
  • the manual control preferably takes place by means of an actuating or control device provided on the manipulator or on the component receptacle, for example in the form of a joy stick.
  • this control device is designed so that a two-handed operation is necessary.
  • the use of a control device provided on the manipulator or on the component holder results in an ergonomically particularly advantageous control.
  • the movements of the manipulator are chosen so that only very short distances and the simplest possible movement are required for the manually controlled approach to the component receiving the first position, for example, the component there, this manual approach can therefore be carried out without great expenditure of time and thus, for example, within the respective production cycle time a sufficiently large idle time for more Work steps remains, for example, for tracking a further component to the first position.
  • FIG. 1 and 2 each show a simplified perspective view of a workstation according to the invention in two different operating states.
  • the workstation shown in the figures and generally designated 1 essentially serves for receiving components 3 provided at a feed area 2 or at a first position 2.1 (feed position) there, for transferring the components 3 to a processing area 4 arranged in a processing area Processing machine 5 and the positionally accurate, fully automatic insertion of the components 3 in a local second position 5.1, for example, workpiece holder.
  • a handling and transfer device in the form of a robot 6 is provided, which at his Robot arm 7 is provided with a component holder or with a gripping head 8.
  • the robot 6 has, for example, in the usual form six controllable axes.
  • the peculiarity of the workstation 1 is that it allows a safe interaction between the robot 6 and persons or worker W.
  • the space between the task area 2 and the processing area 4, within the (space) the robot 6 or robot arm 7 moves into an unprotected room 10, in which the task area 2 is located with the position 2.1, and in an access protected Room 1 1 divided, in which the processing area 4 is located at the position 5.1, as is schematically indicated in the figures with the vertical parting plane 12.
  • This parting plane 12 between the two spaces 10 and 11 is for example of a mechanical barrier, e.g.
  • a protective grid or protective wall formed by a protective grid or protective wall, or for example, by a floor marking or otherwise optically marked and is constantly monitored by at least one sensor, such as a surface scanner, the shutdown of the robot 6 and optionally also the assembly line then forcibly effected when a person W is located in the access protected room 11 or moves into it.
  • the control of the robot 6 is carried out by the control device 9 in such a way that the robot 6 or the robot arm 7 moves with the gripper head 8 in the access-protected space 1 1 in a fully automatic operation and automatically adjusts to a monitored automatic operation, as soon as the robot arm 7 or the gripper head 8 or parts thereof are in the unprotected room 10.
  • the movements of the robot are completely controlled by the control device 9.
  • the robot 6 leads all for the Insertion or removal of the components 3 as well as for the removal of the robot arm 7 after insertion or removal of a component necessary rotational and pivotal movements with the highest possible for the required performance of the workstation speed.
  • the movement of the robot 6 or Rotoberarmes 7 with the gripper head 8 only takes place at a greatly reduced speed and preferably only in or about a single axis, for example by pivoting about a horizontal axis.
  • the gripper head 8 with the robot arm 7 is moved to a ready position directly in the vicinity of a component 3 provided at the position 2.1. If the gripper head 8 has reached this provisioning position at a reduced speed, the control of the robot 6 is transferred from the monitored automatic mode to a manual control by the worker W.
  • the robot arm 7 is located near the gripper head 8 or on the gripper head 8 itself manually operable control 13 provided in the form of a joystick, with which by the worker W of the gripping head 8 can be manually brought to the ready at the position 2.1 component 3 and connected to this, so that the component 3 on the gripping head 8 and thus also with respect to the axes of the robot 6 has the required exact positioning.
  • An advantage of this manual feeding of the gripping head 8 to the respective component 3 from the ready position has the advantage that the movements required for this purpose are only very short, that it is not necessary to move the respective component 3 very precisely on the task area 2 or on the local one Positioning task to position 2.1 and in particular monitoring and control means are avoided, which would be required in a fully automatic gripping of the components 3 for the exact positioning of these components on the gripper head 8.
  • the workstation described offers significant benefits.
  • the control of the robot 6 is returned to the monitored automatic mode by manual actuation of the actuating device 13 or an actuating element provided there, so that then in this monitored automatic mode, the robot arm 7 with the gripper head. 8 held component 3 at a reduced speed and preferably with a movement in or about only one axis out of the unprotected space 1 1 is moved out. Subsequently, in the access-protected space 12 in the fully automatic operation with increased speed of the transfer of the component 3 to the processing machine 5 and the insertion or removal of the component 3 at the local position 5.1.
  • the monitored automatic mode is a constant monitoring of the movement space of the robot arm 7, the gripper head 8 and held on this gripper head component 3 by means of a suitable sensor, for example with the aid of opto-electrical sensors, such as cameras, etc., so that this monitored automatic mode immediately stopped automatically and the entire workstation as well as a possibly existing transport system be shut down if there are persons W or obstacles in the monitored movement space (envelope curve).
  • the monitored automatic operation can also be designed so that with a correspondingly slow movement of the robot arm 7 and the gripper head 8 with the held on this component 3 is always a sufficiently large minimum distance to all surfaces and / or objects of the task area 2, especially to the ground - And / or side and / or wall surfaces and other elements of the workstation 1, but also to other, transported to the task area 2 components 3 is respected, for example, a minimum distance of at least 0.75 m, so that accidents by pinching or pinching excluded are.
  • the components 3 are the task area 2 and the local position 2.1, for example, fed via a feed dog, not shown.
  • the monitored automatic operation even while maintaining the minimum distances is always initiated when the worker W granted his consent for this monitored automatic operation, for example, by the operation of the actuator 13 or provided there actuating element, such as buttons.
  • the components 3 are respectively transferred or transported from the position 2.1 to the position 5.1.
  • the manipulator or robot 6 in fully automatic operation at the position 5.1, for example, after processing on the machine tool 5, and then first in a fully automatic operation and then after the entry of the gripper head 8 and of the component 3 in the unprotected space or area 1 1 in the monitored automatic mode to move to the provision position in the region of the position 2.1 at which the component 3 is to be stored. From the provisioning position then takes place by manual control of the worker W in the manual operation, the final approach of the component 3 to the position 2.1 and the local placement of the component.
  • the workstation 1 is, for example, part of a production plant in which the components 3 provided on the application area 2 or on the local position 2.1 are processed in the processing machine 5 (for example milling machine) and then fed to a further use after processing.
  • the processing machine 5 for example milling machine

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Manipulator (AREA)

Abstract

Procédé pour le transfert mécanisé de pièces entre au moins deux positions, parmi lesquelles au moins une première position est située à l'intérieur d'une zone ou d'un espace non protégé et au moins une deuxième position est située à l'intérieur d'une zone ou d'un espace à accès protégé, à l'aide d'un manipulateur comportant un élément de réception de pièce qui est déplaçable entre les positions à l'aide du manipulateur et qui peut être positionné exactement dans la deuxième position par un fonctionnement entièrement automatique du manipulateur.
PCT/DE2008/001271 2007-08-06 2008-08-01 Procédé pour le traitement et/ou le transfert mécanisé de pièces WO2009018812A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102007036871.4 2007-08-06
DE102007036871 2007-08-06
DE102007037404.8 2007-08-08
DE102007037404A DE102007037404B4 (de) 2007-08-06 2007-08-08 Verfahren zum maschinellen Verarbeiten und/oder Transfer von Bauteilen

Publications (1)

Publication Number Publication Date
WO2009018812A1 true WO2009018812A1 (fr) 2009-02-12

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ID=40279319

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2008/001271 WO2009018812A1 (fr) 2007-08-06 2008-08-01 Procédé pour le traitement et/ou le transfert mécanisé de pièces

Country Status (2)

Country Link
DE (1) DE102007037404B4 (fr)
WO (1) WO2009018812A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011054907A1 (fr) * 2009-11-05 2011-05-12 Aberle Robotics Gmbh Système de chargement et procédé de travail associé
CN106914808A (zh) * 2017-01-21 2017-07-04 中山市华南理工大学现代产业技术研究院 球杆杆头表面自动打磨设备
WO2017220186A1 (fr) * 2016-06-20 2017-12-28 Kuka Roboter Gmbh Surveillance d'une installation comprenant au moins un robot

Families Citing this family (6)

* Cited by examiner, † Cited by third party
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JP4938118B2 (ja) 2010-08-17 2012-05-23 ファナック株式会社 人間協調ロボットシステム
US20130245823A1 (en) * 2012-03-19 2013-09-19 Kabushiki Kaisha Yaskawa Denki Robot system, robot hand, and robot system operating method
FR2999530B1 (fr) * 2012-12-17 2017-03-24 Airbus Operations Sas Procede de traitement automatise et individualise de bagages dans un aeronef et soute d'aeronef pour sa mise en œuvre.
DE202013104264U1 (de) 2013-09-18 2015-01-09 Daimler Ag Arbeitsstation
JP5964472B1 (ja) 2015-02-03 2016-08-03 ファナック株式会社 ロボットと工作機械の動作制限機能を有する加工システム
DE102015220517A1 (de) * 2015-10-21 2017-04-27 Kuka Systems Gmbh MRK-System und Verfahren zum Steueren eines MRK-Systems

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JP2005335000A (ja) * 2004-05-25 2005-12-08 Yaskawa Electric Corp 人間介入型ロボットの制御装置
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DE102007008238A1 (de) * 2007-02-20 2007-12-20 Daimlerchrysler Ag Fertigungseinrichtung

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WO2003072853A2 (fr) * 2002-02-22 2003-09-04 Semitool, Inc. Appareil a postes de traitement destine au traitement manuel et automatique de pieces micro-electroniques
DE10320343A1 (de) * 2003-05-07 2004-12-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur überwachten Kooperation zwischen einer Robotereinheit und einem Menschen
JP2005335000A (ja) * 2004-05-25 2005-12-08 Yaskawa Electric Corp 人間介入型ロボットの制御装置
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011054907A1 (fr) * 2009-11-05 2011-05-12 Aberle Robotics Gmbh Système de chargement et procédé de travail associé
WO2017220186A1 (fr) * 2016-06-20 2017-12-28 Kuka Roboter Gmbh Surveillance d'une installation comprenant au moins un robot
CN106914808A (zh) * 2017-01-21 2017-07-04 中山市华南理工大学现代产业技术研究院 球杆杆头表面自动打磨设备
CN106914808B (zh) * 2017-01-21 2023-09-19 中山市华南理工大学现代产业技术研究院 球杆杆头表面自动打磨设备

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Publication number Publication date
DE102007037404B4 (de) 2009-06-18
DE102007037404A1 (de) 2009-02-19

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