WO2017128283A1

WO2017128283A1 - Flexible tooling device and flexible tooling system

Info

Publication number: WO2017128283A1
Application number: PCT/CN2016/072712
Authority: WO
Inventors: Ying WAN; Huiyun ZHANG; Fabrice Legeleux; Xuan Cao; Yueming ZHENG
Original assignee: Abb Schweiz Ag
Priority date: 2016-01-29
Filing date: 2016-01-29
Publication date: 2017-08-03

Abstract

A tooling device (1) comprises a carrier unit (2) which has a coupling means (3) for coupling to a robot arm of a robot, and a plurality of flexible gripper modules (29), each gripper module connects with the carrier unit (2) and has at least one attachment interface (9) for attaching to an operating tool (10), each gripper module (29) is provided with one adjustment means for setting a position of the attachment interface (9), wherein the adjustment means comprises a first combined positioning setting unit (7) controlled by electrical control signals from a control device, such combined positioning setting unit (7) is so designed that the attachment interface (9) is able to be positioned in a desired target position by at least one linear motion and at least one rotary motion. The tooling device has an adjustable work range and is capable of grasping among different gripping points without being re-installed.

Description

[Title established by the ISA under Rule 37.2] FLEXIBLE TOOLING DEVICE AND FLEXIBLE TOOLING SYSTEM

FIELD OF THE INVENTION

Embodiments of the present disclosure generally relate to a flexible tooling device, and particularly relate to a tooling device for use with a robot and a flexible tooling system comprising the tooling device.

BACKGROUND OF THE INVENTION

It is known that industrial production processes, for example in the automotive industry, are often based on a wide range of different shaped types of workpieces which are to be mounted together. Due to the increasing number of variants of the final product, there is also an increased variety in the types of workpieces to be mounted together.

An industrial production can be realized by using industrial robots for the standardized production processes such as gripping a platform for a car to be mounted from a staple and moving it to an assembly area. Industrial robots can be used as manipulators with, for example several degrees of freedom in movement. The robots can perform programmable movements within their working range around a belonging rotary base.

The industrial robots or other manipulators can require a tooling device mounted thereon for securely gripping a workpiece. Tooling devices usually work along the production line to grip work pieces/parts transferred on the line. Several points on one work piece/part are determined as the gripping points so that the tooling devices can reach exactly the points and then grasp the work piece/part. Generally, the number of gripping points decides the number of tooling devices to be used since one tooling device works on one gripping point each time.

During the production, a required number of tooling devices are installed on the frame and cooperate with each other to grasp and move a single work piece/part. Basically, the work pieces/parts to be assembled or moved are preset and the gripping points are relatively fixed. When the work pieces/parts to be worked on are decided, the locations, positions and working mode of the tooling devices are determined. In case of work piece/part change, the locations or positions of the tooling devices have to be adjusted to fit to the new work piece/part.

Traditional tooling devices can only achieve fixed-point gripping and usually are not programmable. When the work pieces/parts to be assembled or moved are decided, the gripping points are also fixed for the tooling devices to grasp. So the working range of traditional tooling devices are generally limited so that the tooling devices can grasp only on fixed gripping points. However, the work pieces/parts may change time by time during the production or assembly and the gripping points are also changed. If new work pieces/parts are under assembly or the gripping points are changed, the locations of the tooling devices have to be adjusted accordingly with the tooling devices being uninstalled first to fit to the new gripping points. It cannot be realized by simply programming using the software. This may result in low working efficiency and extra costs. Thus, the tooling devices are required to be able to achieve flexible grasping among different gripping points without physical change of their locations.

To handle the high variety of different shaped types of workpieces-such as platforms for cars-it is either possible to handle each type of workpiece with a dedicated tooling device tool or to design the tooling device to be as flexible as possible. The required effort for changing the manipulating tool is reduced therewith.

In known systems the position of the operating tool is able to be repositioned by linearly motion only. As a result, there is still a significant restriction in the flexibility of the respective manipulating device.

Therefore, there is a demand for a flexible tooling device with high degree of flexibility for handling parts of different sorts.

SUMMARY OF THE INVENTION

To resolve the problem of limited freedom of the attachment interfaces of the tooling device, an object of the present invention is to provide a tooling device with increased flexibility for handling parts of different sorts.

To accomplish the foregoing object, according to one aspect of the invention, there is provided a flexible tooling device. The tooling device comprises a carrier unit which has a coupling means for coupling to a robot arm of a robot, and a plurality of flexible gripper modules each connecting with the carrier unit and having at least one attachment interface for attaching to an operating tool, each gripper module being provided with adjustment means for setting a position of the attachment interface, wherein the adjustment means comprise a first combined positioning setting unit controlled by electrical control signals from a control device, such combined positioning setting unit being so designed that the attachment interface is able to be positioned in a desired target position by at least one linear motion and at least one rotary motion.

According to a preferred embodiment of the present invention, the first combined positioning setting unit is configured to realize two degrees of freedom, wherein one degree is a first linear motion along the z axis, and the other degree is a second rotary motion around the z axis.

According to a preferred embodiment of the present invention, the first combined positioning setting unit comprises a ballscrew, to enable the first linear motion along the z axis.

According to a preferred embodiment of the present invention, the ballscrew is connected to a pulley, which is driven by a motor with a pulley through a timing belt.

According to a preferred embodiment of the present invention, the first combined positioning setting unit comprises a ball spline, to enable the second rotary motion around the z axis.

According to a preferred embodiment of the present invention, the ball spline is connected to a pulley, which is driven by a motor with a pulley through a timing belt.

According to a preferred embodiment of the present invention, the first combined positioning setting unit further comprises a housing, the ballscrew and the ball spline being connected by the housing.

According to a preferred embodiment of the present invention, the first combined positioning setting unit are provided with a covering for protection the ballscrew and the ball spline against dust.

According to a preferred embodiment of the present invention, the first combined positioning setting unit comprises at least one stopper, for limiting the first linear motion along the z axis.

According to a preferred embodiment of the present invention, the dimension of the attachment interface is configured to be variable, so as to adjust the rotation work range of the tool.

According to a preferred embodiment of the present invention, the first combined positioning setting unit is directly mounted on the carrier unit.

According to a preferred embodiment of the present invention, the adjustment means further comprise a second positioning setting unit controlled by electrical control signals from the control device, the second positioning setting unit being configured to realize one degree of freedom, such degree of freedom is a third linear motion along the x axis or the y axis.

According to a preferred embodiment of the present invention, the second positioning setting unit comprises a guide rail and a ballscrew, to enable the third linear motion along the x axis or the y axis.

According to a preferred embodiment of the present invention, the second positioning setting unit is directly mounted on the carrier unit.

According to a preferred embodiment of the present invention, the second positioning setting unit comprises an interface plate which is moveable along the guide rail, the first combined positioning setting unit being indirectly connected to the carrier unit, by firstly mounted on the interface plate.

According to a preferred embodiment of the present invention, the positioning setting units of each gripper module are so designed that the attachment interface of a respective gripper module can be positioned independently from the attachment interfaces of the other gripper modules to the desired target position.

According to a preferred embodiment of the present invention, the tooling device further comprises a cable chain connecting with the carrier unit, for accommodating cables and enabling cables to move.

According to another aspect of the invention, there is provided a flexible tooling system comprising a robot and the flexible tooling device as described above, wherein the tooling device is mounted on the robot arm of the robot.

Compared with the existing prior arts, the present invention can provide a flexible tooling device with enlarged working range. The new drive unit enables the tooling device to have an adjustable work range and be capable of grasping among different gripping points without being reinstalled. When new work pieces/parts are introduced or the gripping points are changed, only reprogramming is required. This flexible and programmable tooling device will improve work efficiency and save production costs. In addition, tooling change, tooling device shelf and work space can also be saved. With the new drive unit, the tooling device could achieve linear movement in one or two planes and also the rotational movement. This enables the tooling device to grasp different gripping points by reprogramming only.

Other features and advantages of embodiments of the present application will also be understood from the following description of specific exemplary embodiments when read in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other features of the present disclosure will become more apparent through detailed explanation on the embodiments as illustrated in the description with reference to the accompanying drawings, throughout which like reference numbers represent same or similar components and wherein:

Fig. 1 is a perspective view of a working example of the tooling device according to an embodiment of the present disclosure；

Fig. 2 shows a perspective view of the first and second positioning setting units according to an embodiment of the present disclosure；

Fig. 3 shows a perspective view of the second positioning setting unit according to an embodiment of the present disclosure；

Fig. 4 shows a sectional view of the second positioning setting unit as in Fig. 3；

Fig. 5 shows a perspective view of the first combined positioning setting unit according to an embodiment of the present disclosure； and

Fig. 6 shows a sectional view of the first combined positioning setting unit as in Fig. 5.

Throughout the figures, same or similar reference numbers indicate same or similar elements.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

Hereinafter, solutions as provided the present disclosure will be described in details through embodiments with reference to the accompanying drawings. It should be appreciated that these embodiments are presented only to enable those skilled in the art to better understand and implement the present disclosure, not intended to limit the scope of the present disclosure in any manner.

Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the/said [element, device, component, means, step, etc] " are to be interpreted openly as referring to at least one instance of said element, device, component, means, unit, step, etc., without excluding a plurality of such devices, components, means, units, steps, etc., unless explicitly stated otherwise. Besides, the indefinite article “a/an” as used herein does not exclude a plurality of such steps, units, modules, devices, and objects, and etc.

Throughout the descriptions of various embodiments of the present application, repeated descriptions of some similar elements will be omitted.

In general, embodiments of the present application provide a new tooling device 1 for use with a robot. As will be apparent from the further discussions below, to improve the work efficiency and reduce unnecessary production costs, one or more positioning setting units are employed to provide a flexible tooling device with high degree of flexibility.

Fig. 1 shows a preferred working example of the tooling device of the present invention. The tooling device 1 is mounted on the robot arm of the robot to form a flexible tooling system. Such tooling device 1 possesses a carrier unit 2, which in Fig. 1 is illustrated as a frame 2. The carrier unit 2 possesses a coupling point 3 for coupling on a robot arm of a robot (not illustrated) . The coupling point 3 may for example be constituted by an interface plate 3, arranged on the top side of the carrier unit 2. Owing to the coupling to robot arm it will be apparent that the tooling device 1 may be bodily moved into different operating positions in relation to the parts to be lifted. As a rule the carrier unit 2 is horizontally aligned in order for example to lift horizontally placed bodywork sheet metal elements. On the carrier unit 2 several gripper modules 29 are attached. In the example of Fig. 1, four gripper modules 29 are provided on the frame 2 which has the interface plate 3 coupled to the robot. However, it could mount two or six gripper modules 29. Furthermore the mounting of three, five or more than six operating modules is possible.

The following description is limited for the sake of simplification to a single gripper module 29. The remaining gripper modules 29 can be essentially identical in construction. And the attachment interface 9 of a respective gripper module 29 can be positioned independently from the attachment interfaces 9 of the other gripper modules 29 to the desired target position.

Referring to Fig. 1, the gripper module 29 is attached to the frame 2 and has an attachment interface 9 for attaching to an operating tool 10. The gripper module 29 has adjustment means for setting a position of the attachment interface 9. The gripper module 29 could have only one positioning setting unit 4, or only one combined positioning setting unit 7, or two units together which is determined by the working range and requirements. Each unit can be controlled by electrical control signals from a control device.

With reference to Fig. 2, the combined positioning setting unit 7 is so designed that the attachment interface 9 is able to be positioned in a desired target position by linear motion and rotary motion. In particular, the dimension of the attachment interface 9 can also be variable, for example its length or width or height can be variable, so as to adjust the rotation work range of the tool 10 to a certain degree.

In general, the combined positioning setting unit 7 can realize two degrees of freedom, wherein one degree is a linear motion along the z axis, and the other degree is a rotary motion around the z axis. The positioning setting unit 4 can realize one degree of freedom, such degree of freedom is a linear motion along the x axis or the y axis. The wording ‘along or around x, y or z axis’ is presented only to enable those skilled in the art to better understand and implement the present disclosure. It should not be construed as limitations on the movements, but rather includes any movements along or around any path.

One example of the positioning setting unit 4 is shown in Figs. 3 and 4. The unit 4 can be directly mounted on the frame 2, which comprises a guide rail 6 and a ballscrew 17, to enable the linear motion along the x axis. The ballscrew 17 connects to the pulley 16, which is driven by a motor 5 with a pulley 14 through a timing belt 15. The motor 5 can be a servo motor. So the motor 5 drives the gripper module to slide along the horizontal rail guide 6 with the ball screw 17. An interface plate 12 is moveable along the guide rail 6. The combined positioning setting unit 7 can be indirectly connected to the carrier unit 2, by firstly mounted on the interface plate 12. The longer rail guide 6 and the ballscrew shaft 17 are, the larger the interface plate 12 could move. The cable chain 8 is connected with the frame 2, used for cables accommodating and moving.

One example of the combined positioning setting unit 7 is shown in Figs. 5 and 6. The combined unit 7 could be installed on the frame 2 directly, or be installed on the interface plate 12 as mentioned above. The ballscrew 22 which is vertical to the ballscrew 17 enables the gripper module to have an up-and-down movement. It is connect to a pulley 21, which is driven by a motor 35 with a pulley 19 through a timing belt 20. The motor 35 can be a servo motor. The longer a shaft 27 is, the larger the combined unit 7 could move up-and-down. The ball spline 25 which is working together with the ballscrew 22 enables the gripper to have a rotation movement. The ball spline 25 connects to a pulley 26, which is driven by a motor 45 with a pulley 23 through a timing belt 24. So the ball spline 25 can rotate accordingly. The motor 45 can be a servo motor. It is naturally possible for other positioning setting designs to be employed, however, the structure of the unit 7 has good layout, thus it is easy for assembly and can save space.

Therefore, the gripper module 29 will have a stereoscopic motion range and be able to achieve all points within the space formed by the

positioning setting units

4 and 7. It provides an easy way to change operating tools 10 for different applications without refitting the whole gripper. The flexible tool change and gripping point achievement makes the grasping of a new work piece/part become easier. If a new work piece/part (such as a new car model) is to be moved or assembled, the new structure according to the present invention needs only reprogramming rather than physical change of the gripper (except for the necessary tool change) . This would highly increase the work efficiency and reduce costs during the production and assembly.

According to some embodiments, as shown in Fig. 5, the combined positioning setting unit 7 can further comprise a housing 18, to better connect the ballscrew 22 and the ball spline 25.

According to some embodiments, the combined positioning setting unit 7 can further comprise a covering 13, to better protect the ballscrew 22 and the ball spline 25 against dust.

According to some embodiments, as shown in Fig. 6, the combined positioning setting unit 7 can also comprise one or two stoppers 28, to better limit the linear motion along the z axis.

Hereinabove, embodiments of the present disclosure have been described in details through embodiments with reference to the accompanying drawings. It should be appreciated that, while this specification contains many specific implementation details, these details should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features that may be specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a sub-combination or variation of a sub-combination.

Various modifications, adaptations to the foregoing exemplary embodiments of this disclosure may become apparent to those skilled in the relevant arts in view of the foregoing description, when read in conjunction with the accompanying drawings. Any and all modifications will still fall within the scope of the non-limiting and exemplary embodiments of this disclosure. Furthermore, other embodiments of the disclosures set forth herein will come to mind to one skilled in the art to which these embodiments of the disclosure pertain having the benefit of the teachings presented in the foregoing descriptions and the associated drawings.

Therefore, it is to be understood that the embodiments of the disclosure are not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are used herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

A flexible tooling device (1) , characterized in that, the tooling device (1) comprises a carrier unit (2) which has a coupling means (3) for coupling to a robot arm of a robot, and a plurality of flexible gripper modules (29) each connecting with the carrier unit (2) and having at least one attachment interface (9) for attaching to an operating tool (10) , each gripper module (29) being provided with adjustment means for setting a position of the attachment interface (9) , wherein the adjustment means comprise a first combined positioning setting unit (7) controlled by electrical control signals from a control device, such combined positioning setting unit (7) being so designed that the attachment interface (9) is able to be positioned in a desired target position by at least one linear motion and at least one rotary motion.
The tooling device according to claim 1, characterized in that, the first combined positioning setting unit (7) is configured to realize two degrees of freedom, wherein one degree is a first linear motion along the z axis, and the other degree is a second rotary motion around the z axis.
The tooling device according to claim 2, characterized in that, the first combined positioning setting unit (7) comprises a ballscrew (22) , to enable the first linear motion along the z axis.
The tooling device according to claim 3, characterized in that, the ballscrew (22) is connected to a pulley (21) , which is driven by a motor (35) with a pulley (19) through a timing belt (20) .
The tooling device according to claim 2, characterized in that, the first combined positioning setting unit (7) comprises a ball spline (25) , to enable the second rotary motion around the z axis.
The tooling device according to claim 5, characterized in that, the ball spline (25) is connected to a pulley (26) , which is driven by a motor (45) with a pulley (23) through a timing belt (24) .
The tooling device according to claim 5, characterized in that, the first combined positioning setting unit (7) further comprises a housing (18) , the ballscrew (22) and the ball spline (25) being connected by the housing (18) .
The tooling device according to claim 5, characterized in that, the first combined positioning setting unit (7) are provided with a covering (13) for protection the ballscrew (22) and the ball spline (25) against dust.
The tooling device according to claim 2, characterized in that, the first combined positioning setting unit (7) comprises at least one stopper (28) , for limiting the first linear motion along the z axis.
The tooling device according to claim 2, characterized in that, the dimension of the attachment interface (9) is configured to be variable, so as to adjust the rotation work range of the tool (10) .
The tooling device according to claim 1, characterized in that, the first combined positioning setting unit (7) is directly mounted on the carrier unit (2) .
The tooling device according to claim 1, characterized in that, the adjustment means further comprise a second positioning setting unit (4) controlled by electrical control signals from the control device, the second positioning setting unit (4) being configured to realize one degree of freedom, such degree of freedom is a third linear motion along the x axis or the y axis.
The tooling device according to claim 12, characterized in that, the second positioning setting unit (4) comprises a guide rail (6) and a ballscrew (17) , to enable the third linear motion along the x axis or the y axis.
The tooling device according to claim 13, characterized in that, the ballscrew (17) is connected to a pulley (16) , which is driven by a motor (5) with a pulley (14) through a timing belt (15) .
The tooling device according to claim 12, characterized in that, the second positioning setting unit (4) is directly mounted on the carrier unit (2) .
The tooling device according to claim 15, characterized in that, the second positioning setting unit (4) comprises an interface plate (12) which is moveable along the guide rail (6) , the first combined positioning setting unit (7) being indirectly connected to the carrier unit (2) , by firstly mounted on the interface plate (12) .
The tooling device according to claim 1, characterized in that, the positioning setting units (4, 7) of each gripper module (29) are so designed that the attachment interface (9) of a respective gripper module (29) can be positioned independently from the attachment interfaces (9) of the other gripper modules (29) to the desired target position.
The tooling device according to claim 1, characterized in that, the tooling device further comprises a cable chain (8) connecting with the carrier unit (2) , for accommodating cables and enabling cables to move.
A flexible tooling system comprising a robot and the flexible tooling device (1) according to any one of claims 1-18, wherein the tooling device (1) is mounted on the robot arm of the robot.