WO2018054934A1 - Dispositif d'usinage - Google Patents

Dispositif d'usinage Download PDF

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Publication number
WO2018054934A1
WO2018054934A1 PCT/EP2017/073704 EP2017073704W WO2018054934A1 WO 2018054934 A1 WO2018054934 A1 WO 2018054934A1 EP 2017073704 W EP2017073704 W EP 2017073704W WO 2018054934 A1 WO2018054934 A1 WO 2018054934A1
Authority
WO
WIPO (PCT)
Prior art keywords
processing
support
modules
module
processing unit
Prior art date
Application number
PCT/EP2017/073704
Other languages
German (de)
English (en)
Inventor
Thomas Sturm
Bernhard Straub
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 WO2018054934A1 publication Critical patent/WO2018054934A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators

Definitions

  • the invention relates to a processing device having the features in the preamble of the main claim.
  • a processing device for workpieces of any kind is known from practice. It has a processing unit with a detachable
  • the processing unit has a fixed and predetermined configuration. It consists of a frame-like support device with a process device mounted thereon in the form of an industrial robot.
  • the invention solves this problem with the features in the main claim.
  • the claimed processing technique i. the
  • the processing unit has a modular design and can be automatically configured differently. It can be adapted by the configuration to different processing and process requirements.
  • the modular design on the one hand, a large process variability and freedom of configuration and on the other hand given a high efficiency in terms of construction costs, space requirements and efficiency.
  • Configuration change of the processing unit to be carried out by the means of transport can be used for different types of workpieces and for
  • Aerospace area especially for aircraft or other aircraft.
  • the claimed machining technique can also be applied in the entire other technical field
  • non-aerospace sector outside the aerospace area, i. in the so-called non-aerospace sector, to be used successfully.
  • This can e.g. other means of transport, in particular land or water vehicles, e.g. Road or rail vehicles or ships.
  • the non-aerospace sector also includes other constructions, in particular machines or devices, but also immovable objects, in particular buildings.
  • Workpieces performed processes can be of any kind. It can be e.g. order processes,
  • the processing device may be one or more
  • Processing unit has a modular support means with at least two different mobile support modules, which can be detachably connected to each other and automatically changed.
  • at least two different support modules can be arranged on top of each other.
  • a pool of different support modules is ready to form the desired
  • the processing unit has one each on the
  • Carrying arranged modular processing device with several different process modules which can be detachably connected to each other and automatically changed.
  • the process modules are each one
  • Carrying modules can be equipped with different process modules.
  • the number of process modules per module can vary. In this case, it is possible to automatically change a plurality of process modules, each associated with a support module, together with its support module.
  • Process modules can have a fixed assignment or connection with their respective support module.
  • Machining process can be done in a simple manner by changing a support module and the associated process module.
  • the support modules are preferably designed platform-like.
  • the different support modules can be in or several base support modules, in particular
  • the base support module may support means for
  • Charging device can the transport vehicle and / or the support unit, in particular the base support module,
  • the charging device can more
  • a device for positioning and possibly fixing a base support module on a substrate is
  • the different support modules can be parked at a provision of the processing device in a defined position and recorded.
  • Provision may e.g. have several defined shelves with a positioning for support modules.
  • one or more process support modules can be detachably and automatically arranged interchangeable.
  • the fully automatic recording and dispensing of the process support modules can by the
  • Lifting device to be performed in conjunction with a correspondingly designed provision of the support modules. Additional external powered
  • a base support module may include a process module that is particularly useful for handling and management tasks
  • the process module is designed. This can e.g. an industrial robot and / or a work platform for a worker.
  • the process module may be fixed or by means of one or more
  • the process support modules may include a process module in the form of process-specific process equipment. This can in particular have a process agent supply and / or a process tool. By combining different process support modules with a base support module, the industrial robot or a worker on a work platform can perform different processes. For economic reasons, it is advantageous to have a small number of basic support modules and flexible ones
  • Process adaptation to provide and provide a larger number of process support modules.
  • the processing unit can be an automatic
  • the coupling device automatically sets up a mechanical and / or media technology connection of the support modules and the process modules in the configuration of a processing unit, in particular when picking up or loading a process carrier module and its
  • the coupling device may have a mechanical coupling and / or a media coupling between support modules. Due to the mechanical coupling can be a positionally accurate and possibly fixable arrangement or
  • Receiving a process support module can be achieved on a base support module.
  • the media coupling can be a media technology connection between these
  • Support modules on the one hand and between their respective process modules on the other hand be created.
  • the media coupling resources in particular
  • the media coupling is preferably active and can be opened and closed automatically with its own actuator.
  • the automatic coupling device may further comprise a mechanical inter-connection, e.g. by means of a
  • Gripper and / or an automatic change coupling, between process modules on different support modules can z.
  • An industrial robot on the base support module can z.
  • Required resources can the
  • Process tool from the industrial robot and / or externally and from its associated process agent supply, e.g.
  • a tank, a power source or the like. be supplied. This can be flexible
  • Process agent supply eg via a flexible and flexible length line and possibly a tripod, done.
  • the flexible process agent supply can follow the movements of the process tool induced by the worker or by the industrial robot.
  • a base support module can be a flexible and mitbewegbare, especially in the driving movements of the
  • the energy in particular electrical energy, can be from an equipment-side and preferably at a distance above the ground and the processing device arranged resource supply, in particular
  • a base support module may also include a controller and / or an energy distributor.
  • Resources e.g. Fluids, in particular compressed air, coolant or the like. , provided and supplied.
  • the energy or other resources can be fed directly to the process module located on the base support module.
  • supply line to the one or the other and to the process support module can be conveyed via the media coupling
  • the local process agent supply e.g. one or more tanks, may also contain one or more resources,
  • Operating means or its container can be made stationary to a provision, in particular a shelf, for a process support module.
  • the processing unit can be an automatic
  • Charging device for connecting the support device, in particular a base support module, with the
  • the charging device can be designed as a lifting device.
  • the processing device can have one or more automatically configurable processing units
  • the processing device may be provided for one or more workpieces, wherein one or more processing units also between
  • the means of transport may be for the transport of one or more
  • Machining units from a provision to one or more workpieces and also for an offset provide between several working positions on the workpiece. They can then be released again and perform another transport job.
  • the transport means may also perform the automatic configuration of a processing unit by selecting and receiving a base support module and by charging one or more process support modules on or on the received base support module.
  • Transport means may also be used for direct picking up and transport of one or more process support modules, e.g. between different ones
  • Transport vehicle e.g. so-called AGV or FTF
  • the transport vehicle is omnidirectionally movable and can be used e.g. Mecanum wheels have. It can move from a standing position in any direction and can also change the direction of travel at any angle while driving.
  • the various positioning devices allow precise positioning of the support modules relative to each other and relative to the workpiece as well as to a provision. This reduces the adjustment and calibration effort and increases the accuracy of process quality, speed and efficiency of the machining technique.
  • This reduces the adjustment and calibration effort and increases the accuracy of process quality, speed and efficiency of the machining technique.
  • the claimed processing technique may further include the following embodiments, which may be combined as desired with each other and with the respective independent claims and subclaims.
  • the processing device may include the mentioned one or more support modules and one or more process modules.
  • the processing device can include the mentioned one or more support modules and one or more process modules.
  • Process modules are automatically changed together with their support module or are interchangeable.
  • Machining device for connecting the support modules and the process modules may have a mechanical coupling and / or a media coupling between support modules.
  • Machining device may also be a mechanical inter-connection between process modules
  • Several support modules of the processing device can be designed as one or more base support modules.
  • Other support modules of the processing device can be designed as different process support modules, in particular as process platforms.
  • On a base support module at least one process support module can be detachably and automatically arranged interchangeable.
  • a process module of the processing device embodied as an industrial robot and / or as a work platform can have one or more additional axes.
  • Additional axle can be designed as a lifting unit.
  • a process module can be considered process-specific
  • Process equipment may be formed and may be arranged on or on a process support module.
  • Process-specific process equipment can be a
  • Process agent supply and / or have a process tool may also have a tool holder for the defined inclusion of one or more process tools.
  • a process tool can have a flexible
  • Process agent supply in particular a line and possibly a tripod, with the process means supply
  • the number of provided process support modules of the processing device may be greater than the number of provided base support modules. Furthermore, the number of processing units may be greater than the number of transport means.
  • the claimed processing plant can a the
  • Processing units a variant of the processing system of Figure 1 with multiple workpieces and processing equipment, a base support module of a modular support a
  • Machining unit with a base support module and charging a process support module in different steps and in side view and top view,
  • Figures 9 and 10 a side view and a plan view of a process support module.
  • the invention relates to a processing device (2) and a processing method for workpieces (3).
  • the invention further relates to a processing plant (1) having one or more processing devices (2) and one or more workpieces (3).
  • the one or more workpieces (3) are in the
  • an application according to the invention and one or more workpieces (3) from the aerospace sector are provided. These may e.g. be designed as an airplane or as another aircraft. Such a workpiece (3) may e.g. an aircraft part, e.g. be a fuselage or a complete plane. In another embodiment, the invention relates to applications and workpieces (3) in
  • Aerospace area These areas are referred to as the non-aerospace area.
  • a workpiece (3) may, for example, a body or a body part of a car, bus, railway carriage or the like.
  • the non-aerospace sector also includes sashes, housings or other parts of turbines, wind turbines or the like. Furthermore, this includes machines, devices, housings or other technical components from the non-aerospace sector.
  • the non-aerospace sector may also include buildings, in particular prefabricated houses, commercial buildings or the like. One possible use is eg at the assembly of building parts, in particular windows, doors or the like ..
  • the processing device (2) serves to process one or more workpieces (3) with any desired process. This can e.g. an order process for
  • the processing device (2) has at least one transport means (6) and at least one mobile and detachable with the transport means (6) via a
  • the transport means (6) preferably receives a single processing unit (7) and moves it from a supply (12) to a workpiece (3) and back. It also moves as needed
  • the transport means (6) can deliver a processing unit (7) again, in particular park it.
  • Transport means (6) can alternatively several
  • the processing device (2) can have several components
  • Transport means (6) and a plurality of processing units (7) can several of transport units (6) and a plurality of processing units (7).
  • a means of transport (6) can several of transport units (6) and a plurality of processing units (7).
  • the number of processing units (7) is preferably greater than the number of transport means (6).
  • the respective processing unit (7) is modular
  • the configuration can be carried out by the means of transport (6). This can be done by means of the charging device (8). This is preferably associated with the means of transport (6).
  • the processing plant (1) in the embodiment of Figure 1 comprises a substrate (5), e.g. a hall floor, an intermediate floor, a pedestal, a portal or the like. on. In a suitable place, especially in the interior
  • Plant area, one or more workpieces (3) are arranged in a suitable manner. They can be arranged stationary and with exact position and possibly fixed.
  • FIG. 1 shows a transverse division in two end processing zones (4).
  • Elongated workpieces (3) can be a longitudinal division with two-sided formation of several
  • Processing zone (4) is preferably only a single processing unit (7) in use. Alternatively, few, eg two processing units (7), can be used side by side. Overall, the one or more processes can be executed on any workpiece (3) by any suitable number of processing units (7). To carry out a process, the respective
  • the processing device (2) can have at the intended working area a device (9) indicated in FIG. 1 for positionally accurate positioning and possibly fixing of a processing unit (7) on the substrate (5) and relative to the likewise exactly positioned workpiece (3).
  • the device (9) may e.g. have conical pins and matching receiving openings.
  • the modular processing unit (7) has a modular carrying device (15) with at least two
  • the different support modules preferably to each other, alternatively to each other, arranged.
  • the different support modules can be provided separately from each other at the provision (12) and can be arranged on a base (5) or on a suitable shelf (13) with an exact position by means of a positioning device (14).
  • the different mobile support modules are each platform-like in the embodiments shown. Alternatively, they may have a different education. A part of the different support modules is as a base support module (23), in particular as a base platform educated. Several other support modules are as
  • Processing unit (7) is formed in each case from a preferably individual base support module (23) and at least one process support module (24, 25) arranged thereon or thereon.
  • the rear side is the one in the working position away from the workpiece (3)
  • the process support module (24, 25) preferably extends across the width of the base support module (23) and projects beyond its side edges on both sides. At this lateral projection, the process support module (24,25) on a shelf (13) of the provision (12) are added. To connect the base support module (23) with one or more process support modules (24,25) is an automatic explained below
  • Coupling device (26) provided.
  • the processing unit (7) furthermore has a modular one arranged on the carrying device (15)
  • the process modules are each assigned to one of the support modules.
  • a support module may include one or more process modules.
  • the one or more process modules assigned to a support module can, together with their support module, during the configuration or configuration change of a Machining unit (7) to be changed automatically.
  • the processing unit (7) has the said
  • Coupling device (26) for connecting the support modules and the process modules.
  • a process module is for handling and
  • This process module may e.g. be designed as a programmable, multi-axis industrial robot (34) and / or as a working platform (33).
  • This process module is also a multiple
  • the industrial robot (34) can according to Figures 3 and 9, a plurality of robot members (50) and a plurality of translational and / or rotary robot axes in any number and
  • Articulated arm robot with e.g. five, six or more
  • the industrial robot (34) has an output member (51), e.g. a rotatable hand flange, on which a tool by means of a mechanical change connection (52) can be removably received.
  • an output member (51) e.g. a rotatable hand flange, on which a tool by means of a mechanical change connection (52) can be removably received.
  • the industrial robot (34) has a
  • Robot controller (40) which is arranged on the base support module (23) and possibly further
  • Such a process module in particular a
  • Industrial robot (34) and / or a working platform (33) may have one or more additional axes (36).
  • An additional axis (36) may e.g. according to Figure 3 as a lifting unit with a vertical or oblique orientation
  • a working platform (33) is indicated schematically and by dashed lines.
  • an additional axis (36) can be used as the axis of rotation and / or horizontal linear axis, e.g. as a floating plate, rocker or the like. , be formed to e.g. the
  • FIG. 4 shows a variant of the
  • base support module (23) may further be arranged a power supply (39) with an external and in Figure 3 schematically indicated resource supply (10), in particular power supply, the
  • Energy supply (39) is movement tolerant and can follow the movements of the base support module (23).
  • Equipment supply (10) can be above ground and at a distance above the ground (5) and above
  • Processing unit (10) may be arranged.
  • Energy supply (39) is designed for example as a flexible trailing cable and can be connected via a movable connection with the equipment supply (10). By a correspondingly wide-area supply training and the movable connection, the energy supply (39) follow the travel movement of its base support module (23) with a means of transport (6).
  • Another process module can be designed as process-specific process equipment (35) and can be arranged on or on a process support module (24, 25).
  • FIGS. 5 to 10 show such a design.
  • Process support modules (24,25) are designed for different processes and have different
  • the process-specific process equipment (35) can be designed in different ways. It can e.g. a process agent supply (45) and / or a
  • Process agent supply (45) may e.g. of one or more containers for receiving one or more operating or process agents in gaseous, liquid, pasty or granulated form, are formed.
  • a training as a power source in particular as a welding power source, as a beam source, in particular laser beam source, or otherwise possible.
  • a process tool (46) may be formed in any suitable manner, e.g. as a job tool,
  • Process tool (46) can be present singly or multiply.
  • the process-specific process equipment (35) can, for example, have a tool holder (47) for the defined holding of one or more process tools (46).
  • the process tool or tools (46) are thereby in a predetermined exact position and orientation. As a result, they can be automatically picked up by a process module on the base support module (23), in particular by an industrial robot (34), used for the process and released again.
  • Figure 9 shows such an arrangement.
  • One or more process tools (46) can be connected via a flexible process agent supply (48) with the
  • Process agent supply (45) to be connected The flexible process agent supply (48) may be e.g. from one
  • a tripod (49) is particularly in the
  • the flexible process agent supply (48) is flexible and
  • a process tool e.g. as a job nozzle for a paint with paint supply from the entrained reservoir of
  • Execution may be a fluidic process agent or
  • Welding tool which over the Process agent supply (48) with electric welding current, a high-energy beam, in particular laser or plasma jet, a protective gas, a
  • the flexible process agent supply (48) causes an external supply of a process tool (46) with one or more resources or process means.
  • a resource or process means e.g. electrical power and / or
  • the base support module (23) has a support (37) with a support device (38).
  • the carrier (37) may e.g. be designed as a flat plate or a flat frame. He may alternatively have a different shape.
  • the support means (38) arranged on the underside of the support consists e.g. from several rigid support feet. Their height is chosen so large that the means of transport (6) can drive under the carrier (37).
  • the transport means (6) can detachably receive one or more base support modules (23) by means of the aforementioned charging device (8).
  • the charging device (8) can be designed and arranged in any suitable manner for this purpose. In the illustrated and preferred embodiment, it is associated with the means of transport (6).
  • Charging device (8) consists for example of a lifting device (20), which is arranged on the transport means (6) and which can engage from below on the base support module (23). By a driving under and a lifting movement that can
  • the loading device (8) has a receptacle (21) with several distributed receiving means on the transport means (6), in particular on the lifting device (20), and on the
  • a positioning device (22) may be present, which may be arranged separately or combined with the receptacle (21).
  • positionally accurate recording can e.g. Recording and
  • Positioning means in the form of conical pins and matching counter-openings may be present.
  • (21) may further comprise a locking or fixing device with which the connection between
  • Transport means (6) and base support module (23) can be secured during transport.
  • the process support modules (24, 25) can have a mutually uniform and preferably platform-like design.
  • a process support module (24, 25) has a platform-like support (42), which can be designed, for example, as a flat plate or as a planar frame or in another manner.
  • the carrier (42) may have in plan view a fork shape with two parallel legs (43) extending along the base support module (23). Between the legs (43) is a free space (44) formed.
  • the control (40) arranged on the rear side of the base support module (23)
  • the legs (43) and the rear transverse part of the carrier (42) can lie flat on the top of the carrier (37) of the base platform (23).
  • the process module (33, 34) is located on the front side of the base support module (23) and may be in front of the process equipment (35) of the charged process support module (24, 25).
  • the aforementioned coupling device (26) for the connection of support modules and process modules can according to Figure 5 to 10, a mechanical coupling (30) and / or a
  • Industrial robot (34) and a process tool (46) include.
  • the mechanical coupling (30) is e.g. from one
  • Support modules (23 and 24,25) formed, which has a plurality of spatially distributed form-fitting receiving means.
  • a fixing device can also be present in the mechanical coupling (30), with which the connection of base support module (23) and process Support module (24,25) controllably secured and can be solved.
  • the media coupling 27 has a coupling part 28 on the base support module 23 and a coupling part 29 on the received process support module 24, 25.
  • Media coupling (27) can be active and can have its own controllable adjusting device which the
  • Coupling parts (28,29) engages and releases again.
  • the direction of adjustment can transversely to the recording and
  • Dispensing direction during charging and discharging a process tag module (24,25) be aligned.
  • the industrial robot (34) can according to Figure 9 a
  • a suitable mechanical change connection (52) is provided, which can be designed in different ways. It can e.g. be designed in the embodiment shown as a gripper (53) on the output element
  • the industrial robot (34) can guide the process tool (46) in an exact and reproducible manner in its work area for carrying out the process.
  • the mechanical interchangeable connection
  • (52) e.g. be designed as an automatic tool change coupling.
  • the work area of the industrial robot (34) can optionally be increased by one or more additional axes (36) wherein the process agent supply (48) and
  • the process tool (46) also returned to the tool holder (47) in a defined position and, if necessary, be exchanged for another process tool (46).
  • a tool magazine with a plurality of process tools (46) may be present.
  • Process tools on the base support module (23) may be arranged individually or in a magazine and be gripped by the industrial robot (34) as needed.
  • the transport (6) is shown in the
  • the transport means (6) is e.g. when
  • Transport vehicle (17) can thereby drive automatically and fulfill its transport functions.
  • Transport vehicle (17) has a flat chassis (18) and a plurality of wheels (19).
  • a flat chassis (18) and a plurality of wheels (19).
  • Embodiment is the transport vehicle (17)
  • the wheels (19) e.g. are designed as Mecanum wheels and are driven individually controlled.
  • FIGS 5 to 8 illustrate a loading
  • the means of transport (6) first receives according to Figures 5 and 6 with the charging device (8) in the manner described above separately and eg on the ground (5) directly parked base support module (23) and then moves together with these to a provided
  • Process support module (24,25) This can be arranged elevated on a shelf (13), so it from the
  • FIGS. 7 and 8 show these
  • the media coupling (27) When charging or subsequently, the media coupling (27) can be closed and a media connection between the support and process modules can be formed.
  • Process equipment (35) is characterized media technology with the energy supply (39) and with the
  • Equipment supply or power supply (10) coupled.
  • energy in particular electrical current
  • other resources can be supplied, wherein the energy supply (39) to a
  • an industrial robot (34) can also be supplied with energy from the energy distribution (41). If according to Figure 1, a working platform (33) is used, this can also be a
  • Receive power supply e.g. can be produced by a separate cable connection to the media coupling (30) or for power distribution (41) as needed and automatically or manually.
  • the transport (6) then moves the
  • Processing unit (7) to a workpiece (3) and sets it there at a designated job.
  • a workpiece (3) sets it there at a designated job.
  • the device (9) has e.g.
  • Machining unit (7) automatically positioned.
  • Figures 6 and 8 illustrate in plan view the layers and mutual associations of the receptacles (21,31) and the tray (13) and the positioning means or positioning means (14,22,32).
  • the rear shots (21,31) are center-centered into each other and in
  • Transport means (6) further out.
  • the Positioning device (14) between tray (13) process support module (24,25) is arranged even further out.
  • FIG. 1 show various embodiments of a processing plant (1) and a processing device (2).
  • the processing system (1) has a single processing device (2).
  • This may be provided by a protective partition (11), e.g. a protective fence, with controllable security accesses to be surrounded. This can prevent unauthorized access to people.
  • the provision (12) for the support modules (23, 24, 25) is preferably arranged on the edge of the processing installation (1) and close to the protective separation (11).
  • Process agent supplies (45), if necessary, from outside the protective separation (11) refilled and possibly also maintained and supplied with energy.
  • the protective separation (11) has this
  • Figure 2 shows a variant of the processing plant (1), the several plant areas (54) and there
  • Plant areas (54) can be enclosed on the outside by the protective partition (11) and can also be separated from one another. For the secured and supervised as well
  • Transport means (6) may be one or more
  • Security locks (55) between the plant areas (54) may be present. Such security locks (55) may also be present on the outer areas of the protective partition (11) for secure access to the outside.
  • Machining equipment (2) can be processed several identical or different workpieces (3).
  • Plant areas (54) and processing facilities (2) used and transported across areas with a transport (6). For example, Only part of the plant areas (54) or
  • Processing devices (2) have a supply (12) for support modules (23,24,25).
  • the processing units (7) can be configured as needed and then to the various workpieces (3) or
  • Processing facilities (2) and plant areas (54) are transported.
  • Figure 2 also shows the possibility with a
  • Transport means (6) to transport one or more process support modules (24,25).
  • the required number of base support modules (23) can be kept low. It depends on the number of working positions to be operated simultaneously or
  • the number of process support modules (24, 25) can be significantly larger and is determined by the required variance of process-specific configurations and simultaneously used processing units (7).
  • the number of required transport means (6) may be smaller than the number of base support modules (23). Due to the detachable connection, the means of transport (6) can be separated again after their transport job from the respective processing unit (7) and can immediately do the next transport job and / or configuration job with another processing unit (7).
  • the loading device (8) may alternatively or additionally be associated with the processing unit (7), in particular with a base support module (23). In this case, e.g. the lifting device (20) on the support device (38)
  • Charging device (8) can be modified accordingly become. It can also be provided a further charging unit and be associated with the base support module (23), for example.
  • Support module base support module, base platform

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Automatic Assembly (AREA)

Abstract

L'invention concerne un dispositif d'usinage (12) pour des pièces (3), comportant au moins un moyen de transport (6) et au moins une unité d'usinage (7) mobile, pouvant être reliée de façon amovible au moyen de transport (6), comprenant un dispositif support (15) et un dispositif de traitement (16), l'unité d'usinage (7) étant conçue de façon modulaire et de façon à pouvoir être configurée automatiquement de diverses manières.
PCT/EP2017/073704 2016-09-23 2017-09-20 Dispositif d'usinage WO2018054934A1 (fr)

Applications Claiming Priority (2)

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DE202016105302.1U DE202016105302U1 (de) 2016-09-23 2016-09-23 Bearbeitungseinrichtung
DE202016105302.1 2016-09-23

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EP3746262B1 (fr) 2018-08-30 2021-06-30 DECKEL MAHO Pfronten GmbH Dispositif de transport destiné à transporter un ou plusieurs dispositifs de manutention

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DE102018217471A1 (de) * 2018-10-12 2020-04-16 Krones Ag Modulares Robotersystem für eine Behälterverarbeitungsanlage
DE102018132990A1 (de) * 2018-12-19 2020-06-25 Broetje-Automation Gmbh Mobile Roboterplattform
DE102019113464A1 (de) * 2019-05-21 2020-11-26 Homag Gmbh Mobile Führungsmaschine, Zelle und Verfahren zum Handhaben und/oder Bearbeiten von Werkstücken
JP7342618B2 (ja) * 2019-10-30 2023-09-12 セイコーエプソン株式会社 ロボットシステムおよびロボットシステムの制御方法
IT201900024406A1 (it) * 2019-12-18 2021-06-18 Primon Automazioni Srl Struttura di robot mobile su navetta, particolarmente per lo scarico ed il carico di macchine di ritorcitura, filatura, roccatura, orditura, o tufting.
US11975486B2 (en) * 2020-02-11 2024-05-07 Board Of Trustees Of The University Of Arkansas Swarm manufacturing for smart factory
DE202020107266U1 (de) * 2020-08-27 2021-03-09 Alotec Dresden Gmbh Roboterbasierte Laserbearbeitungsanlage
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EP3746262B1 (fr) 2018-08-30 2021-06-30 DECKEL MAHO Pfronten GmbH Dispositif de transport destiné à transporter un ou plusieurs dispositifs de manutention

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