WO2023280365A1 - Système à pont roulant et robot, procédé de fonctionnement d'un tel système et utilisation de celui-ci - Google Patents

Système à pont roulant et robot, procédé de fonctionnement d'un tel système et utilisation de celui-ci Download PDF

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Publication number
WO2023280365A1
WO2023280365A1 PCT/DK2022/050153 DK2022050153W WO2023280365A1 WO 2023280365 A1 WO2023280365 A1 WO 2023280365A1 DK 2022050153 W DK2022050153 W DK 2022050153W WO 2023280365 A1 WO2023280365 A1 WO 2023280365A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
unit
crane
controller
supporting structure
Prior art date
Application number
PCT/DK2022/050153
Other languages
English (en)
Inventor
Bo Baunsgaard JENSEN
Uffe SASS-PETERSEN
Bruno VILLADSEN
Original Assignee
Bila A/S
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 Bila A/S filed Critical Bila A/S
Publication of WO2023280365A1 publication Critical patent/WO2023280365A1/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39102—Manipulator cooperating with conveyor
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45046—Crane

Definitions

  • the present invention relates to a joint crane and robot system, comprising a robot unit adapted to interact with a crane unit in a joint process when moving relative to a work space.
  • the robot unit is configured to be joint to the crane unit, where the two joint units are used together to positioning a tool on the robot unit relative to a workpiece arranged within the workspace.
  • the method further relates to a method of operating such joint crane and robot system, and the use thereof.
  • the European research and development project MEGAROB propose an automated machining system comprising a singled robotic arm mounted directly to a trolley unit arranged on a gantry structure, where an external controller controls the operation of the robot and crane.
  • the operating area of the gantry structure is in the controller divided into sectors and the robotic arms is initially moved into a predetermined position in a selected sector.
  • Integrated sensors on the robotic arm and an external laser tracker are then used to accurately track the positioning of the tool coupled to the robotic arm.
  • the controller makes real-time corrections of the machine path during operation.
  • a ranking algorithm programmed into the controller is used to evaluate the sensor data and adapt the actual path to the prestored CAM-paths.
  • the pumps and containers with liquid e.g. paint or bonding material
  • liquid e.g. paint or bonding material
  • the overhead crane requires a specially designed trolley unit and trolley controller to interact with the external controller and robotic arm. This makes for a complex and expensive retrofitting of existing overhead cranes.
  • EP 3093109 B1 discloses an alternative machining system, wherein a robot unit and a number of workpieces are arranged on the floor area below the overhead crane.
  • the overhead crane can move into position above the robot unit or workpiece and automat ically engage a lifting point on that unit. Both the robot unit and workpiece are then moved into position within a processing area. Once the process is complete, the over head crane is used to move the workpiece to another location and, optionally, to move the robot unit back to its initial position.
  • EP 3093109 B1 does not disclose in detail how a wired connection between the overhead crane, the robot unit and the workpieces can be estab lished.
  • a cable suspended robot system is disclosed in EP 3384152 Bl, where the robot is arranged on a trolley suspended from at least one set of cables. The robot is fitted with a 3D-printing head for depositing material onto the wind turbine blade layer-by-layer. Raw material is supplied from tanks to the printing head, but this document is silent about the placement of these tanks.
  • US 2011/0054682 A1 discloses a transfer system for moving a workpiece relative to a robotic unit anchored to the floor, where the workpiece is picked up by the crane unit from a feeding location and then moved into position relative to the robot unit. After the work process is complete, the workpiece is then moved to a loading location.
  • the crane and robot are not operated in a master-slave configuration, thereby limiting its functionality.
  • One object of the invention is to provide a system, a method and use that overcomes the abovementioned problems of the prior art, or at least provide an alternative solution to join and control the robot and crane units.
  • One object of the invention is to provide a system, a method and use that allows for an easy connection between the robot unit and the crane unit.
  • One object of the invention is to provide a system, a method and use that allows for an easy control of the joint crane and robot system.
  • One object of the invention is to provide a system, a method and use that allows for an easy adaptation of the robot unit for different processes.
  • One object of the invention is to provide a system, a method and use where the robot unit is capable of functioning with existing crane units.
  • a crane unit adapted to be arranged relative to a workspace, the crane unit comprising a trolley unit arranged on at least one bridge element, the at least one bridge element adapted to extend across the workspace and configured to move along the workspace in at least one direction,
  • a robot unit comprising at least one robotic arm which extends from a base end to a free end, the at least one robotic arm is configured to move the free end relative to the base end along at least one axis, the free end is configured to be attached to a tool,
  • the robot unit comprises a robot controller configured to communicate with a crane controller in the crane unit via a communications link
  • the robot unit further comprises a supporting structure on which the at least one robotic arm is arranged, the supporting structure comprising a top part adapted to be releasable connected to the at least one bridge element of the crane unit, and
  • the robot controller and the crane controller are connected in a master-slave configuration, where one of said robot and crane controllers acts as a master controller and the other of said robot and crane controllers acts as a slave controller, wherein said master controller is configured to control the combined operation of the crane and robot units when joint together.
  • said master controller is configured to control the combined operation of the crane and robot units when joint together.
  • At least one robot comprising at least one robotic arm is operated under the control of at least one robot controller.
  • the robotic arm has at least one joint and is moveable along at least one axis relative to the base and, thus, has at least one degree of freedom.
  • the robotic arm has multiple degrees of freedom for movement along multiple axis.
  • the robotic arm may move along one or more position axes and/or orientation axes. This may be achieved by a corresponding number of linear or rotary actuators.
  • the robot controller may be connected to one or more robotic sensors for monitoring the movement of the robotic arm, the interaction with the tool, etc. This improves process liability and quality, and thus reduced the need for subsequent repairs.
  • the present invention also reduces the footprint around the workpiece, thereby improv ing safety and ergonomics as the workers are able to move more freely around the work space. Need for tracks or rows of support legs extending along the sides of the mould or preform.
  • the crane unit comprises at least one bridge element arranged above the workspace, on which a trolley unit with a hoist system is arranged.
  • the crane unit may be fitted with a single bridge element or double bridge elements.
  • the trolley unit may be arranged on the top or bottom of the bridge elements.
  • the trolly unit is configured to move along the length of the bridge element, thereby allowing the trolley to move trans versely relative to the workspace.
  • the at least one bridge element is arranged on a supporting structure located relative to the workspace.
  • the supporting structure may be an elevated runway beam located on one or both sides of the workspace at an elevated position.
  • An end truck may be con nected to one or both ends of the bridge element(s) and be configured to move along the length of the runway beam(s).
  • the supporting structure may also be a freestanding runway system extending along the workspace.
  • the sup porting structure may be a support leg arranged at one or both ends of the bridge ele ments.
  • the support leg(s) may be fitted with casters or end trucks for moving relative to the workspace floor. This allows the bridge element(s) with trolley to move longitu dinally relative to the workspace.
  • the trolley unit is moveable connected to the at least one bridge element and comprises a drive unit, e.g. with a motor, for moving the trolley along the at least one bridge ele ment.
  • the trolly unit also comprises a hoisting system, e.g. with a motor, configured to raise or lower a lifting element vertically relative to the workspace.
  • the components of the trolly unit may be arranged on a trolly frame, thus allowing them to be moved as one piece.
  • the robot controller is configured to act as the master controller, where the combined movement of the robotic arm and the at least one bridge element is controlled by the robot controller, which is further configured to use this combined movement to orientate and position the tool relative to an object in the workspace.
  • the combined movement of the robot unit, e.g. robotic arm, and the crane unit may be advantageously controlled by a master controller, where the other controllers may act as slave controllers.
  • the robot controller may act as the master controller while the crane controller may act as the slave controller.
  • an external controller or the crane controller may act as the master controller.
  • the combined operation of the crane unit and the robot unit can be controlled via the master controller.
  • a remote control may be in communication with the master controller via a wired or wireless connection. The remote control may be adapted so that a worker is able to control the combined operation.
  • the master controller may be im- plemented with a computer program configured to autonomously, or in a semi-auto mated mode, control the combined operation. This allows for a faster production time.
  • the trolley unit having a hoist system with at least one lifting ele ment, where the supporting structure has at least one corresponding lifting element adapted to engage the at least one lifting element.
  • the trolley unit may be fitted with at least one hoisting system with at least one lifting element, e.g. a hook.
  • the supporting structure of the robot unit may be fitted with at least corresponding lifting element, e.g. an eye, adapted to be removeable engage with the lifting element of the hoisting system.
  • the two lifting elements may be optionally be locked during lifting by a locking mechanism or locking pin.
  • the top part having a locking mechanism configured to lock the robot unit in a fixed position relative to the at least one bridge element, when the sup porting structure is hosted into position relative to the at least one bridge element.
  • the supporting structure of the robot unit comprises a top part adapted to the mechani- cally engage with the at least one bridge element. Thereby providing a mechanical con nection between the bridge elements and the support structure.
  • the top part may com prise a locking mechanism configured to mechanically lock the top part to the bridge elements. This enables the robot unit to be fixed relative to the bridge element in the transverse direction.
  • the locking mechanism may be powered by hydraulic or pneumatic fluids supplied via matching connectors on the supporting structure.
  • a locking pin or clamping elements may be used to lock the two parts together. Other locking mechanisms may also be used.
  • the top part being exchangeable or adjustable so that it can be adapted to a particular configuration of the at least one bridge element.
  • the present robot unit is also capable of functioning with new as well as existing crane units, such as overhead cranes, gantry cranes or other types of cranes. No need for cus tomised trolley units or specially adapted crane units. This reduces the total costs and increases the functionality of the robot unit.
  • top part may be adapting to correspond to the shape and dimensions of the at least one bridge element.
  • a small gap may be formed between a surface of a respective bridge element and a surface of the top part.
  • An elastic deformable material may be arranged in the gap to absorb forces during alignment.
  • the top part may be exchangeably connected to the rest of the support structure, e.g. via a mechanical coupling.
  • locking pins or a bolted connection may be used to connect the top part to the rest of the supporting struc ture.
  • Other exchangeable connections or couplings may be used. This allows the top part to be removed and replaced with another top part.
  • the top part may comprise an adjustable mechanism con figured to adjust the shape and/or dimensions of the top part.
  • telescopic rods or rows of matching mounting holes may be used to adjust the shape and/or dimen sions of the top part.
  • Other adjustable mechanisms may be used. This allows the top part to be adjusted to correspond to the shape and/or dimensions of a bridge element configuration.
  • the robot unit comprising at least one connector arranged at the top part, the at least one connector being adapted to be coupled to at least one matching connector arranged on the crane unit.
  • a power rail or power cables may be arranged on the supporting structure, e.g. runway beam for supplying power to the electrical components of the crane unit.
  • a terminal box comprising the crane controller may be arranged on the bridge element or support ing structure and configured to control the operation of the crane unit.
  • Control cables or bus bars may be further arranged on the supporting structure or bridge element for elec- trically connecting the crane controller to the end truck drive of the at least one bridge element.
  • the crane controller may be further electrically connected to crane sensors for monitoring the position of the bridge element, trolly unit and lifting element. This al lows the operation of the bridge elements to be controlled by the crane or master con troller.
  • Bridge connectors or a festoon system may extend along the at least one bridge element for supplying power and/or control signals to the trolley unit and hoisting system. This allows the operation of the trolley and hoisting system to be controlled by the crane or master controller.
  • a tube or hose system may be arranged along the supporting structure and/or along the at least one bridge element for supplying hydraulic fluids and/or compressed gasses, e.g. air, to the trolly unit from an external supply system.
  • the tube or hose sys tem may be connected to hydraulic or pneumatic connector arranged on the pendent or lifting element.
  • the hydraulic fluid or pneumatic gasses may be supplied by a local supply system provided on an operation module, as mentioned later.
  • Electrical connectors for supplying power and/or control signals may be arranged on the lifting element, alternatively the electrical connectors may be arranged on a pendent.
  • the robot unit may be fitted corresponding electrical connectors, preferably quick re lease connectors, for establishing an electrical connection between the crane unit and the robot unit.
  • the individual connectors may be arranged on a flat console of an auto mated coupling system. This allows for an easy and quick coupling between the crane controller and the robot controller.
  • the supporting structure further having an operation module ar ranged relative to the at least one robotic arm, where the operation module comprises components for performing a dedicated task on an object located in the workspace.
  • the present support structure may advantageously be provided with at least one opera tion module, on which components for performing at least one dedicated task are ar ranged.
  • the operation module may comprise a frame structure with a mechanical inter face for attachment to the supporting structure of the robot unit. Pumps, supply tanks, mixers, compressors and other components may be arranged on the frame structure and interconnected to output connectors or supply hoses. A tool for performing this dedi cated task may be attached to the free end of the robotic arm and coupled to the output connectors or supply hoses of the operation module. This allows the robot unit to be adapted to perform a dedicated task on an object located in the workspace. This also provides a very short distance between the robot and the operation module, thereby reducing the length of the feedlines and allows for an instant supply.
  • the operation module may be fitted with a local power supply and/or a local hydraulic or pneumatic supply system, as mentioned above. This enables the robotic arm and/or the tool thereof to be driven from a local source and not an external source.
  • the operation module and the robot may be arranged on the same side of the supporting structure. This allows all component to be accessed from the same side. Alternatively, the operation module and the robot may be arranged on opposite sides of the supporting structure. This allows for easy access for service and maintenance.
  • the operation module being exchangeable so that it can be removed, and another operation module can be arranged on the supporting structure.
  • the supporting structure may also comprise a matching mechanical interface for receiv ing the operation module.
  • the mechanical interface may comprise a bottom plate or frame on which the operation module may rest.
  • the mechanical interface may be con figured for easy attachment or removal of the operation module.
  • the sup porting structure of the robot unit and the frame structure of the operation module may be adapted so a forklift or pallet jack may be used to position and remove the operation module. This allows for an easy and fast adaption of the robot unit to different tasks. This also allows the operation module to be prepared in advance separately from the robot unit.
  • the operation module may also be permanently arranged on the supporting structure.
  • the operation module may comprise two or more submodules where one submodule may be permanently mounted to the supporting structure and another sub- module can be exchanged.
  • components such as the local power, hydraulic or pneumatic supply system, to remain on the supporting structure while exchanging only the task specific components, such as supply containers, suction system, mixers, etc. This saves time and allows for an easy adaption of the operation module.
  • the supporting structure further comprising at least one moveable sub-structure configured to move at least the one robotic arm along at least one axis.
  • the robotic arm may advantageously be arranged on at least one moveable sub-struc ture, e.g. a plate element or frame structure, on the supporting structure.
  • the sub-struc ture may be configured to move along at least one further axis, and thus provide at least one further degree of freedom to the robot.
  • the robotic arm may be arranged on a first moveable sub-structure which, in turns, is further arranged on a second move- able sub-structure. Thereby enabling the robotic arm to move along two further axes.
  • the sub-structure may be connected to a local drive unit, e.g. a motor or drive train, arranged on the supporting structure for controlling the movement of the sub -structure.
  • a local drive unit e.g. a motor or drive train
  • the sub-structure may be adapted to move vertically and/or transversely relative to the rest of the supporting structure.
  • the local drive unit may be connected to the robot controller, which may control the operation thereof.
  • the robot unit comprises a first robotic arm and at least a second robotic arm, the free end of the first robotic arm is configured to be attached to a first tool and the free end of the second robotic arm is configured to be attached to a second tool, wherein the operation of the first robotic arm is controlled independently of the operation of at least the second robotic arm.
  • the present robot unit may be fitted at least two robots with a robotic arm each.
  • Each robotic arm may be attached to a tool and operated inde pendently.
  • the at least two robots may be controlled by the same robot controller. This allows the robot unit to perform multiple tasks at the same time, or perform the same task using multiple robots.
  • the at least two robots may be arranged on the same moveable sub-structure, and thus be moved together in the same direction.
  • the robots may be arranged on individual moveable sub-structures, thereby allowing them to be moved independently.
  • One object of the invention is achieved by a method according to claim 10 for operating a system, comprising the steps of:
  • This provides an easy and simple method of joining the crane and robot units, while improving safety for the workers moving around in the workspace. This is achieved by establishing a mechanical connection between the crane unit and the robot unit and set ting up controls in a master-slave configuration. The robot unit is thereby suspended above the workspace and may be moved to cover the entire workspace. This also saves space around the objects in the workspace, particularly if the present invention is used for manufacturing large objects, e.g. composite structures. Workers are then able to move freely around the object or mould thereof as no rails or tracks are needed adjacent to the edges of the mould.
  • the present robot unit may suitably be used to polish a moulded structure or a mould thereof using a polishing tool, to sanding the moulded structure or the mould thereof using a grinding tool, or to apply a release agent, gelcoat or glue using an applicator tool.
  • the present robot unit may also be used to perform control measurement on the mould and/or on the moulded structure using a measuring tool.
  • the present system, or robot unit may also be used to position web catchers on the inner surface of the blade component using a gripping or clamping tool.
  • the robot unit may also be fitted with other tools to perform other tasks.
  • the present system may thus be used in a manufac turing process or in a finishing process thereafter.
  • the robot unit e.g. the robotic arm
  • the robot unit may be calibrated after the crane and robot units are joint together by performing a calibration process. This increases the accuracy of the positioning of the robotic arm and tool.
  • the robot unit is simply moved into the workspace and the trolley unit is moved into alignment with the supporting structure of the robot unit.
  • the lifting element of the hoisting system is then connected to the corresponding lifting element on the supporting structure. This may be done manually by a worker to ensure that the two lifting elements are correctly engaged. Alternatively, an automated engagement system may be used to connect the two lifting elements.
  • the supporting structure When not in use, the supporting structure may be lowered onto a moveable base unit which may be moved into the workspace when the robot unit during usage.
  • the base unit may comprise an access structure, e.g. stairs, enabling the worker to reach the lift- ing element and top part.
  • the supporting structure and the operation module may be coupled to an external source for test, preparation and service.
  • the robot controller acts as the master controller, and controls the positioning of the tool relative to an object in the workspace by a combination of moving the at least one robotic arm and the at least one bridge element.
  • the robot unit is lifted into position relative to the bridge elements and the base unit may be removed.
  • the supporting structure may optionally be moved transversely via the trolley unit during positioning.
  • the top part of the supporting struc ture may be mechanically connected to the bridge elements.
  • the master-slave configuration is set up between the crane and robot controllers.
  • the robot controller is used as the master controller and the crane controller is used as a slave controller.
  • the crane controller or an external controller may also be used as the master controller.
  • the com bined operation of the crane and robot units may be controlled by the robot or master controller.
  • a worker may control the combined operation, e.g. in a semi-automated mode, via a remote control.
  • the combined operation may be controlled autonomously by the master controller.
  • the crane unit before or after hoisting the robot unit into position relative to the at least one bridge element, is coupled to the robot unit and/or a local supply system on an operation module via at least one connector to supply electrical power, hydraulic fluids or compressed gasses to the components in the robot unit.
  • the respective connectors of the supporting structure may be coupled to corresponding connectors on the pendent or lifting element of the hoisting system.
  • the electrical power, the hydraulic fluids and/or the compressed gasses may instead be supplied via a local source located on the operation module.
  • electrical power may be supplied via the crane unit while the hydraulic fluid or com pressed gassed may be supplied locally via the operation module.
  • Other fluids, gasses or even suction may also be supplied from the operation module to the tool via suitable hoses or tubes.
  • the robotic arm with tool and the operation module may thus be oper ated to perform an automated process or task. This may be done by the worker at the same time as connecting the two lifting elements. Alternatively, this may be done automatically by activating the automated coupling sys tem once the supporting structure is joint with the bridge elements.
  • the method further comprising the step of removing or exchanging an operation module arranged on the supporting structure.
  • Some conventional systems require the pumps and storage tanks to be placed on the workspace floor close to the blade mould. Long flexible hoses then have to connected between the supply system and the robotic tool. Thereby increasing the likely of failures as well as increasing the supply time.
  • the supply system may be arranged locally on the supporting structure of the robot unit.
  • the operation module may be removeable at tached to the supporting structure to enable fast and easy exchange of the operation module.
  • a current operation module may thus be simply disconnected from the robot unit and removed, and then a new operation module may simple be positioned and at tached to the robot unit. No need for long flexible hoses.
  • One object of the invention is achieved by use of the robot unit in a joint crane and robot system as a master controller to control the operation of the joint crane and robot system.
  • the robot controller is advantageously used as a master controller while the crane controller is used as a slave controller. This is particular suited when the crane and robot units are joint together and operated together to orientate and posi tion the robotic tool relative to one or more objects in the workspace.
  • Fig. 1 shows an exemplary embodiment of a joint crane and robot system according to the invention
  • Fig. 2 shows an exemplary embodiment of the robot unit positioned in a base unit;
  • Fig. 3 shows the upper part of the supporting structure shown in fig. 2;
  • Fig. 4 shows the lower part of the supporting structure from one side;
  • Fig. 5 shows the lower part of the supporting structure from opposite side;
  • Fig. 6 shows a side view of the supporting structure shown in fig. 2;
  • Fig. 7 shows the robot unit provided with two robot units;
  • Fig. 8 shows a first step of a method of operating the crane and robot system ac cording to the invention;
  • Fig. 9 shows a second step of the method of operating the crane and robot system
  • Fig. 10 shows a third step of the method of operating the crane and robot system
  • Fig. 11 shows a fourth step of the method of operating the crane and robot system
  • Fig. 12 shows a fifth step of the method of operating the crane and robot system
  • Fig. 13 shows a sixth step of the method of operating the crane and robot system
  • Fig. 14 shows a seventh of the method of operating the crane and robot system
  • Fig. 1 shows an exemplary embodiment of a joint crane and robot system according to the invention, comprising a crane unit 1 and a robot unit 2.
  • the crane unit 1 is arranged relative to a workspace 3, here shown as a manufacturing hall.
  • the crane unit 1 com- prises a trolley unit 4 arranged on at least one bridge element 5, where the bridge ele ment 5 is adapted to extend across the workspace 3.
  • the bridge element 5 is configured to move along at least one runway beam 3 a extending in a longitudinal direction of the workspace 3.
  • the trolley unit 4 is configured to move along the length of the bridge element 5 and transversely relative to the workspace 3.
  • the crane unit 1 comprises a terminal box with a crane controller 6 configured to control the operation of the crane unit 1.
  • the robot unit 2 comprises at least one robotic arm 7 extending from a base end to a free end (as shown in Fig. 4), where the free end is adapted to be attached to a robotic tool.
  • the operation of the robotic arm 7 is controlled by a robot controller (shown in Fig. 6).
  • the robot unit 2 is mechanically connected to the bridge element 5 in a fixed position, where crane controller is connected to the robot controller via a communications link.
  • the crane and robot controllers are set up in a master-slave configuration, where the master controller controls the combined movement of the crane unit 1 and the robot unit
  • Figs 2-6 show an exemplary embodiment of the robot unit 2, where Fig. 2 shows the robot unit 2 positioned in a base unit 8.
  • the robot unit 2 further comprises a supporting structure 9 on which the robotic arm 7 is arranged, preferably at a bottom part 11 of the supporting structure 9, as illustrated in Fig. 2.
  • the supporting structure 9 comprises a top part 10 adapted to be releasable connected to the bridge element 5 of the crane unit 1
  • the trolley unit 4 has a hoist system (as shown in Fig. 14) with at least one lifting element (as shown in Fig. 3), where the supporting structure 9 has at least one corre sponding lifting element 12.
  • the lifting element 12 is adapted to engage the lifting ele ment on the hoisting system for lifting the supporting structure 9.
  • the base unit 8 is configured to be moved in and out of the workspace 3, e.g. using onboard wheels or belts or by using a forklift.
  • the base unit 8 comprises an access structure 13 enabling a worker to reach the lifting element 12 and the top part 10.
  • the robot unit 2 may be coupled to an external source for performing testing, preparation and servicing.
  • Fig. 3 shows the upper part of the supporting structure 9 where the access structure 13 is arranged relative to a working platform 14 on the supporting structure 9.
  • the working platform 14 enables the worker to service the lifting element or perform the engagement between the lifting element 12 and the lifting element 15 of the hoisting system 16.
  • the robot unit 2 further comprises at least one connector 17 arranged at the top part 10, the connector is adapted to be coupled to at least one matching connector 18 arranged on the crane unit 1.
  • the matching connector is located on the lifting element 15.
  • Fig. 4 shows the lower part of the supporting structure 9 where the robotic arm 7 and tool 19 can be easily accessed and serviced from one side of the robot unit 2. This also allows for a quick and easy replacement of the tool 19.
  • the robotic arm 7 has multiple degrees of freedom and is configured to move the free end 21 relative to the base end 20 along multiple axes.
  • the free end 21 is adapted to be attached to a tool 20, here shown as a glue applicator tool.
  • the free end 21 preferably has a coupling element adapted to engage a corresponding coupling element on the tool 19.
  • Fig. 5 shows the lower part of the supporting structure 9 where an operation module 22 arranged on the supporting structure 9 can be easily accessed and serviced from an op posite side of the robot unit 2. This also allows for a quick and easy replacement of the operation module 22.
  • the operation module 22 is positioned relative to the robotic arm 7, where the operation module 22 comprises components for performing a dedicated task on an object (shown in Figs. 1 and 8-14) located in the workspace 3.
  • the operation module 22 is exchangeable so that it can be removed and another opera tion module 22 can be arranged on the supporting structure 9. This may be achieved by a mechanical interface between the supporting structure 9 and a support frame of the operation module 22.
  • Fig. 6 shows a side view of the supporting structure 9 where the operation module 22 and the robotic arm 7 are spaced apart with a very short distance. This allows for the use of relative short supply hoses or cables for interconnecting the tool 19 on the robotic arm with the output connectors or tubes on the operation module 22.
  • the robot unit 2 comprises a robot controller 23 configured to control at least the oper ation of the robotic arm 7.
  • the top part 10 has a locking mechanism configured to lock the robot unit 2 in a fixed position relative to the bridge element 5, when the supporting structure 9 is hosted into position relative to the bridge element 5.
  • the robot controller 23 may also control the operation of the moveable engaging or locking com ponents 24 of the top part 10.
  • Fig. 7 shows the robot unit 2 provided with two robotic arms 7’, 7” arranged on the supporting structure 9.
  • the robotic arms 7’, 7” are adapted to be attached to a tool 19 each, e.g. different tools, and is configured to move along multiple axes each.
  • the operations of these robotic arms 7’, 7” are controlled by the same robot controller 23.
  • the supporting structure 9 comprises at least one moveable sub-structure 25, 26 configured to move at least one of the robotic arms 7, 7’, 7” along at least one further axis (illustrated by arrows).
  • a first moveable sub-structure 25 is configured to move the at least one robotic arm 7, 7’, 7” is a transverse direction.
  • a second moveable sub-structure 26 is configured to move the at least one robotic arm 7, 7’, 7” is a vertical direction.
  • the supporting structure 9 may be provided with a plurality of moveable sub -structures 25, 26. But, the supporting structure 9 may also be provided with just a single moveable sub-structure 25, 26, or with a single first moveable sub-structure 25 and a single second first moveable sub-structure 26.
  • first robotic arm 7’ and the second robotic arm 7 may be ar ranged on individual moveable sub-structures 26. But, the first and second robotic arms 7’, 7” may be arranged on the same moveable sub-structure 25, 26. Alternatively, the supporting structure 9 may be provided with a single robotic arm 7, 7’, 7”.
  • Figs. 8-14 show an exemplary embodiment of a method of operating a system as de scribed above.
  • Fig. 8 shows a first method step where the base unit 8 with the robot unit 2 is transported into the workspace 3.
  • the crane unit 1 is moved into vertical alignment with the robot unit 2 resting on the base unit 8.
  • the lifting element 15 is lowered by the hoisting system 16 and brought into engagement with the lifting element 12 on the supporting structure 9.
  • a communications link is established between the robot controller 23 and the crane controller 6 by coupling the respective connectors 17, 18 together.
  • the robot and crane controllers 6, 23 is then set up in a master-slave configuration, preferably with the robot controller 23 as the master controller.
  • the crane unit 1 is coupled to the robot unit 2 and/or a local supply system on the operation module 22 to supply electrical power, hydraulic fluids or compressed gas ses to the components in the robot unit 2.
  • Fig. 9 shows a second method step where the robot unit 2 is hoisted into position relative to the bridge element 5 using the hoisting system 16 on the trolley unit 2.
  • the robot unit 2 may also be moved in the transverse direction before being placed in the correct position.
  • the top part 10 of the supporting structure 9 is then mechanically connected to the bridge element 5, thereby joining the crane and robot units 1, 2.
  • the locking mechanism on the top part 10 is activated to lock the supporting structure 9 in its position relative to the bridge element 5.
  • Fig. 10 shows a third method step where the combined movement of the robotic arm 7, 7’, 7” and the bridge element 5 is used by the master controller, e.g. the robot controller
  • Figs. 11 and 12 show a fourth and fifth method step where the master controller during operation controls the positioning of the tool 19 relative to the object 27 in the work space 3 by a combination of moving the robotic arm 7, 7’, 7”, the bridge element 5 and optionally the sub-structures 25, 26. This provides the robot with extra degrees of free dom and, thus, allows for a better positioning of the tool 19.
  • the top part 10 may be unlocked and brought out of engagement with the bridge ele ment 5.
  • the robot unit 2 while still being suspended may then be moved transversely by the trolly unit 4 into a new position.
  • the top part 10 may then be brought into en- gagement with the bridge element 5 again and locked in its new position.
  • Fig. 13 shows a sixth method step where the supporting structure 9 of the robot unit 2 is moved into vertical alignment with the base unit 8 after completion of the operation(s) under the control of the master controller.
  • Fig. 14 shows a seventh method step where the top part 10 is unlocked and brought out of engagement with the bridge element 5.
  • the robot unit 2 is lowered into position rel ative to the base unit 8 using the hoisting system 16 on the trolley unit 4.
  • the robot unit 2 may also be moved in the transverse direction before being placed in a vertical alignment with the base unit 8.
  • the lifting element 15 is disen gaged from the lifting element 12 on the supporting structure 9 and the hoisting system 16 raises the lifting element 15 away from the top part 2.
  • the robot unit 2 and base unit 8 may then be transported out of the workspace 3.

Landscapes

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

Abstract

La présente invention concerne un système à pont roulant et robot joints, un procédé et une utilisation de celui-ci. Le système comprend une unité de pont roulant (1) et une unité de robot (2), la structure de support (9) de l'unité de robot (2) étant hissée en position puis jointe à l'élément de pont (5) de l'unité de pont roulant (1). Le dispositif de commande (23) de robot est connecté au dispositif de commande (6) de pont roulant par l'intermédiaire d'au moins un couplage, et les dispositifs de commande (6, 23) de robot et de pont roulant sont configurés dans une configuration maître-esclave. Le mouvement combiné de l'unité de pont roulant (1) et du bras robotique (2) est utilisé par le dispositif de commande maître pour améliorer le positionnement de l'outil (19) par rapport à un objet (27) dans l'espace de travail (3).
PCT/DK2022/050153 2021-07-05 2022-07-05 Système à pont roulant et robot, procédé de fonctionnement d'un tel système et utilisation de celui-ci WO2023280365A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA202170356 2021-07-05
DKPA202170356 2021-07-05

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WO2023280365A1 true WO2023280365A1 (fr) 2023-01-12

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080042432A1 (en) * 2006-07-04 2008-02-21 Korea Atomic Energy Research Institute Telescopic servomanipulator coupling/decoupling apparatus
US20110054682A1 (en) 2009-08-31 2011-03-03 Kabushiki Kaisha Yaskawa Denki Robot system
WO2014048440A1 (fr) 2012-09-28 2014-04-03 Vestas Wind Systems A/S Fabrication automatisée de composants d'éolienne
US20150314890A1 (en) * 2014-04-30 2015-11-05 The Boeing Company Mobile Automated Overhead Assembly Tool for Aircraft Structures
EP3093109A1 (fr) 2013-12-27 2016-11-16 Kawasaki Jukogyo Kabushiki Kaisha Robot et système de travail de grutage associé
EP2773498B1 (fr) 2011-11-02 2017-07-19 Vestas Wind Systems A/S Procédé et installation de production pour la fabrication d'une pale de turbine éolienne
EP2437820B1 (fr) 2009-06-01 2018-09-12 Sanofi-Aventis Deutschland GmbH Mécanisme de configuration de dose pour purger un dispositif d'approvisionnement de médicament
EP3384152B1 (fr) 2015-11-30 2021-02-24 Vestas Wind Systems A/S Méthode de fabriquer une pale d'éolienne et pale d'éolienne

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080042432A1 (en) * 2006-07-04 2008-02-21 Korea Atomic Energy Research Institute Telescopic servomanipulator coupling/decoupling apparatus
EP2437820B1 (fr) 2009-06-01 2018-09-12 Sanofi-Aventis Deutschland GmbH Mécanisme de configuration de dose pour purger un dispositif d'approvisionnement de médicament
US20110054682A1 (en) 2009-08-31 2011-03-03 Kabushiki Kaisha Yaskawa Denki Robot system
EP2773498B1 (fr) 2011-11-02 2017-07-19 Vestas Wind Systems A/S Procédé et installation de production pour la fabrication d'une pale de turbine éolienne
WO2014048440A1 (fr) 2012-09-28 2014-04-03 Vestas Wind Systems A/S Fabrication automatisée de composants d'éolienne
EP3093109A1 (fr) 2013-12-27 2016-11-16 Kawasaki Jukogyo Kabushiki Kaisha Robot et système de travail de grutage associé
EP3093109B1 (fr) 2013-12-27 2020-01-22 Kawasaki Jukogyo Kabushiki Kaisha Robot et système de travail de grutage associé
US20150314890A1 (en) * 2014-04-30 2015-11-05 The Boeing Company Mobile Automated Overhead Assembly Tool for Aircraft Structures
EP3384152B1 (fr) 2015-11-30 2021-02-24 Vestas Wind Systems A/S Méthode de fabriquer une pale d'éolienne et pale d'éolienne

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