DE20103411U1 - Modular processing head - Google Patents

Description

Applicant : KUKA Schweissanlagen GmbH

Blücherstrasse 144 86165 Augsburg / DE

Representatives: Patent attorneys

Dipl.-Ing. H.-D. Ernicke

Dipl.-Ing. Klaus Ernicke

Schwibbogenplatz 2b

86153 Augsburg / DE

Date: 23·. 02. 2001
File: 772-951 he/he

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AAl DE-G 201 03 411.5

DESCRIPTION

Modular machining head

The invention relates to a modular processing head for manipulators, in particular for multi-axis industrial robots, with the features in the preamble of the main claim.

Such a modular processing head is known from the literature reference: WEDEL, Björn: Processing heads for high-performance Nd:YAG and diode lasers, Part II in: LASER MAGAZIN 2/2000, pp. 11 to 15. This processing head is designed as a laser head with a laser unit. The laser unit forms the basis to which one or more additional modules can be added and directly attached for upgrading or conversion purposes. The modules are arranged on the laser unit and also on top of each other and connected to each other. This limits the modularity and design options. When changing the laser unit, all other modules must first be removed or changed at the same time.

It is an object of the present invention to provide an improved modular machining head.

The invention solves this problem with the features in the main claim.

In the modular machining head according to the invention, several defined interfaces for the add-on modules and for the operating resources supply are provided and are already prepared in the basic version. These interfaces are arranged primarily on the base body of the machining head and can be used independently of one another. The base body also has the

Processing tool, preferably a laser unit, can be mounted. This allows the various modules to be installed or removed separately and without affecting each other. There is largely no need to stack modules on top of each other. It is only used where it is useful or necessary in terms of function.

For unrestricted module selection, it is advantageous if each module has its own interface. At least some of the interfaces for the add-on modules can be available multiple times, which allows different installation options, e.g. changing sides, or arranging several similar modules. In addition, at least some of the interfaces can be designed universally. They can therefore be used for different modules, which minimizes the space required despite the high module diversity.

Most of the interfaces for the add-on modules are arranged on a base plate of the base body, so that a uniform connection option is available. This base plate can be arranged movably on the base body and can be provided with a feed device. The base plate and the attached modules can therefore independently carry out evasive movements or follow-up movements when following the path on the workpiece. This is advantageous in order to keep the contact pressure of one or more pressure rollers on the workpiece(s) constant and also to be able to automatically adjust the focus of the laser beam.

The modular processing head is preferably designed as a welding head, in particular as a laser head. Instead of a laser unit, however, any other modular processing tool can be attached. In the design as a welding head, different

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Welding tools, e.g. an arc torch or a plasma torch or combinations of welding tools, e.g. hybrid units with a laser unit and an arc torch or plasma torch, can be mounted.

The modular processing head is preferably intended for manipulators, in particular multi-axis industrial robots, which, due to their kinematics, are able to carry out complicated movements with the processing head and to follow arbitrarily oriented paths.

The modular design and the interface arrangement mean that the modules can be changed or added quickly and easily. This is also possible for the operator thanks to the simple and uncomplicated design. The customer can carry out the conversion quickly and without great effort.

It is particularly advantageous that the interfaces for the add-on modules are preferably designed as screw connections, while the interfaces for the operating fluid supply are designed as standardized plug connections. This makes it very easy and quick to connect the operating fluid lines for power, cooling water, compressed air or the like belonging to the individual modules to a central operating fluid supply, which is supplied via a cable package in a hose, for example. The plug connections can be designed as simple intermediate plugs or optionally as blind plugs, which automatically close the outlet or passage when the plug is connected on one side.

Further advantageous embodiments of the invention are specified in the subclaims.

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The invention is illustrated by way of example and schematically in the drawings. In detail:

Figure 1 and 2: a modular machining head with

Base body and pressure roller as well as

'. Interfaces for attachable modules and

Resource supply in front and side view,

Figures 3 and 4: the machining head according to figures 1 and 2.

in a basic version with laser unit and protective gas supply in front and side view, :

Figures 5 and 6: the machining head of Figures 3 and A in

an expansion stage with a counter roller in linear design,

Figure 7 and 8: a variant of the machining head of

Figures 5 and 6 with a counter roller in swivel design and a sensor system,

'Figures 9 and 10: the processing head in an expansion stage with a seam tracking system in front

and side view and

Figures 11 and 12: the processing head in an expansion stage with a wire feed in front and side view.

In the drawings Figures 1 to 12, a modular processing head (1) is shown in front and side views and in various stages of development. The embodiments shown are laser heads.

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The processing head (1) consists of a base body (4) or a frame and has several interfaces (7 to 14) for several attachable modules (22,24,28,30,31,34) and different operating resource supplies.

The processing head (1) is moved and guided in a suitable manner. It is preferably designed as a robot tool and can be connected to a robot hand (2) of a multi-axis industrial robot. Figure 1 shows this arrangement. For this purpose, the base body (4) has a transversely projecting connection flange (33) which can be attached to the robot hand (2) in a suitable manner.

The operating resources are supplied via a cable package in a hose, which is shown schematically in Figure 1. A suitable hose holder (7) is available as an interface for the hose, to which it can be securely attached. The individual operating resources lines (not shown) then emerge from the hose. The cable package or hose is preferably laid along the robot arm to the robot hand (2). The operating resources are transferred, for example, in the room via a cable guide hanging freely in loops from a relatively stationary operating resources transfer point. For the sake of clarity, these arrangements are not shown.

Figures 1 and 2 show the processing head (1) in its basic design with the interfaces (7 to 14). Figures 1 and 4 illustrate a basic version and a so-called basic equipment of the processing head (1) for the simpler applications.

As Figures 1 and 2 illustrate, the base body (4) consists of two or more angled and firmly connected, e.g. welded plates, one of which forms the aforementioned connecting flange (33) and the other a back flange (35) lying transversely thereto. In the operating position, this connecting flange (33) preferably extends parallel to the workpiece (3), which is, for example, one or more sheets of metal, in particular steel or a light metal.

The base body (4) further comprises a base plate (5)', which in the preferred embodiment is movably arranged on the base body (4) and can be moved back and forth via a feed device (17). Alternatively, the base plate (5) can also be rigidly attached to the base body (4).

In the embodiment shown, the base plate (5) can move up and down preferably in an axis that extends essentially transversely to the connection flange (33) and to the workpiece (3) and thus parallel to the longitudinal axis of the robot hand (2). The movement axis thus enables the base plate (5) and the modules (22, 24, 28, 30, 31) arranged thereon and described in more detail below to move in a resilient manner in the normal direction to the workpiece surface in order to be able to follow tolerances, distortions or other changes to the intended path or the shape of the workpiece (3).

The base plate (5) is designed as a linearly movable compensation slide, which has a slide rail (18) on its rear side, which is movably mounted on the back flange (35) of the base body (4) via a suitable guide (19). The feed device (17) consists, for example, of a pneumatic cylinder (20), the housing of which is attached to the rear side of the movable base plate (5).

and whose piston is supported on the base body (4), in particular on the connecting flange (33). The feed device (17) can alternatively consist of a spring or another drive element. The base plate (5) can carry out independent movements relative to the robot hand (2) via the slide rail (18) and the feed device (17).

Various interfaces (9 to 13) for attachable modules (22,24,28,30,31) are provided on the base plate (5). The interfaces (9 to 13) are arranged separately from one another. They are designed as mechanical module connections and preferably consist of screw connections, in particular two or more fitting holes in the base plate (5) for fitting screws.

The fitting holes have a defined position and are matched to the appropriate connection holes on the modules (22,24,28,30,31). In addition, suitable guides, centering devices and fitting means (not shown) are also available. Instead of fitting holes, fitting or screw bolts or similar other suitable connecting elements can be used to form the interfaces (9 to 13).

Further such interfaces can be arranged on the base body (4) itself. For example, an interface (14) for an attachable module (34) is located at the front end of the connection flange (33).

At least one connection plate (6) for interfaces (7, 8) for the operating medium supply is also arranged on the base body (4) and is preferably rigidly attached. In the embodiments shown, a connection plate (6) is located laterally offset next to the base plate (5) and is aligned essentially parallel to it. A further connection plate (6) can be attached to the back of the base body (4) and transversely to its

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vertical wall, as shown in Figure 2, for example. The above-mentioned hose holder (7) is attached to the upper end of one of the side connection plates (6) in Figure 1.

The various connection plates (6) also have several spatially separated interfaces (8) in the form of line connections. These are preferably designed as plug connections, in particular as intermediate plugs. The supply lines fed in from the outside can be connected here on one side, e.g. on the front. The connecting lines to the respective modules (22, 24, 28, 30, 31, 34) are connected on the respective rear side.

The intermediate plugs are designed in a suitable manner for this purpose and adapted to the respective operating medium, e.g. compressed air, cooling water, power or signal current or similar. The plug connections can also be designed as blind plugs to which the supply lines fed in from the outside can be plugged in on one side, whereby the lines are closed until the connecting line to the respective module (22, 24, 28, 30, 31, 34) is plugged in on the opposite side. In this way, the supply lines required for the maximum configuration can be plugged into the connection plate(s) in advance. When the modular processing head (1) is converted or the modules are changed, the operating medium supply does not need to be changed. It is sufficient to replace or add to the individual modules. In addition, this means that modules that are not required can be easily dismantled and removed.

The processing head (1) shown in Figures 1 and 2 preferably has, in its basic design, a freely rotatable pressure roller (15) which is attached to the

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Base plate (5) is attached. It is moved up and down with the base plate (5) over the slide rail (18). The pressure roller (15) is thin-walled and set at an angle. The axis of rotation extends at an angle to the plane of the base plate (5) and intersects it.

Figures 3 and 4 show a so-called basic version or basic equipment of the modular processing head (1) in the design as a laser head, in which the arrangement of Figures 1 and 2 is supplemented with a laser unit (16) and a protective gas supply (28). The laser unit (16) consists of a beam supply (21) for the laser beam shown in dashed lines and also comprises laser optics (22), which represent one of the modules mentioned. With the laser optics (22), for example, the horizontally coupled laser beam is deflected by 90° via mirrors and focused on the working point on the workpiece (3) via suitable focusing optics. Depending on the design of the laser optics (22), several laser points can also be generated in a bifocal arrangement or the like. The focal lengths can also be changed.

The laser optics (22) can also have an attached optics protection (29) beneath the lens systems, a so-called cross-jet, which is shown in more detail in Figures 5 and 6 and which creates a rapidly flowing air jacket directed transversely to the laser beam to protect against welding spatter or the like. The laser unit (16) is preferably designed as a diode laser or solid-state laser, with the laser beam being supplied via a fiber optic cable. Alternatively, any other configuration of the laser unit (16) can also be present.

The laser unit (16) is attached to the base plate (5) at the interface (9) via an optics holder (23). This is designed, for example, as a multi-angled holder. For the sake of clarity, the laser holder (23)

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shown in Figure 2. i

The second module (28) is designed as a protective gas supply and is attached to the interface (12) on the lower edge of the base plate (5) using a suitable angled holder. The interface (12) consists of three screw openings or fitting or through holes located next to one another. In the embodiment shown, the interface (12) is present twice, with the two interfaces (12) located on the lower edge of the plate on both sides of the pressure roller (15). This allows the protective gas supply (28) to be installed either to the left or right of the pressure roller (15). The interface (12) can also have additional screw holes above the first row of holes mentioned above, so that the protective gas supply (28) can also be installed at different heights.

Figures 5 and 6 show a first expansion stage of the processing head (1), in which the basic version of Figures 3 and 4 is supplemented by a module (24) in the form of a freely rotating counter roller. The interface (11) for the counter roller (24) is preferably located on the back of the base plate (5) or possibly also on the back of the carriage rail (18). The counter roller (24) presses against the workpiece (3) from below and this against the upper pressure roller (15). The workpiece (3) is pressed together between the rollers (15, 24) which are centrally positioned one above the other at their pressure points. In the variant of Figures 5 and 6, the counter roller (24) is smaller than the upper pressure roller (15). The counter roller (24) is also set at an angle to the workpiece plane, with the rollers (15, 24) forming an obtuse angle with one another. Figure 6 shows this arrangement.

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The counter roller (24) is provided with a feed device (25) which ensures the positioning and contact pressure of the counter roller (24). The feed device (25) can be designed in different ways. In the variant of Figures 5 and 6, it is designed as a linear unit (26) which has a cylinder which is attached to the back of the base plate (5) or the slide rail (18). The cylinder moves a slide which is mounted axially movably on the rail (18) up and down and to which the angled holder for the counter roller (24) is rigidly attached.

Figures 7 and 8 show a variant of the expansion stage of Figures 5 and 6. Here, too, there is a counter roller (24) with a feed device (25), which, however, in this embodiment also has a swivel unit (27). It is also located on the back of the base plate (5) or the slide rail (18) and is attached to the linear unit (26). The counter roller (24) is mounted on the swivel arm of the swivel unit (27). The swivel movement is effected by a cylinder or another suitable drive means. The counter roller (24) can be swiveled back and forth between a working position and a rest position via the swivel unit (27). The counter roller (24) is adjusted linearly using the linear unit (26) and pressed against the workpiece (3). Figure 8 shows the working position of the counter roller (24) with solid lines and the rest position swiveled backwards in dashed lines.

In the embodiment of Figures 7 and 8, another pressure roller (15) is also shown. This is smaller than in the previously described embodiments and has essentially the same size as the counter roller (24).

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In the variant of Figure 7, another module (30) in the form of a sensor is also shown. This is, for example, in Figure 7 on the right side of the base plate (5) via an interface (13) which is located slightly above the lower edge of the base plate (5) and the interface (12) there. The sensor (3.0) has a suitable adjustable frame and can thus be adjusted to the desired operating point. The sensor

(30) may be used in any suitable manner, e.g. as

contactless or tactile edge-sensing sensor, as a proximity sensor or in some other way. It can be used to find the intended path, e.g. a weld seam or the like. Alternatively, it can also be used as a collision protection device and in any other suitable way. In this embodiment, the protective gas supply (28) is arranged on one side of the roller pair (15, 24) and the sensor (30) on the other side. This arrangement can also be swapped. In this case, it is recommended that the interface (13) be installed twice. In addition, the interfaces (12, 13) can be designed as universal interfaces that are suitable for both modules (28, 30) and allow for optional arrangement.

Figures 9 and 10 show a further expansion stage in which the processing head (1) of Figures 3 and 4 is equipped with a module

(31) in the form of a seam tracking system. This consists of a movement unit which is connected via an interface (10) approximately at the height of the beam feed

(21) is arranged on the front side of the base plate (5). The laser optics (22) are attached to the movement unit, whereby the interface (9) of its optics holder (23) is located on the seam tracking system (31). This enables the laser unit (16) to carry out movements with the laser beam through the movement unit across the base plate (5). The laser beam can thus be aligned with the pre-programmed and robot-tracked

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The system can move the path laterally independently and can therefore react quickly and, for example, track a specified weld seam on the workpiece (3). In this embodiment, the sensor system (30) is itself part of the seam tracking system (31) and is attached to it using a suitable adjustment device. The interface (13) for the sensor system (30) is located on a suitable arm or flange of the seam tracking system (31). In addition, the protective gas supply (28) is also arranged on the seam tracking system (31) and adjusted together with the laser optics (22).

In this embodiment, it is recommended to design the interfaces (9 and 10) on the base plate (5) as universal interfaces, which allow the optional mounting of the optics holder (23) or the seam tracking system (31).

In the variant of Figures 9 and 10, a second sensor (30) is also present, which is attached to the back of the base plate (5) or the slide rail (18) via the interface (11). The sensor (30) is used, for example, to locate the seam or processing path in a separate teaching run before the welding process and can be designed as a contactless or tactile sensor, e.g. as an optical sensor.

Figures 11 and 12 show a further expansion stage of the 3.0 modular processing head (1) based on the design of Figures 5 and 6 with a counter roller (24) and with a linear unit (26). A wire feed is attached here as a further module (34), with which an additional wire can be fed to the work station on the workpiece (3). The wire feed (34) is attached to the interface (14) via a suitable boom, which is located on the connection flange (33). The wire feed (34)

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receives a melting welding wire fed from the outside from a wire supply and via one or more auxiliary drives and conveys this to the work station through an elastic hose using a suitable wire drive, e.g. a 4-roller wire drive. The wire feed (34) can work together with a shielding gas guide (28), whereby the wire guide hose is connected to the shielding gas pipe and the wire is conveyed through this pipe.

Alternatively, separate feeds can be provided for wire and shielding gas. In this embodiment, for example, the shielding gas feed (28) is arranged on the right-hand side of the pressure roller (15).

; In a variant not shown, the laser optics (22) can be rotated by 90° using a projecting angle arm instead of the optics holder (23), so that the front sides of flanges lying on top of one another can be welded with the laser beam directed transversely to the pressure roller (15). The pressure roller (15) and a counter roller (24) or another stationary counter holder press the flanges together.

In the embodiments shown, the processing head (1) is designed as a welding or soldering head. It can also be supplemented with an arc welding torch or plasma torch (not shown) as a further module, which is used together with the laser unit (16) for so-called hybrid welding. In addition, other modules can also be added, e.g. a sensor system that monitors the processing process or the like. The processing head (1) with its laser unit (16) can also be used for other processing and processes using a laser beam, e.g. for cutting, welding, preheating or the like.

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The embodiment shown can be modified in various ways. For example, the modules and equipment variants shown in the individual expansion stages can be swapped around and modified as desired. Other expansion stages can also be created. The number and arrangement of the interfaces (7 to 14) can also vary. In addition to the base plate (5), interfaces can also be arranged on other parts of the base body (4).

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LIST OF REFERENCE SYMBOLS

1 modular processing head, laser head

2 Robot hand

3 Workpiece, sheet metal

4 Base body, frame

5 Base plate, compensation slide

6 Connection plate

7 Interface, hose fitting

8 Interface, cable connections

9 Interface, module connection laser optics

10 Interface, module connection seam tracking

11 Interface, module connection counter roller

12 Interface, module connection protective gas 13 Interface, module connection sensor technology

14 Interface, module connection wire feed

15 Pressure roller

16 modular machining tool, laser unit

17 Feed device 18 Slide rail

19 Leadership

20 cylinders

21 Beam feed

22 module, laser optics 23 optics holder

24 Module, counter roller

25 Delivery device

26 Linear unit

27 Swivel unit

28 Module, protective gas supply

29 Optics protection, Cross-Jet

.30 Module, Sensor

31 Module, Seam Tracking System

32 Feed device 33 Connection flange

34 Module, wire feed

35 Back flange

Claims (23)

1. Modular machining head for manipulators, in particular multi-axis industrial robots, with several exchangeable modules and a machining tool, characterized in that the machining head ( 1 ) has a base body ( 4 ) with several defined interfaces ( 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 ) for the attachment of a modular machining tool ( 16 ) and further modules ( 22 , 24 , 28 , 30 , 31 , 34 ) as well as for the supply of operating resources. 2. Processing head according to claim 1, characterized in that the base body ( 4 ) has at least one base plate ( 5 ) with interfaces ( 9 , 10 , 11 , 12 , 13 ) for the attachable modules ( 22 , 24 , 28 , 30 , 31 ) and at least one connection plate ( 6 ) for the interfaces ( 7 , 8 ) of the operating medium supply. 3. Processing head according to claim 1 or 2, characterized in that the base body ( 4 ) has a connecting flange ( 33 ) for the robot hand ( 2 ), wherein at least one interface ( 14 ) for an attachable module ( 34 ) is arranged on the connecting flange ( 33 ). 4. Processing head according to claim 1, 2 or 3, characterized in that the base plate ( 5 ) is movably mounted on the base body ( 4 ) and has a feed device ( 17 ). 5. Processing head according to one of the preceding claims, characterized in that the interfaces ( 9 , 10 , 11 , 12 , 13 , 14 ) for the attachable modules ( 22 , 24 , 28 , 30 , 31 , 34 ) are designed as prepared mechanical module connections with screw connections. 6. Processing head according to one of the preceding claims, characterized in that the interfaces ( 8 ) have prepared couplings or intermediate plugs for the operating medium lines. 7. Processing head according to one of the preceding claims, characterized in that spatially separate interfaces ( 7 , 8 , 9 , 10, 11 , 12, 13 , 14 ) are present for the majority, preferably for all , attachable modules ( 22 , 24 , 28 , 30 , 31 , 34 ) and operating resource supplies. 8. Processing head according to one of the preceding claims, characterized in that individual interfaces ( 9 , 10 , 22 , 13 ) are universally designed and are suitable for several different modules ( 22 , 28 , 30 , 31 ). 9. Processing head according to one of the preceding claims, characterized in that the processing tool is designed as a laser unit ( 16 ). 10. Processing head according to one of the preceding claims, characterized in that the processing tool alternatively or additionally comprises an arc welding torch or plasma torch. 11. Processing head according to one of the preceding claims, characterized in that the processing head ( 1 ) in the basic equipment has a pressure roller ( 15 ) arranged on the base plate ( 5 ) and a laser optics ( 22 ) with an optics holder ( 23 ). 12. Processing head according to one of the preceding claims, characterized in that the processing head ( 1 ) in an expansion stage has a counter roller ( 24 ) with a feed device ( 25 ). 13. Processing head according to claim 12, characterized in that the module connection ( 11 ) for the pivotable and/or linearly displaceable counter roller ( 24 ) is arranged on the rear side of the base plate ( 5 ) or a slide rail ( 18 ) connected thereto. 14. Processing head according to one of the preceding claims, characterized in that the processing head ( 1 ) has a protective gas supply ( 28 ) in an expansion stage. 15. Processing head according to claim 14, characterized in that the module connection ( 12 ) for the protective gas supply ( 28 ) is arranged on the base plate ( 5 ) in its lower region. 16. Processing head according to one of the preceding claims, characterized in that two module connections ( 12 ) for the protective gas supply ( 28 ) are arranged on the base plate ( 5 ) on both sides of the pressure roller ( 15 ). 17. Processing head according to one of the preceding claims, characterized in that the processing head ( 1 ) in an expansion stage has at least one sensor system ( 30 ). 18. Processing head according to one of the preceding claims, characterized in that two module connections ( 13 ) for the sensors ( 30 ) are arranged on the base plate ( 5 ) on both sides of the pressure roller ( 15 ). 19. Processing head according to one of the preceding claims, characterized in that the processing head ( 1 ) has a seam tracking system ( 31 ) in an expansion stage. 20. Processing head according to one of the preceding claims, characterized in that the module connection ( 10 ) for the seam tracking system ( 31 ) is arranged on the front side of the base plate ( 5 ), wherein at least one further module connection ( 9 , 13 ) for the laser optics ( 22 ) and/or the sensor system ( 30 ) is arranged on the seam tracking system ( 31 ). 21. Processing head according to one of the preceding claims, characterized in that the processing head ( 1 ) has a wire feed ( 34 ) in an expansion stage. 22. Processing head according to one of the preceding claims, characterized in that the module connection ( 10 ) for the wire feed ( 34 ) is arranged on the connection flange ( 33 ). 23. Processing head according to one of the preceding claims, characterized in that the interfaces ( 9 , 10 , 12 , 13 ) for the attachable modules ( 22 , 24 , 28 , 30 , 31 ) are arranged on the front side of the base plate ( 5 ).