WO2004091867A1 - Processing method and processing device - Google Patents

Abstract

The invention relates to a processing device (5) for body parts (2), comprising a multiaxial conveying robot (6) on which at least one support (7) is disposed. The at least one support (7) is provided with one or several multiaxial processing units, preferably small robots (10). The small robots (10) support different tools and can be controlled individually.

Description

 DESCRIPTION

Machining process and machining device

The invention relates to a processing method and a processing device for components, in particular body components, with the features in the preamble of the main claim.

Such processing devices are from practice e.g. known as a welding robot. They consist of a multi-axis transport device in the form of an articulated arm robot and a tool, e.g. a welding tool. In practice, it is also known in processing stations for body components, in particular so-called geostations or framing stations for stapling the body components, to use stationary or movable lateral clamping frames for clamping the components, which can be equipped with several clamping tools. However, these clamping frames can only be attached to the outside of the vehicle body or the body components, so that accordingly only external clamping is possible. This must be taken into account when designing the body and conceiving the manufacturing process. In addition, the accessibility of the components for external welding robots or the like. limited. It is not possible to clamp body components on the inside.

It is an object of the present invention to show a better processing technique.

The invention solves this problem with the features in the main method and device claim. The claimed processing device and

Process engineering has the advantage that it has a multifunctional application. It forms one So-called multi-robots, which can carry out a wide variety of activities at different locations and in particular joining, clamping or machining points on the body components. This also makes it possible to carry out several joining processes on the inside of the vehicle body or the components. In particular, it is possible to tension the inside of a vehicle body.

The advantage of the multi-robot is that each processing unit with its possibly exchangeable tool is independently movable and functional and can be freely programmed. As a result, many different functions can be carried out independently of one another by the multi-robot or its processing units. This also has the advantage that only one clamping device is required for all vehicle bodies to be manufactured, which only needs different programming when changing types.

The multi-axis arranged on the multi-robot

Machining units can have a very large working area thanks to their freely selectable multiaxiality. An appropriately adapted shape of the carrier is also helpful for this. The use of small robots, preferably in the form of small articulated arm robots with six or more axes, is particularly advantageous here, especially since standard components can be used for this embodiment of the machining devices. Via a highly flexible multi-axis system with six or more axes, e.g. a seventh telescopic axis for the

Robot hand, all kinematic requirements can also be met for a change of component type. With the claimed small robots, it is not even necessary to change the location on the carrier. In the case of simpler processing units, a change of location and reassembly can alternatively take place on the carrier. Furthermore, it is possible to equip a processing station, for example a geostation or a framing station, with one or more of these multi-robots, which offers particular advantages for the accessibility of the body components. The clamping effort on the outside of the body components can be reduced by an inside clamping technology, which improves and facilitates the accessibility of the body for other processing or process devices, for example welding robots or the like. In addition, the multi-axis

Small robots perform welding processes or other joining processes on the inside of the body easier and better. For this purpose, the multi-robot can place the carrier with the small robots in a suitable manner in the interior of the body. For the small robots there is an improved "accessibility to hidden or difficult-to-reach internal parts of the component to which an externally arranged welding robot or the like can hardly reach. The outer dimensions of the carrier and the small robots for delivery can be reduced in such a way that they can be fed through openings in the component or in the body and placed in the interior.

In the working position, the wearer can move from the

Transport device can be kept floating or additionally supported at the free end or at another suitable location. Here, a fixed support and guidance or a movable support with degrees of freedom in one or more directions or

Axes take place. This allows the wearer and his small robots to be reoriented in different positions. '

Further advantageous refinements of the invention are specified in the subclaims. The invention is shown schematically and by way of example in the drawings. In detail show:

Figure 1 is a perspective view of a

Processing station with a multi-robot,

FIG. 2: a side view of the multi-robot,

FIG. 3: a top view of the multi-robot from FIG. 2,

Figure 4 and 5: side and rear view of a

Small robots and

Figure 6: a plan view of the multi-robot in

Working position in a body.

Figure 1 shows a processing station (1) for components (2), which can have any suitable training. In the exemplary embodiment shown, it is a geostation or framing station for body components (2), for example side walls and base group, which are brought on a pallet or another suitable carrier into the processing station (1) by means of a conveyor (not shown) and are exactly in a position suitable for processing be positioned. The processing station (1) can be part of a larger production system and can be integrated in a transfer line formed by several stations.

For clamping the body components (2) in the processing station (1), one or more outer clamping frames (4), for example the two side frames shown in FIG. 1, can be present, which are on the station frame (3) or alternatively on the pallet in a suitable manner and be docked with precise positioning. Several processing devices (5, 12) are present in the processing station (1). These can be, for example, process devices, in particular the welding robots (12) shown, which are arranged externally and on the floor next to or on a portal above the body components (2) and the clamping frame (4). The welding robots (12) are preferably designed as articulated arm robots with six or more axes, optionally also linear additional axes. The robots (12) carry suitable and possibly interchangeable tools, for example welding devices, which, however, can also be designed in any other suitable manner.

At least one special processing device (5) in the form of a so-called multi-robot is arranged in the processing station (1). The multi-robot (5) consists of a movable transportation means (6), which are preferably ^'is formed as a transport robot. This is preferably an articulated arm robot with six rotary axes. The transport robot (6) can, for example, be suspended from the station frame (3) as a portal robot and is therefore located at a central point above the transfer line and can therefore also be aligned centrally and in the direction of the longitudinal axis of the body components (2). Alternatively, the transport device (6) can be designed in any other suitable manner, for example as a multi-axis linear unit. The number of axles can also vary. At least two axes that can move independently of one another are advantageous.

The transport device (β) carries a docked multi-arm unit. This consists of at least one carrier (7) on which one or more multi-axis machining units (8, 9), each with at least one Tool (11) are arranged.

The carrier (7) is detachably connected to a suitable connection of the transport device (6), preferably the robot hand (13) of the transport robot. In particular, an interchangeable coupling can be arranged here, which enables the carrier (7) to be exchanged automatically for another carrier or another tool. The carrier (7) can be in one or more parts and is preferably rigid and rigid. It has an arbitrarily suitable shape that is adapted to the machining task. The carrier (7) can alternatively consist of several movable relative to each other, e.g. foldable or telescopic, and lockable in the selected position parts with appropriate drives.

In the exemplary embodiment shown, the carrier (7) is designed as an essentially straight box-shaped support beam with closed walls. The carrier (7) can alternatively have a shape that is angled once or several times, curved and / or branched, e.g. have a Y shape, and have grid-like or braced walls. The carrier (7) preferably has the elongated or elongated slender beam or rod shape shown. The carrier (7) has several prepared and preferably flat mounting surfaces for the processing units (8, 9). The cross section of the carrier (7) is preferably essentially rectangular and, as a result, offers various flat mounting surfaces on the side walls for any and also changeable ones

Arrangement of processing units (8.9). In a further modification, the carrier (7) can be designed as a plate or frame or the like.

The processing units (8, 9) are fixed or detachably connected to the carrier (7). They have at least two separate axes of movement and can be any have a suitable design. The processing units (8, 9) can be arranged on different sides of the carrier (7) and can be present several times. On the support beam (7) of the exemplary embodiment in FIGS. 2 and 3, they are arranged on the opposite and vertical side walls in the stretched position shown with an offset or spacing from one another in the axial direction of the carrier (7). In the embodiment shown there are three left-hand processing units (8) and three right-hand ones in the top view of FIG. 3

Processing units (9), which are each arranged at regular intervals and are set on a gap between the left and right side of the support. In the variant of FIG. 6, one or more processing units are additionally arranged on the top and / or bottom of the carrier (7).

The processing units (8, 9) are preferably designed as small robots. These are six-axis articulated arm robots in mini format that are used for

Example have a load capacity of 2 to 10 kg and a height h of approx. 65 cm. Figures 4 and 5 show such small robots (10). These are six-axis articulated arm robots which have a frame (14) fixed to the support (7), a carousel (15) pivotally mounted thereon, a rocker arm (16) rotatably mounted thereon and a boom (17) pivotably mounted on the rocker end. exhibit. A three-axis robotic hand (13), which carries the tool (11), is arranged at the end of the boom. An automatic interchangeable coupling between the robot hand (13) and the tool (11) can also be present. The small robot (10) shown can have additional axes, for example a seventh linear telescopic axis for the robot hand (13), which enables an extension movement relative to the arm (17). There may also be a linear axis between the frame (14) and the carrier (7) be, which enables a linear displacement of the entire small robot (10). The drives (18) of the small robot (10) are not shown for the sake of clarity.

The tools (11) can be of any suitable type. It is preferably

Machining tools, especially joining tools, e.g. Clamping tools, welding tools, adhesive tools or the like. The processing units (8, 9) and their tools (11) can be programmed individually and separately in their kinematics and function. They are preferably controlled from the transport device (6). The end position of the processing units (8, 9) on the workpiece (2) can be maintained by control or regulating circuits, despite any mechanical tolerances or compliance in the multi-robot system. For the control e.g. the robot controller of the transport robot (6) can be used. The processing units (8, 9) are also supplied with energy and other operating resources by the transport device (6) via the carrier (7).

The multi-robot (5) can be used in various ways in the processing station (1). He can go to

Example with its docked multi-arm unit, ie the carrier (7) and the small robots (10), through a window or door cutout or another opening into the interior (21) of the vehicle body (2). The small robots (10) can be folded in with their tools (11) in order to take up as little space as possible. The transport robot (6) then positions the carrier (7) with the small robots (10) at a predetermined starting position in the interior of the body (21). Figure 6 shows such a working position corresponding to Figure 1 in a schematic plan view. The transport device (6) can keep the carrier (7) freely suspended in the working position. Alternatively, support is possible by means of a support device (22) shown schematically in FIG. 2. For this purpose, a stand or support (23) is provided at the work position in a suitable position, which can be arranged, for example, on the pallet or the support of the component (2), on a lateral clamping frame (4) or at another location. Alternatively, the support (7) can also be supported directly on the component (2), for example in a component opening, on a component projection or the like. The support can take place in a form-fitting manner in such a way that the support (7) can no longer move in the support position. This can be done, for example, by positively receiving the free end of the support in a corresponding manner

Stand opening take place. Alternatively, it is possible to move the carrier (7) with the transport robot (6) in the support position and to orient it in different angular positions. For this purpose, a sphere (24), for example in the form of a joint, a cone or the like, can be located on the free end face or at another suitable location on the support (7). be arranged, which cooperates with a correspondingly shaped receptacle (25) on the stand (23). The receptacle (25) can have, for example, the shape of a flat spherical shell, a cone opening, a semi-cylindrical channel or the like. In the ball arrangement shown in FIG. 2, the transport device (6) can rotate the carrier (7) about its longitudinal axis and also about the two other rotational spatial axes. In the case of a cone pairing, only rotation about the longitudinal axis of the carrier (7) is possible. In the case of a channel-shaped receptacle (25), there can be a deliberate restriction on the mobility, depending on the direction in which the channel is open. The receptacle (25) can be accessible from the front, from above and / or from the side. Depending on the configuration, the support (22) can have one or more degrees of freedom with rotational and / or translational Have axes. In addition to a rotating support, a supporting sliding guide is also possible.

After taking the working position or, if necessary, supporting position, each small robot (10) can extend into its preprogrammed position and carry out the process assigned to it. The small robots (10) can carry out different processes, for example a clamping and a welding process. The multi-arm unit makes it possible to carry out clamping tasks at various points in the interior (21) of the vehicle body (2).

In Figure 6 e.g. two small robots (9, 10) arranged on the side of the support (7) of one side wall (20) of the body (2). A third small robot (9, 10 ') arranged between them and on the top of the carrier (7) carries out processing work, e.g. Welding work on the tensioned side wall parts. On the other side of the support clamps in Figure 6

Small robot (8, 10) parts of the other side wall (19) of the body (2), an adjacent small robot (8, 10 ') carrying out machining operations in this component area.

After the handling and / or processing process has ended, the small robots (10) with their tools (11) can be folded in again and removed together with the carrier (7) from the vehicle body (2).

Modifications of the shown embodiments are possible in different ways. The processing device (5) can be present several times at the processing station (1). In this case, it can assume other positions and, for example, be arranged laterally and standing. The number and arrangement of the processing units (8, 9) on the carrier (7) can vary. The same applies to the constructive Training and also controlling the

Machining units (8.9). These can be remote-controlled movement units with two or more axes, which are actuated and adjusted, for example, via Bowden cables on the carrier (7). They are driven by a suitable adjusting device on the transport device (6) or on the carrier (7). The processing units (8, 9) and, if applicable, their tools (11) can have freely programmable surfaces and, if appropriate, have a memory effect. They can also be covered with a flexible plastic layer.

LIST OF REFERENCE NUMBERS

Processing station, geostation component, body part station frame clamping frame processing device, multi-robot transport device, transport robot carrier processing unit, left processing unit, right small robot tool, clamping tool process device, welding robot robotic hand frame carousel swing arm boom drive side wall body side wall body interior body support device, support stand, support sphere, ball holder

Height of small robots

Claims

1.) Machining device for components (2), in particular body components, with a multi-axis transport device (6) and at least one tool (11), thereby ensuring that at least one carrier (7) with one or more multi-axis devices on the transport device (6) Processing units (8,9) with a plurality of tools (11) is arranged. 2.) Processing device according to claim 1, characterized in that the transport device (6) is designed as a multi-axis transport robot. 3.) Processing device according to claim 1 or 2, characterized in that the processing units (8, 9) are designed as multi-axis small robots (10). 4.) Processing device according to claim 1, 2 or 3, characterized in that the processing units (8, 9) are arranged on different sides of the carrier (7). 5.) Processing device according to one of the preceding claims, characterized in that the processing units (8, 9) are individually controllable. 6.) Processing device according to one of the preceding claims, characterized in that the processing units (8,9) from the transport device (6) can be controlled. 7.) Processing device according to one of the preceding claims, characterized in that the carrier (7) is designed as an essentially straight supporting beam. 8.) Processing device according to one of the preceding claims, characterized in that the small robots (10) are designed as six-axis articulated arm robots. 9.) Processing device according to one of the preceding claims, characterized g e k e n n z e i c h n e t that the Processing units (8,9) on different sides of the carrier (7) are arranged offset to one another. 10.) Machining device according to one of the preceding claims, characterized in that the machining units (8, 9) carry interchangeable tools (11). 11.) Machining device according to one of the preceding claims, characterized in that the tools (11) of the machining units (8, 9) are at least partially designed as joining tools. 12.) Processing device according to one of the preceding claims, characterized in that an additional support (22) is provided for the carrier (7). 13.) Processing station for processing components (2), in particular for joining body components, in that one or more processing devices (5) according to one of the preceding claims 1 to 12 are arranged in the processing station (1). 14.) Processing station according to claim 13, characterized in that the processing device (s) (5) is / are arranged on a station frame (3). 15.) Processing station according to claim 13 or 14, characterized in that the processing device (s) (5) is / are designed as a portal robot. 16.) Process for machining cubic components (2), in particular body components, by means of a multi-axis transport device (6) and at least one tool (11), characterized in that at least one carrier (7) of the transport device (6) with one or more multi-axis processing units (8, 9) and with multiple Tools (11) are introduced into the interior of the component (2), the processing units (8, 9) carrying out processing operations on the inside of the component (2). 17.) Method according to claim 16, characterized in that the component (2) on the inside of one or more Machining units (8.9) clamped and processed by other processing units (8.9). 18.) Method according to claim 16 or 17, characterized in that the carrier (7) with the processing units (8, 9) is introduced into the component (2) through an opening. 19.) Method according to claim 16, 17 or 18, characterized in that the carrier (7) with the processing units (8, 9) is additionally supported in the working position by a support device (22).