U.S. patent application number 10/552157 was filed with the patent office on 2007-07-19 for processing method and processing device.
Invention is credited to Johann Hesse.
Application Number | 20070164009 10/552157 |
Document ID | / |
Family ID | 32892517 |
Filed Date | 2007-07-19 |
United States Patent
Application |
20070164009 |
Kind Code |
A1 |
Hesse; Johann |
July 19, 2007 |
Processing method and processing device
Abstract
A processing device (5) is provided for automobile body parts
(2). The device (5) includes a multiaxial conveying robot (6) on
which at least one support or carrier (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.
Inventors: |
Hesse; Johann; (Augsburg,
DE) |
Correspondence
Address: |
MCGLEW & TUTTLE, PC
P.O. BOX 9227
SCARBOROUGH STATION
SCARBOROUGH
NY
10510-9227
US
|
Family ID: |
32892517 |
Appl. No.: |
10/552157 |
Filed: |
April 10, 2004 |
PCT Filed: |
April 10, 2004 |
PCT NO: |
PCT/EP04/03836 |
371 Date: |
October 12, 2005 |
Current U.S.
Class: |
219/158 |
Current CPC
Class: |
A61P 3/10 20180101; B23Q
39/026 20130101; B25J 15/0061 20130101; C07D 207/16 20130101; B25J
15/0052 20130101 |
Class at
Publication: |
219/158 |
International
Class: |
B21J 13/08 20060101
B21J013/08 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 16, 2003 |
GB |
0308854.9 |
May 22, 2003 |
GB |
0311836.1 |
Claims
1. A machining device for components, the device comprising: a
multiaxial transport means; a carrier with a multiaxial machining
unit with a tools arranged at a transport means.
2. A machining device in accordance with claim 1, wherein the
transport means is designed as a multiaxial transport robot.
3. A machining device in accordance with claim 1, wherein the
machining units are designed as multiaxial small robots each with
one of said tools.
4. A machining device in accordance with claims 1, wherein the
machining units are arranged on different sides of the carrier.
5. A machining device in accordance with claim 1, wherein the
machining units can be controlled individually.
6. A machining device in accordance with claim 1, wherein the
machining units can be controlled from the transport means.
7. A machining device in accordance with claim 1, wherein the
carrier is designed as an essentially straight girder.
8. A machining device in accordance with claim 1, wherein the small
robots are designed as six-axis articulated arm robots.
9. A machining device in accordance with claim 1, wherein the
machining units are arranged on different sides of the carrier,
offset in relation to one another.
10. A machining device in accordance with claim 1, that wherein the
machining units carry said replaceable tools.
11. A machining device in accordance with claim 1, wherein the
tools of the machining units are designed at least partly as said
joining tools.
12. A machining device in accordance with claim 1, wherein an
additional support is provided for the carrier.
13. A machining station, comprising: a multiaxial robot transport;
a carrier connected to said multiaxial robot transport for movement
therewith; a plurality of multiaxial machining units carried by
said carrier; a plurality of tools, each of said multiaxial
machining units being connected to a respective one of said
tools.
14. A machining station in accordance with claim 13, wherein each
machining device is arranged at a station frame.
15. A machining station in accordance with claim 13, wherein each
machining device is designed as a portal robot/portal robots.
16. A method of machining cubic components, by means of a
multiaxial transport means and at least one tool, and further
comprising the steps of: employing the transport means for
introducing at least one carrier with one or more multiaxial
machining units into the interior space of the component, wherein
the machining units carry out machining operations on the inside of
the component.
17. A method in accordance with claim 16, wherein the component is
clamped on the inside by one or more said machining units and is
machined by said other machining units.
18. A method in accordance with claim 16, wherein the carrier with
the machining units is introduced through an opening into the
component.
19. A method in accordance with claims 16, wherein the carrier with
the machining units is additionally supported in the working
position by a support means.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application is a United States National Phase
application of International Application PCT/EP2004/003836 of Apr.
17, 2004 that claims the benefit of priority of German Application
203 06 257.4 filed Apr. 10, 2003, the entire contents of each
application are incorporated herein by reference.
FIELD OF THE INVENTION
[0002] The present invention pertains to a machining method and a
machining device for components, especially motor vehicle body
parts.
BACKGROUND OF THE INVENTION
[0003] Such machining devices are known from practice, e.g., as
welding robots. They comprise a multiaxial transport means in the
form of an articulated arm robot and a tool, e.g., a welding tool.
Furthermore, it is known from practice in the case of machining
stations for body parts, especially so-called geo stations or
framing stations for tacking the body parts, that stationary or
mobile lateral clamping frames, which may be equipped with a
plurality of clamping tools, are used to clamp the components.
However, these clamping frames can be attached to the vehicle body
or the body parts only on the outside, so that only outer clamping
is correspondingly possible. This must be taken into consideration
in designing the body and in the concept of the manufacturing
process. Moreover, the accessibility of the components for external
welding robots or the like is limited. Clamping body parts on the
inside is not possible.
SUMMARY OF THE INVENTION
[0004] The object of the present invention is to show a better
machining technique.
[0005] This object is accomplished by the present invention with a
machining device for components, especially automobile body parts,
which device has a multiaxial transport device and tools. At least
one carrier is provided with one or more multiaxial machining units
with a plurality of tools arranged at the transport means.
[0006] A machining station may be provided for machining the
components (for joining the body parts) with one or more of the
machining devices arranged in the machining station.
[0007] A method for machining cubic components, especially the
automobile body parts, by means of the multiaxial transport means
is provided in which the transport means introduces at least one
carrier with one or more multiaxial machining units into the
interior space of the component. The machining units carry out
machining operations on the inside of the component.
[0008] The claimed machining device and technology has the
advantage that it has a multifunctional field of use. It forms a
so-called multirobot, which can carry out a great variety of
activities at different sites and especially joining, clamping or
machining sites of the body parts. Moreover, it is possible as a
result to carry out a plurality of joining processes on the inside
of the vehicle body or the components. In particular, it is
possible to clamp a vehicle body on the inside.
[0009] The multirobot has the advantage that each machining unit
with its tool, which may optionally be replaceable, is mobile and
able to function independently and is freely programmable. As a
result, many different functions can be carried out by the
multirobot or the machining units thereof independently from one
another. Moreover, this has the advantage that only a single
clamping device, which requires only a different programming in
case of a changeover to another type, is needed for all the vehicle
bodies to be manufactured.
[0010] The multiaxial machining units arranged at the multirobot
can have a very large working range thanks to their freely
selectable multiaxial nature. A correspondingly 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 especially advantageous here, especially because
standard components can be used for this embodiment of the
machining devices. All the kinematic requirements can be satisfied
even for a changeover to components of another type due to the
highly flexible multiaxial nature with six or more axes, e.g., a
seventh telescopic axis for the robot hand. Not even a change of
location on the carrier is necessary in case of the small robots as
according to the invention. A change in location and re-assembly on
the carrier can be carried out as an alternative in case of simpler
machining units.
[0011] Furthermore, it is possible to equip a machining station,
e.g., a geo station or a framing station, with one or more of these
multirobots, which offers special advantages for the accessibility
of the body parts. The clamping effort on the outside of the body
parts can be reduced due to an inside clamping technique, which
improves and facilitates the accessibility of the body to other
machining or processing devices, e.g., welding robots or the like.
Moreover, welding processes or other joining processes can be
carried out on the inside of the body more easily and with better
quality due to the multiaxial small robots. The multirobot can
place the carrier with the small robots in a suitable manner in the
interior space of the body. The small robots also have improved
accessibility to hidden or hard-to-reach areas of components
located on the inside, which are hardly accessible for a welding
robot or the like that is arranged on the outside. The outside
dimensions of the carrier and the small robots can be reduced such
that they can be fed through openings in the component or in the
body and placed in the interior space.
[0012] In the working position, the carrier can be held by the
transport means freely floating or additionally supported at the
free end or at another suitable site. Firm support and guiding or
mobile support with degrees of freedom in one or more directions or
axes may take place. This permits the carrier and its small robots
to be re-oriented into different positions.
[0013] The various features of novelty which characterize the
invention are pointed out with particularity in the claims annexed
to and forming a part of this disclosure. For a better
understanding of the invention, its operating advantages and
specific objects attained by its uses, reference is made to the
accompanying drawings and descriptive matter in which preferred
embodiments of the invention are illustrated.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] In the drawings:
[0015] FIG. 1 is a perspective view of a machining station with a
multirobot;
[0016] FIG. 2 is a side view of the multirobot;
[0017] FIG. 3 is a top view of the multirobot from FIG. 2;
[0018] FIG. 4 is a side view of a small robot used as part of the
multirobot;
[0019] FIG. 5 is a rear view of the small robot; and
[0020] FIG. 6 is a top view of the multirobot in the working
position in a body.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0021] Referring to the drawings in particular, FIG. 1 shows a
machining station (1) for components (2), which station may have
any desired suitable design. In the exemplary embodiment being
shown, it is a geo station or framing station for body parts (2),
for example, side panels and floor group, which are brought into
the machining station (1) on a pallet or another suitable carrier
by means of a conveyor, not shown, and positioned here exactly in a
position suitable for machining. The machining station (1) may be
part of a larger production plant and integrated in this case
within a transfer line formed by a plurality of stations.
[0022] One or more external clamping frames (4), for example, the
two side frames shown in FIG. 1, which are docked with the station
frame (3) or alternatively with the pallet in a suitable and
accurately positioned manner, may be present in the machining
station (1) for clamping the body parts (2).
[0023] A plurality of machining devices (5, 12) are present in the
machining station (1). These may be, for example, process devices,
especially the welding robots (12) shown, which are arranged
externally and in a floor-bound manner laterally next to or on a
portal above the body parts (2) and the clamping frames (4). The
welding robots (12) are preferably designed as articulated arm
robots with six or more axes, optionally also linear auxiliary
axes. The robots (12) carry suitable and optionally replaceable
tools, for example, welding devices, which may, however, also be
designed in any other suitable manner.
[0024] At least one special machining device (5) in the form of a
so-called multirobot is arranged in the machining station (1). The
multirobot (5) comprises a mobile transport means (6), which is
preferably designed as a transport robot. This is preferably an
articulated arm robot with six rotatory axes. The transport robot
(6) may be arranged, for example, as a portal robot suspended on
the station frame (3) and it is located as a result in a central
location above the transfer line and may consequently also be
oriented centrally and in the direction of the longitudinal axis of
the body parts (2). As an alternative, the transport means (6) may
also be designed in any other desired manner, for example, as a
multiaxial linear unit. The number of axes may vary as well. At
least two axes that are movable independently from one another are
advantageous.
[0025] The transport means (6) carries a docked multi-arm unit.
This comprises at least one carrier (7), at which one or more
multiaxial machining units (8, 9) with at least one tool (11) each
are arranged.
[0026] The carrier (7) is detachably connected with a suitable
connection of the transport means (6), preferably the robot hand
(13) of the transport robot. In particular, a change coupling may
be arranged here, which makes possible the automatic replacement of
the carrier (7) with another carrier or another tool. The carrier
(7) may be a one-part or multipart carrier and is preferably of a
rigid and bending resistant design. It may have any desired
suitable shape adapted to the machining task. As an alternative,
the carrier (7) may comprise a plurality of parts with
corresponding drives, which said parts can be moved, e.g., folded
or telescoped relative to one another in a controlled manner and
can be locked in the selected position.
[0027] In the exemplary embodiment being shown, the carrier (7) is
designed as an essentially straight, box-shaped girder with closed
wall. As an alternative, the carrier (7) may have a singly or
multiply bent, curved and/or optionally branched shape, e.g., a Y
shape, and grid-like or braced walls. The carrier (7) preferably
has the elongated or stretched, slender girder or rod shape shown.
The carrier (7) has a plurality of prepared and preferably flat
mounting surfaces for the machining units (8, 9). The cross section
of the carrier (7) is preferably essentially rectangular and offers
as a result different flat mounting surfaces on its side walls for
the desired and also changeable arrangement of machining units (8,
9). In another variant, the carrier (7) may be designed as a plate
or as a frame, etc.
[0028] The machining units (8, 9) are rigidly or detachably
connected with the carrier (7). They have at least two separate
axes of motion and may have any desired suitable design. The
machining units (8, 9) may be arranged on different sides of the
carrier (7) and may be present as multiple copies. They are
arranged at the girder (7) according to the exemplary embodiment
shown in FIGS. 2 and 3 at the side walls that are located opposite
each other and are vertical in the stretched position being shown
with an offset present in the axial direction or at spaced
locations from one another. In the embodiment being shown, there
are three left-hand machining units (8) and three right-hand
machining units (9) in the top view according to FIG. 3, and these
said left-hand and right-hand machining units are arranged
distributed at uniformly spaced locations from one another and are
staggered between the left-hand and right-hand sides of the
carrier. One or more machining units are additionally arranged on
the top side and/or the underside of the carrier (7) in the variant
according to FIG. 6.
[0029] The machining units (8, 9) are preferably designed as small
robots. These are six-axis articulated arm robots of the miniature
format, which have, for example, a carrying capacity of 2 kg to 10
kg and an overall height h of about 65 cm. FIGS. 4 and 5 show such
small robots (10). These are six-axis articulated arm robots, which
have a frame (14) attached stationarily to the carrier (7), a
carousel (15) mounted pivotably thereon, a rocker (16) mounted
rotatably on the latter, and an extension arm (17) mounted
pivotably at the end of the rocker. A three-axis robot hand (13),
which carries the tool (11), is arranged at the end of the
extension arm. An automatic change coupling may likewise be present
here between the robot hand (13) and the tool (11). The small robot
(10) shown may have auxiliary axes, for example, a seventh linear
telescope axis for the robot hand (13), which makes possible an
extending movement in relation to the extension arm (17). In
addition, a linear axis, which makes possible a linear displacement
of the entire small robot (10), may be present between the frame
(14) and the carrier (7). The drives (18) of the small robot (10)
are not shown for clarity's sake.
[0030] The tools (11) may be of any desired and suitable type. They
are preferably machining tools, especially joining tools, e.g.,
clamping tools, welding tools, bonding tools or the like. The
machining units (8, 9) and their tools (11) may be programmed
individually and separately from one another in terms of their
kinematics and functions. They are preferably controlled from the
transport means (6). The end position of the machining units (8, 9)
at the workpiece (2) can be maintained by control circuits, despite
possible mechanical tolerances or flexibilities in the multirobot
system. For example, the robot control of the transport robot (6)
may be used for the control. The machining units (8, 9) are also
supplied with energy and other materials needed for operation from
the transport means (6) via the carrier (7).
[0031] The multirobot (5) may be used in different ways in the
machining station (1). For example, it may move into the interior
space (21) of the vehicle body (2) through a window or door opening
or another opening with a docked multi-arm unit, i.e., the carrier
(7) and the small robots (10). The small robots (10) with their
tools (11) may be folded in order to occupy the smallest possible
space. The transport robot (6) will then position the carrier (7)
with the small robots (10) in a predetermined starting position in
the interior space (21) of the body. FIG. 6 shows a schematic top
view of such a working position corresponding to FIG. 1.
[0032] The transport means (6) may hold the carrier (7) in the
working position in a freely suspended manner. As an alternative,
supporting by means of a support means (22) shown schematically in
FIG. 2 is possible. A column or a support (23), which may be
arranged, e.g., at the pallet or the carrier of the component (2),
at a lateral clamping frame (4) or at another point, is provided
for this purpose at the working site in a suitable position. As an
alternative, it is also possible to support the carrier (7)
directly at the component (2), e.g., in an opening of the
component, at a projection of the component or the like. The
supporting may be positive-locking, such that the carrier (7)
cannot move any longer in the supported position. This can be
brought about, e.g., by the positive-locking mounting of the free
end of the carrier in a corresponding opening of the column. As an
alternative, it is possible to move the carrier (7) with the
transport robot (6) in the supported position and to orient it in
different angular positions. A sphere (24) may be arranged for this
purpose at the free front end or another suitable point of the
carrier (7), e.g., in the form of a joint, a cone or the like,
which cooperates with a correspondingly shaped mount (25) at the
column (23). The mount (25) may have, e.g., the shape of a flat
spherical shell, a cone opening, a semicylindrical flute, etc. In
the case of the ball arrangement shown in FIG. 2, the transport
means (6) can rotate the carrier (7) about the longitudinal axis
thereof and, in addition, about the two other rotatory space axes.
Only rotation about the longitudinal axis of the carrier (7) is
possible in case of a cone pair. In case of a flute-like mount
(25), there may be a deliberate limitation of the rotary mobility
depending on the direction in which the flute is open. The mount
(25) may be accessible from the front, from the top and/or from the
side. Depending on the embodiment, the supporting (22) may have one
or more degrees of freedom with rotatory and/or translatory axes.
Besides a rotary support, a supporting sliding guide is possible as
well.
[0033] After the working position or optionally the supported
position has been assumed, each small robot (10) can move out into
its preprogrammed position and carry out the process assigned to
it. The small robots (10) may carry out different processes, for
example, a clamping process and a welding process. It is also
possible due to the multi-arm unit to perform clamping tasks at
different points in the interior space (21) of the vehicle body
(2).
[0034] For example, two small robots (9, 10) arranged laterally at
the carrier (7) clamp parts of one side wall (20) of the body (2)
in FIG. 6. A third small robot (9, 10') between them and on the top
side of the carrier (7) carries out machining operations, e.g.,
welding operations, on the clamped side wall parts. On the other
side of the carrier, a small robot (8, 10) clamps parts of the
other side wall (19) of the body (2) in FIG. 6, and an adjacent
small robot (8, 10') performs machining operations in this area of
the component.
[0035] After the conclusion of the handling and/or machining
process, the small robots (10) with their tools (11) can again be
folded in and removed from the vehicle body (2) together with the
carrier (7).
[0036] Various modifications of the embodiments shown are possible.
The machining device (5) may be present in a plurality of copies at
the machining station (1). It may assume other positions and be
arranged, for example, on the side and in an upright position. The
number and the arrangement of the machining units (8, 9) at the
carrier (7) may vary. This also applies to the design embodiment
and also the control of the machining units (8, 9). These may be
remote-controlled movement units with two or more axes, which are
actuated and adjusted, for example, via bowden cables at the
carrier (7). They are driven via a suitable adjusting device at the
transport means (6) or at the carrier (7). The machining units (8,
9) and optionally their tools (11) may have freely programmable
surfaces and optionally a memory effect. Furthermore, they may be
coated with a flexible plastic coating.
[0037] While specific embodiments of the invention have been shown
and described in detail to illustrate the application of the
principles of the invention, it will be understood that the
invention may be embodied otherwise without departing from such
principles.
* * * * *