A method for planning a path includes data of real surroundings of the robot using a detection device, in particular a mobile detection device, in particular a portable detection device; ascertaining a computer-implemented three-dimensional surroundings model on the basis of the detected data, in particular using at least one approximation of features, in particular points, detected using the detection device; planning a first path of the robot on the basis of the surroundings model and a computer-implemented model of the robot such that a collision between the robot model and the surroundings model is prevented; and visualizing a virtual representation of the planned first path using a visualization device in an augmented reality.
A method for checking a predefined path of a robot includes determining or providing a computer-implemented three-dimensional environment model; determining a distance between a computer-implemented model of the robot and the environment model for different portions of the path; and visualizing a virtual representation of the path using a visualization device in an augmented reality for checking the path, wherein, in this visualization, a warning is issued for a portion of the path if the distance determined for this portion falls within a predefined warning range, and an all-clear is issued for a portion of the path if the distance determined for this portion falls within an all-clear range.
The invention relates to a method and an apparatus for automatically wrapping and pressing excess film lengths (3) onto cuboidal bodies (1). To carry out the method, the apparatus comprises, inter alia, a first jaw (8.1) mounted on a main body (7) so as to be adjustable along a first adjusting path between a starting position and an operating position, which first jaw bears a first wrapping and pressing bar (9.1) which has a first wrapping face (10.1) and a first pressing face (11.1) different from the first wrapping face (10.1), and a second jaw (8.2) arranged on the main body (7) opposite the first jaw (8.1) and mounted so as to be adjustable along a second adjusting path between a starting position and an operating position, which second jaw bears a second wrapping and pressing bar (9.2) which has a second wrapping face (10.2) and a second pressing face (11.2) different from the second wrapping face (10.2).
The invention relates to a load carrier changing system (1) for loading load carriers (2) containing components at a manufacture or assembly work station (3) of an automated production line and for unloading empty load carriers (2) from this manufacture or assembly work station (3), comprising, inter alia, an intermediate storage place (4.3) to which automatically movable supports (6) within the load carrier changing system (1) are assigned, which supports are movable between a carry position in which a load carrier (2) present in the intermediate storage place (4.3) is carried while resting on the supports (6), and a release position in which the load carrier (2) is released in such a way that the at least one vertical conveyor (5.1, 5.2) can remove the released load carrier (2) from the intermediate storage place (4.3) in a vertical direction downwards. The invention also relates to a corresponding method.
B23P 19/00 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes
5.
METHOD FOR AUTOMATIC PLACING OF PLANT SEEDS IN CULTIVATION POTS, ASSOCIATED PLANTING TOOL AND ROBOT SYSTEM
The invention relates to a method for automatic placing of plant seeds in cultivation pots (1) for the growing of seedlings, comprising, inter alia, the steps of automatically moving a dibber (5) guided by an automatically controllable handling machine (4), in such a way that the dibber (5) is pressed into the planting substrate (2) of at least one cultivation pot (1) in order to provide at least one planting hole (7) for a plant seed to be inserted into the planting substrate (2), and automatically moving a seed holder (6) guided by an automatically controllable handling machine (4), on which a plant seed taken from the storage container (3) is held, such that the plant seed is automatically guided over the planting hole (7) in the planting substrate (2) of the at least one cultivation pot (1) and automatically released there, so that the plant seed is inserted into the planting hole (7).
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Machines and machine tools, for use in the following fields:
material processing, material testing, monitoring and
producing; machines for connecting sheet metal, plastics and
other materials; machines and machine tools for the
manufacture of batteries, components of batteries and
accumulators for producing electrical energy; machines for
battery assembly; winding machines for battery manufacture;
electrode and separator stacking machines;
envelope-inserting machines for battery cells; machines for
electrolyte treatment of battery cells; accessories for the
aforesaid machines, parts for the aforesaid machines;
installations, mainly consisting of the aforesaid machines
or industrial robots; installations for metalworking and
metal processing and for plastic processing. Apparatus and instruments for conducting, switching,
transforming, accumulating, storing, regulating, controlling
and distributing electricity, computers, in particular for
controlling, regulating and simulating manufacturing
installations, robots, mobile platforms or tools; computer
programs, recorded; computer programs, downloadable;
electric/electronic operating apparatus for machines and
tools; measuring, detecting and monitoring instruments,
indicators and controllers; apparatus and instruments for
electrochemical battery information; batteries, electric;
battery chargers; battery testers; lithium batteries;
rechargeable batteries; lithium cells; testing apparatus,
for use in relation to the following goods: lithium
batteries; apparatus and instruments for charging and
monitoring lithium cells; apparatus and instruments for
material testing; apparatus and instruments for measurement
and testing; software developing tools; software for battery
measuring apparatus; electronic apparatus for testing the
useful life and reserve capacity of batteries; software for
machines for battery manufacture. Technical consultancy; engineering services; planning,
design and development of automatic manufacturing
installations; planning and development of assembly
installations and assembly plants; construction drafting,
technical project studies.
7.
LIFTING-LOWERING CONVEYOR SYSTEM, AND METHOD FOR OPERATING A LIFTING-LOWERING CONVEYOR SYSTEM
The invention relates to a lifting-lowering conveyor system (1) for synchronously transporting a plurality of components individually from a first processing station (12.1) to a second processing station (12.2), said system comprising: at least one actuating unit (13.1, 13.2) which is positioned adjustably on a carriage (9) and which has at least one coupling means (15) for interlockingly coupling a component to be transported by the carriage (9) to the carriage (9); and at least one actuator (17.1, 17.2, 17.3) which automatically actuates the at least one actuating unit (13.1, 13.2) and which is designed and configured to automatically adjust the coupling means (15) relative to the carriage. The invention also relates to a method for operating a lifting-lowering conveyor system (1) for synchronously transporting a plurality of components individually from a first processing station (12.1) to a second processing station (12.2).
B65G 25/02 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having different forward and return paths of movement, e.g. walking-beam conveyors
B23Q 7/00 - Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Machines and machine tools, for use in the following fields: material processing, material testing, monitoring and producing; machines for connecting sheet metal, plastics and other materials; machines and machine tools for the manufacture of batteries, components of batteries and accumulators for producing electrical energy; machines for battery assembly; winding machines for battery manufacture; electrode and separator stacking machines; envelope-inserting machines for battery cells; machines for electrolyte treatment of battery cells; accessories for the aforesaid machines, parts for the aforesaid machines; installations, mainly consisting of the aforesaid machines or industrial robots; installations for metalworking and metal processing and for plastic processing.
(2) Apparatus and instruments for conducting, switching, transforming, accumulating, storing, regulating, controlling and distributing electricity, computers, in particular for controlling, regulating and simulating manufacturing installations, robots, mobile platforms or tools; computer programs, recorded; computer programs, downloadable; electric/electronic operating apparatus for machines and tools; measuring, detecting and monitoring instruments, indicators and controllers; apparatus and instruments for electrochemical battery information; batteries, electric; battery chargers; battery testers; lithium batteries; rechargeable batteries; lithium cells; testing apparatus, for use in relation to the following goods: lithium batteries; apparatus and instruments for charging and monitoring lithium cells; apparatus and instruments for material testing; apparatus and instruments for measurement and testing; software developing tools; software for battery measuring apparatus; electronic apparatus for testing the useful life and reserve capacity of batteries; software for machines for battery manufacture. (1) Technical consultancy; engineering services; planning, design and development of automatic manufacturing installations; planning and development of assembly installations and assembly plants; construction drafting, technical project studies.
9.
METHOD AND DEVICE FOR AUTOMATICALLY FITTING SPOKES TO A HUB AND TO A RIM OF A SPOKED WHEEL TO BE PRODUCED
The invention relates to a method for automatically fitting spokes (1) to a hub (2) and to a rim (3) of a spoked wheel to be produced. The method comprises, inter alia, the steps of: automatically inserting each spoke (1) into an associated holder (6), the holders (6) being mounted so as to be distributed around a circumference and circumferentially movable on a supporting ring (7) concentrically surrounding the hub (2), in such a way that each threaded head portion (1.1) and/or its adjacent shaft portion (1.2) of the spoke (1) is received at least partially in the relevant holder (6); and automatically crossing at least two spokes (1) by automatically moving the holders (6) holding the spokes (1) along the supporting ring (7), in order to cross the spokes (1) in a predetermined way. The invention also relates to an associated device for automatically fitting spokes (1) to a hub (2) and to a rim (3) of a spoked wheel to be produced.
B60B 31/00 - Apparatus or tools for assembling or disassembling wheels
B60B 31/02 - Apparatus or tools for assembling or disassembling wheels for tightening or straightening wire spokes in situApparatus or tools for assembling or disassembling wheels for extracting spokes from wheels
The invention relates to a method for checking a safety configuration of a robot (1) comprising the following steps: determining (S20) or providing a computer-implemented, three-dimensional environment model; determining (S30) providing at least one protection region, working region and/or tool monitoring region of the robot of its distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the at least one protection region, working region and/or tool monitoring region r path using a visualisation device (2; 3) in an augmented reality for checking the at least one protection region, working region and/or tool monitoring region; and moving away from and/or towards at least one pose and/or at least one section of a provided path.
The invention relates to a method for checking a predefined path of a robot (1), comprising the following steps: determining (S20) or providing a computer-implemented three-dimensional environment model; determining (S30) a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the path using a visualisation device (2; 3) in an augmented reality for checking the path, wherein, in this visualisation, a warning is output for a section of the path if the distance determined for this section falls within a predefined warning range, and an all-clear is output for a section of the path if the distance determined for this section falls within an all-clear range.
The invention relates to a method for ascertaining at least one border for operating a robot (1), having the steps of: detecting (S10) data of real surroundings (6) of the robot using a detection device (5A; 5B), in particular a mobile detection device, in particular a portable detection device; ascertaining (S20) a first surroundings contour on the basis of said detected data; and ascertaining (S30) a first border of a first spatial area to be monitored on the basis of the ascertained first surroundings contour.
The invention relates to a method for planning a path (1), having the steps of: detecting (S10) data of real surroundings (6) of the robot using a detection device (5A; 5B), in particular a mobile detection device, in particular a portable detection device; ascertaining (S20) a computer-implemented three-dimensional surroundings model on the basis of the detected data, in particular using at least one approximation of features, in particular points, detected using the detection device; planning (S30) a first path of the robot on the basis of the surroundings model and a computer-implemented model of the robot such that a collision between the robot model and the surroundings model is prevented; and visualizing (S40) a virtual representation of the planned first path using a visualization device in an augmented reality.
The invention relates to a method for checking a predefined path of a robot (1), comprising the following steps: determining (S20) or providing a computer-implemented three-dimensional environment model; determining (S30) a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the path using a visualisation device (2; 3) in an augmented reality for checking the path, wherein, in this visualisation, a warning is output for a section of the path if the distance determined for this section falls within a predefined warning range, and an all-clear is output for a section of the path if the distance determined for this section falls within an all-clear range.
The invention relates to a method for the automated assembling of profile bars (1.1, 1.2) to form a framework (13), comprising, inter alia, the steps of: automated attaching of a bracket (4) to a first profile bar (1.1) and a second profile bar (1.2) in a bridging region of a first joining surface section (2.1) and a second joining surface section (2.2), in order to fix the relative position of the pre-positioned first profile bar (1.1) and the pre-positioned second profile bar (1.2), wherein the bracket (4) has a first counter-coupling means (5.1) which is designed to interlockingly cooperate with the first coupling means (3.1) of the first profile bar (1.1) in the attached state of the bracket (4), and a second counter-coupling means (5.2) arranged at a predetermined distance (B) from the first counter-coupling means (5.1) and designed to interlockingly cooperate with the second coupling means (3.2) of the second profile bar (1.2) in the attached state of the bracket (4); and automated joining of the first profile bar (1.1) and the second profile bar (1.2) while the bracket (4) is attached to the first profile bar (1.1) and the second profile bar (1.2). The invention also relates to an associated production system.
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
B23K 37/04 - Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
machines and Machine tools, for use in the following fields: Material processing, Material testing, Monitoring and Producing; Machines for connecting sheet metal, plastics and other materials; Machines and machine tools for the manufacture of batteries, components of batteries and accumulators for producing electrical energy; Machines for battery assembly; Winding machines for battery manufacture; Electrode and separator stacking machines; Envelope-inserting machines for battery cells; Machines for electrolyte treatment of battery cells; Accessories for the aforesaid machines, Parts for the aforesaid machines; Installations, mainly consisting of the aforesaid machines or industrial robots; Installations for metalworking and metal processing and for plastic processing. Apparatus and instruments for conducting, switching, transforming, accumulating, storing, regulating, controlling and distributing electricity, computers, in particular for controlling, regulating and simulating manufacturing installations, robots, mobile platforms or tools; Computer programs, recorded; Computer programs, downloadable; Electric/electronic operating apparatus for machines and tools; Measuring, detecting and monitoring instruments, indicators and controllers; Apparatus and instruments for electrochemical battery information; Batteries, electric; Battery chargers; Battery testers; Lithium batteries; Rechargeable batteries; lithium cells; Testing apparatus, for use in relation to the following goods: Lithium batteries; Apparatus and instruments for charging and monitoring lithium cells; Apparatus and instruments for material testing; Apparatus and instruments for measurement and testing; Software developing tools; Software for battery measuring apparatus; Electronic apparatus for testing the useful life and reserve capacity of batteries; Software for machines for battery manufacture. Technical consultancy; Engineering services; Planning, design and development of automatic manufacturing installations; Planning and development of assembly installations and assembly plants; Construction drafting, technical project studies.
09 - Scientific and electric apparatus and instruments
Goods & Services
Downloadable software for route planning of AGVs (automated guided vehicles), driverless vehicles and automatic transport units, and related controls for AGVs (automated guided vehicles)
A manufacturing station and a manufacturing process for workpieces, in particular car body parts. The manufacturing station includes a processing area having a working point and a processing apparatus. A security partition surrounds the processing area and has a secure access point for workpiece transport. The manufacturing station further includes an automatic loading apparatus with loading robots. The loading apparatus loads and unloads workpieces onto and off a conveyor and transports the workpieces into and out of the processing area. The automatic and multifunctional loading apparatus is arranged, together with a workpiece support, inside the security partition, wherein the workpiece support is arranged within the working area of the loading robots. A loading robot provides workpieces and carries out a setting-up procedure.
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
A process control system for a facility that has a station arrangement including at least one at least partially automated working station and a vehicle arrangement including at least one at least partially automated transport vehicle for transporting material to be conveyed to, in and/or from the station arrangement. The process control system includes a process means for planning, implementing and/or observing, particularly monitoring processes of the station arrangement, a fleet means for planning, implementing and/or observing, particularly monitoring movements of the vehicle arrangement, and a working means arrangement with at least one working means for controlling and/or monitoring at least one working station of the station arrangement. The process and fleet means and/or the process means and the working means arrangement and/or the fleet means and the working means arrangement are configured to communicate with each other.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G05B 19/418 - 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]
An automatic manufacturing station (3) and a manufacturing process for workpieces (2), in particular for vehicle body parts, has a manufacturing area (4) with a plurality of program-controlled manufacturing robots (9). The workpieces (2) are externally fed to the manufacturing station (3) on production load carriers (8). The manufacturing station (3) also has a plurality of work stations (10, 11, 12, 13). A station-bound transport device (15) transports the production load carriers (8) within the manufacturing station (3).
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
B23P 23/06 - Metal-working plant comprising a number of associated machines or apparatus
The invention relates to a safety device (5) and a safety method for a production station (2) for vehicle body parts (4), and for a conveying means (18) moving into and out of the production station (2) for transporting the workpieces into and out of the production station (2). The production station (2) and the conveying means (18) each have their own controller (13, 21) and their own security circuit (22, 23), wherein the security device (5) connects the security circuits (22, 23) of the production station (2) and of the conveying means (18) located in the production station (2). The security device (5) influences and thereby changes a protection region (29) of a protection device (27) of an intrinsically secure conveying means (18) when moving in and out and within the production station (2).
G05B 19/418 - 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]
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A method for controlling a human-robot collaboration (HRC) system wherein the HRC system includes at least one manipulator having an end effector. The method includes using the end effector in a first operating mode, wherein the end effector is operated with reduced power; monitoring whether a desired object is manipulated when the end effector is used in the first operating mode; and increasing the power used to operate the end effector in order to use the end effector in a second operating mode when the monitoring indicates that the desired object is being manipulated.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
The invention relates to a method for controlling a robot (1), which has a robot control (3) and a robot arm (2), actuated by the robot control (3) and comprises a plurality of limbs (5-12) and joints (4) connecting the limbs (5-12) in a mutually adjustable manner, wherein a force compensation device (14) is associated with the robot arm (2) and comprises a mechanical coupling (17), which is coupled to the robot art (2) in order to introduce a compensation force generated by the force compensation device (14) into the robot arm (2), providing and using a mathematical model (21) of the force compensation device (14).
The invention relates to a positioning and clamping system (5) for a workpiece (3) which is to be machined and which is arranged on a mobile load receiving means (21) at a work station (25). The positioning and clamping system (5) has a mobile and robot-guided gripper tool (7) for the workpiece (3), in particular a geo-gripper tool for clamping the workpiece (3) in a positionally-defined manner. The positioning and clamping system (5) comprises a stationary, movable support device (13) which stabilizes and positions the gripper tool (7), in particular the geo-gripper tool (7), together with the gripped, in particular clamped, workpiece (3) at the workstation (25) in a fixed supported manner in order to machine the workpiece.
B23K 37/047 - Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
A method for changing at least one energy store of a vehicle and an energy store changing apparatus. The method includes steps for ascertaining the vehicle type and the provision of vehicle data relating to the ascertained vehicle type. The vehicle data includes data about the arrangement of the energy store in the vehicle. The position of the vehicle is ascertained on the basis of at least one physical reference point, and at least one energy store of the vehicle is changed.
B60L 11/18 - using power supplied from primary cells, secondary cells, or fuel cells
B60S 5/06 - Supplying batteries to, or removing batteries from, vehicles
B25J 11/00 - Manipulators not otherwise provided for
B60L 53/80 - Exchanging energy storage elements, e.g. removable batteries
B60L 50/60 - Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
B60L 53/60 - Monitoring or controlling charging stations
B60S 3/00 - Vehicle cleaning apparatus not integral with vehicles
B60K 1/04 - Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
B60K 6/20 - Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
The invention relates to a process control system (100) for a facility that has a station arrangement comprising at least one at least partially automated working station (10, 20) and a vehicle arrangement comprising at least one at least partially automated transport vehicle (30-33) for transporting material to be conveyed to, in and/or from the station arrangement, said process control system comprising: a process means (110) for planning, implementing and/or observing, particularly monitoring processes of the station arrangement, a fleet means (120) for planning, implementing and/or observing, particularly monitoring movements of the vehicle arrangement, and a working means arrangement with at least one working means (130, 131) for controlling and/or monitoring at least one working station of the station arrangement, the process and fleet means and/or the process means and the working means arrangement and/or the fleet means and the working means arrangement being designed to communicate with each other.
G05B 19/418 - 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]
The invention relates to a transfer device (14) and a transfer method for a feed device (1) having guide belts (6, 7) at differing inclines, and a mobile component carrier (4) for a component (3), which can be connected to said guide belts (6, 7). The transfer device (14) comprises a manually operable lifting device (16) having an upright lifting axis (H) and a belt section (15) that can be connected, in line, to the guide belts (6, 7). The lifting device (16) has a base (26) with a frame-like lift support, the height of which can be adjusted on said base and which comprises a pivoting device, said lift support being oriented transversely to or at an incline to the lifting axis (H), and the belt section (15) being mounted by the pivoting device such that it can pivot on the lift support.
B65G 1/08 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
B65G 47/57 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices to or from inclined or vertical conveyor sections for articles
30.
MANUFACTURING STATION, MANUFACTURING PROCESS AND MANUFACTURING PLANT
The invention relates to an automatic manufacturing station (5) for workpieces (2), in particular for vehicle body parts, comprising a manufacturing zone (6) that is surrounded by a protective enclosure (7) and includes a plurality of program-controlled manufacturing robots (12), the workpieces (2) being delivered to the manufacturing station (5) from outside on production load carriers (11). The manufacturing station (5) further comprises a station-based conveying means (15) for conveying the production load carriers (11) within the manufacturing station (5), and a loading station (8) with a loading robot (17, 18) for transferring production load carriers (11) between an external conveying means (10) and the station-based conveying means (15).
B62D 65/02 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
B62D 65/18 - Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
The invention relates to an automatic manufacturing station (3) and a manufacturing process for workpieces (2), in particular for vehicle body parts, wherein the manufacturing station (3) has a manufacturing area (4) with a work station and a plurality of program-controlled manufacturing robots (9) and the workpieces (2) are externally fed to the manufacturing station (3) on production load carriers (8). The manufacturing station (3) has a plurality of work stations (10, 11, 12, 13) and a station-bound transport means (15) for transporting the production load carriers (8) within the manufacturing station (3).
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
B62D 65/02 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
32.
TRANSPORT DEVICE AND TRANSPORT METHOD FOR WORKPIECE CARRIERS
The invention relates to a transport device and a transport method for a process means, wherein the transport device comprises: a transport means (13) that can be moved along a transport path; a guide device; a support; and a drive device (19) for the transport means (13). The guide device has a plurality of discrete guiding and supporting elements (27), which are arranged relatively stationary at a mutual distance (a) along the transport path (12), wherein the transport means (13) bridges the distance (a) and a plurality of guiding and supporting elements (27) locally guides the transport means (13) and supports the weight of the transport means.
B65G 29/00 - Rotary conveyors, e.g. rotating discs, arms, star-wheels or cones
B65G 35/06 - Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
B62D 65/18 - Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
The invention relates to a joining station (2), in particular a framing station, and to a method for joining workpieces (44), in particular bodywork parts, at a process location (3) by means of interchangeable clamping frames (10) which are fed along a curved transporting path (12) by means of a transporting device (6) having a guide device (17) and a supporting means (18). The workpieces (44) are transported along a transfer line by a conveying means (45) and are fed into the joining station (2) of the process location (3), wherein the joining station (2) has a process device (5) with a processor (36) in the region of the process location (3). A processor (36) and/or a feeding device (40) for further components (9) are/is arranged in a region (46) between the conveying means (45) and the curved conveying path (12), said region being adjacent to the process location (3).
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
B62D 65/02 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
B65G 35/06 - Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
34.
ROBOT GRIPPER HAVING MOVABLE AUXILIARY SUCTION ELEMENTS
The invention relates to a robot gripper (1), a gripper main body (2) which comprises a connection device (3) for fastening the robot gripper (1) to a flange (4) of a robot arm (5); at least one suction element (6) mounted on the gripper main body (2), said suction element (6) comprising an intake opening to be connected to a suction line (7) and a sealing-lip portion (8) surrounding the intake opening; at least one first gripper jaw (9.1) which is mounted in an adjustable manner on the gripper main body (2) and has a first gripping contact face (10.1); at least one second gripper jaw (9.2) which is mounted in an adjustable manner on the gripper main body (2) and has a second gripping contact face (10.2), wherein the first gripping contact face (10.1) of the first gripper jaw (9.1) and the second gripping contact face (10.2) of the second gripper jaw (9.2) are configured to grip, in a mechanically clamped manner, an article (20) which is to be handled by the robot gripper (1) and is intended to be clamped tightly at the gripping contact faces (10.1, 10.2, 10.3) by adjustment of at least one of the gripper jaws (9.1, 9.2, 9.3); also having at least one first auxiliary suction element (11.1) which is arranged on the first gripper jaw (9.1) and at least one second auxiliary suction element (11.2) which is arranged on the second gripper jaw (9.2).
The invention relates to a machining device (12) for workpieces (3), comprising at least one transport means (6) and at least one mobile machining unit (7) which can be detachably connected to the transport means (6) and has a supporting device (15) and a processing device (16), wherein the machining unit (7) is designed in a modular manner and can automatically be put in various configurations.
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
36.
Manufacturing device, manufacturing plant and method
An automatic manufacturing device for vehicle body parts includes at least one program-controlled manufacturing means and a processing zone (configured to sequentially receive at least two different load accepting means. A detection device detects a type designation of one of the load accepting means, and a control device ascertains the type of the load accepting means on the basis of the detected type designation. The control device then and selects and executes a control program for the manufacturing means on the basis of the ascertained type.
B23P 23/06 - Metal-working plant comprising a number of associated machines or apparatus
G05B 19/418 - 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]
B62D 65/02 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
37.
GRIPPING TOOL, GRIPPING DEVICE, AND GRIPPING METHOD
The invention relates to a gripping tool (2), to a gripping device (1), and to a gripping method for coil-type and/or disk-type gripping objects (4), in particular SMD rolls. The gripping tool (2), which can be automatically handled and operated, has a frame (8) having a connection (9), in particular a robot connection, and has a gripper (10) having a controllable control device (16), wherein the gripper (10) is provided and designed for laterally guiding and for centrally gripping and supporting the gripping object (4).
The invention relates to a manufacturing station and to a manufacturing process for workpieces (4), in particular car body parts, wherein the manufacturing station (2) has: a processing area (11), which has a working point (12) and a processing apparatus (13); a security partition (5), in particular a fence, which surrounds the processing area (11) and has a secure access point (6, 7, 8) for workpiece transport; and an automatic loading apparatus (16), which has loading robots (18, 19). The loading apparatus (16) loads and unloads workpieces (4) onto and off a conveyor means (22) and transports the workpieces (4) into and out of the processing area (11). The automatic and multifunctional loading apparatus (16) is arranged, together with a workpiece support (17), inside the security partition (5), wherein the workpiece support (17) is arranged within the working area of the loading robots (18, 19), and a loading robot (18) provides workpieces (4) unloaded there and carries out a setting-up procedure.
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
A folding tool (2) and a method for bend folding a workpiece (5) in multiple steps. The folding tool (2) includes three or more driven folding elements (13, 17, 21) which are positioned above one another and are fed to a common folding point, at least one folding element (17, 21) performing a swiveling movement. The folding tool (2) is used for successively creating folds with fold angles of about 160° or more in a plurality of folding steps.
B21D 39/02 - Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by platingTube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
B21D 19/08 - Flanging or other edge treatment, e.g. of tubes by single or successive action of pressing tools, e.g. vice jaws
The invention relates t a safety device (5) and a safety method for a production station (2) for vehicle body parts (4), and for a conveying means (18) moving into and out of the production station (2) for transporting the workpieces into and out of the production station (2). The production station (2) and the conveying means (18) each have their own controller (13, 21) and their own security circuit (22, 23), wherein the security device (5) connects the security circuits (22, 23) of the production station (2) and of the conveying means (18) located in the production station (2). The security device (5) influences and thereby changes a protection region (29) of a protection device (27) of an intrinsically secure conveying means (18) when moving in and out and within the production station (2).
G05B 19/418 - 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]
The invention relates to a production plant and a production method for workpieces (9, 10, 11), in particular vehicle body components, wherein the production plant (1) has a preparation region (2) and a production region (3) for workpieces (9, 10, 11) and a conveying device (4) for conveying the workpieces (9, 10, 11) from the preparation region (2) to the production region (3), wherein the preparation region (2) has a loading region (29) for loading the conveying device (4) with workpieces (9, 10, 11). The conveyed workpieces (9, 10, 11) are checked in a checking station (6) which is situated between the preparation region (2), in particular the loading region (29), and the production region (3).
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
B62D 65/18 - Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
G05B 19/418 - 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]
The invention relates to a die (2) for embossing and activating fluid media, in particular curable lacquers, said die (2) comprising a die member (11) which is permeable to an activating means (10), in particular UV light, and which has an embossing structure (15) on its outer surface. The die member (11) has a plurality of discrete through-holes (14) for the activating means (10).
The present invention relates to an end effector protection system (200; 300) for at least partially enveloping an end effector (12) of a manipulator (10). The system comprises at least one enveloping structure (230; 330) which is designed to at least partially envelop the end effector (12) of the manipulator (10), the enveloping structure (230; 330) being movably arranged in order to adjust the degree of the envelope of the end effector (12). In this way, the risk of injury originating from the end effector can be reduced and/or eliminated.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
The invention relates to a safety device and a safety method for an industrial robot (2), wherein the safety device (1) has a receptacle (3) for the industrial robot (2), which is movable about a movement axis (16, 17) and can be locked. The safety device (1) is provided and designed to unlock the receptacle (3) in the event of a fault and to let it move away together with the industrial robot (2).
The invention relates to a method according to the invention for the at least partially automated path planning of a multi-axial robot (1) comprising the step of resolving (S20, S40, S50) a redundancy of the robot with respect to a path (B) specified in a workspace of the robot in such a way that a mixed quality criterion, which comprises an effective mass of the robot and a magnitude of a minimum collision force of the robot that can be detected on the basis of specified detection limit values for axial forces of the robot, is minimal.
The invention relates to an automatic manufacturing device (18-22) and to a manufacturing method for workpieces (2, 2', 2''), in particular for bodywork components, which has at least one program-controlled manufacturing means (28, 29) and a working point (26). Arranged in the manufacturing device (18-22) is a conveying path (7) for a conveying means (5) having a load-receiving means (6) for a workpiece (2, 2', 2'') and/or for a tool (8), which path extends through the manufacturing device (18-22) and through the working point (26), wherein, at the working point (26), a storage carrier (62) for a workpiece (2, 2', 2'') is arranged at a vertical distance from the conveying path (7).
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
B23P 23/06 - Metal-working plant comprising a number of associated machines or apparatus
B62D 65/02 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
B62D 65/18 - Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
47.
MMI SYSTEM AND METHOD FOR CONTROLLING AN MMI SYSTEM
The invention relates to a method (200) for controlling a man-machine interaction system (100), and to an MMI system, the MMI system (100) comprising at least one manipulator (110) comprising an end effector (111), and the method comprising the following steps: use (210) of the end effector (111) in a first operating mode, the end effector (111) being operated in the first operating mode with reduced power (351; 451; 551); monitoring (230) whether a desired object (140) is manipulated when the end effector (111) is used in the first operating mode; and increasing (250) the power (352; 451; 551) used to operate the end effector (111) in order to use the end effector (111) in a second operating mode when the monitoring has indicated that a desired object (140) is being manipulated.
A joining tool (7), a joining device (2) equipped therewith and a joining method for joining stringers (9) to flexible workpieces (8) are provided. A plurality of industrial robots (3 to 6) are equipped with the joining tools (7) and handle and join the stringer (9) jointly. The joining tools (7) are heated and grip the stringer (9) via a gripper tool (25) on the upper face (30) of the structural unit, using a controlled suction gripper (26), a heated counter-holder (29), which is arranged next to the gripper tool, likewise acting upon the upper face (30) of the structural unit.
B25J 15/06 - Gripping heads with vacuum or magnetic holding means
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
A method for optimising the flow of an automated installation having multiple workstations (5, 7) and multiple robots (1, 2) that cooperate to machine workpieces (3, 8), wherein the waiting time (t Ri, t R2 ) of the actuatable apparatus of the installation in a waiting step (PI, P7) of a process cycle, the fill level (λ) of a memory of the installation and/or the load factor (κ) of the installation are ascertained and this is taken as a basis for, possibly a control system, adaptively altering the speed and/or acceleration, prescribed for a subsequent process cycle, of an actuatable apparatus, of a robot (1, 2) or of a workstation (5, 7). This allows apparatuses to be individually optimised and the throughput of the installation to be increased.
G05B 19/418 - 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]
Changing apparatus and changing method for clamping frames supporting vehicle body parts between a clamping frame transport device and a frame conveyor by means of clamping frame magazines
An apparatus (14) and a method, for interchanging clamping frames (6-9) at an assembly station (2) for vehicle body parts, includes a storage device (15) for the clamping frames (6-9). The storage device (15) is provided with a plurality of controlled, rotatable frame magazines (16-19) and a frame conveyor (25) and an additional parallel frame transporter (31) which allow the clamping frames (6-9) to be conveyed in parallel between the frame magazines (16-19) and a workplace (10) in the assembly station (2). The clamping frames (6-9) are securely accommodated on the frame magazines (16-19).
B62D 65/00 - Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
B62D 65/02 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
B62D 65/18 - Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
According to one aspect, the invention relates to a magazine for a framing station, wherein the movable, in particular rotatable, magazine has a plurality of distributed holding points for clamping frames and a controllable positioning device, which moves the magazine having the desired clamping frames into a transfer position, wherein the positioning device moves the magazine on multiple axes. The invention further relates to a production apparatus and to a method.
The invention relates to a robot-guided tool (6) and to a method for automatically joining plugs (5) on vehicle body parts (3). The plug joining tool (6) comprises a frame (12) having a connection (29) for an industrial robot (2), a plug magazine (14), and a setting unit (15) having a plug receptacle (16) and a setting plunger (21) for joining a plug (5) at a joining point (4) of the workpiece (3). The plug joining tool (6) further has a compensation device (8) for compensating deviations of the actual joining path from the target joining path, and optionally, for an evasive movement of the setting plunger (21) during the joining process.
B23P 19/02 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
B62D 25/24 - Superstructure sub-units with access openings having movable or removable closures
The invention relates to a continuous-flow production installation, in particular of an assembly and/or production line. The continuous-flow production installation comprises a conveying device for conveying a workpiece in a conveying direction of the continuous-flow production installation. The invention further relates to a platform for use in continuous-flow production, which comprises a guiding device and a processing device, wherein the platform is designed to be fed into and removed from the continuous-flow production substantially as a whole. The invention further relates to a method for operating a continuous-flow production installation or a platform.
The relates to a rotary tool (3), in particular a screwing tool, which comprises a frame (4) with a robot terminal (5), its own controllable rotary drive (9), an output shaft (6) and a coupling (10) with a controllable actuator (31) for producing a rotation-locking connection between the robot terminal (5) and the output shaft (6). The coupling (10) is designed as a ratchet-type coupling and produces a form-locked peripheral connection between the output shaft (6) and the frame (4).
The invention relates to a production plant (1) for vehicle body components (2), comprising a production area (3) with a plurality of automatic program-controlled production devices (18 to 22) and a provision (10) for workpieces (2). The production plant (1) further comprises a provision (11) for various application-specific tools (8) and a conveying device (4) which flexibly connects the production devices (18 to 22) to one another and to the external provisions (10,11).
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
B62D 65/02 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
G05B 19/418 - 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]
B23P 23/06 - Metal-working plant comprising a number of associated machines or apparatus
56.
MANUFACTURING DEVICE, MANUFACTURING PLANT AND METHOD
The invention relates to an automatic manufacturing device (18-22) for vehicle body parts (2, 2'), comprising at least one program-controlled manufacturing means (28, 29) and a processing zone (26) designed to sequentially receive at least two different load accepting means (6). A detection device (36) detects a type designation (37) of one of the load accepting means (6), and a control device (38) ascertains the type (A, B, C, D) of the load accepting means (6) on the basis of the detected type designation (37) and selects and executes a control program (40) for the manufacturing means (28, 29) on the basis of the ascertained type.
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
B23P 23/06 - Metal-working plant comprising a number of associated machines or apparatus
B62D 65/02 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
G05B 19/418 - 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]
57.
METHOD FOR CHANGING VEHICLE ENERGY STORES, AND ENERGY STORE CHANGING DEVICE
The present invention relates to a method for changing at least one energy store of a vehicle, and to an energy store changing apparatus. The method comprises at least method steps for ascertaining the vehicle type and the provision of vehicle data relating to the ascertained vehicle type. The vehicle data includes data about the arrangement of the energy store in the vehicle. Furthermore, the position of the vehicle is ascertained on the basis of at least one physical reference point and at least one energy store of the vehicle is changed.
The invention relates to a method for monitoring at least one industrial robot (1), an industrial robot (1), and a system (31) having a plurality of industrial robots (1). The industrial robot (1) comprises a robot arm (2) and a control device (10). During the intended operation of the industrial robot (1), the robot arm (2) is moved in a controlled manner by means of the control device (10) in such a way that an end effector (13) fastened to the robot arm (2) moves along a specified path during a work task to be performed by means of the end effector (13). The current electrical energy consumption of the industrial robot (1) for the current work task is measured, and a stored comparison energy consumption value associated with the work task is retrieved. An indication of the measured current energy consumption and an indication of the comparison energy consumption value are displayed by means of a display device (12, 33), and/or a deviation between the measured current energy consumption and the retrieved comparison energy consumption value is determined and an indication of the deviation is displayed by means of the display device (12, 33).
The invention relates to a folding tool (2) and a method for bending and folding a workpiece (5) in multiple steps. Said folding tool (2) includes three or more driven folding elements (13, 17, 21) which are positioned on top of one another and are fed to a common folding point, at least one folding element (17, 21) performing a swiveling movement. The folding tool (2) is used for successively creating folds with fold angles of about 160° or more in a plurality of folding steps.
B21D 39/02 - Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by platingTube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
B21D 19/08 - Flanging or other edge treatment, e.g. of tubes by single or successive action of pressing tools, e.g. vice jaws
60.
METHOD AND ROBOT SYSTEM FOR AUTOMATICALLY DETERMINING TRAJECTORIES
The invention relates to a method and a system for detecting trajectory points on a workpiece. To this end, a multi-axial robot having an articulated arm is detachably coupled to a hand flange of an industrial robot, and the workpiece is automatically measured by the robot having an articulated arm. The invention further relates to a method and a system for machining a workpiece on the basis of the automatically detected trajectory points.
The invention relates to a method and a robot system (1) for verifying the position of components (200, 201, 202, 203, 204) in an assembly process. A multi-shaft articulated-arm robot (100), the shafts (A1-An) of which are preferably equipped with torque sensors for sensing the torques acting on the shafts, is used for approaching various checkpoints (220, 221, 222, 223) on the components, and the measured signals from the torque sensors are compared with expected signals corresponding to the correct positions of the components.
G05B 19/401 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
The invention relates to a tool changing device (1) for industrial robots or lightweight robots, having a housing (5) for attaching to a manipulator hand (3). The tool changing device (1) has a tool turret (7) having a turret carrier (9) mounted rotatably on the housing (5), and two or more tools (11, 12, 13, 14) are arranged on the turret carrier (9). The turret carrier (9) is rotatable about a turret axis (R) extending in an inclined manner with respect to the drive shaft (6), in order to move in each case one tool (11, 12, 13, 14) alternately into an active position (AP). The tool changing device (1) has a latching device (10) which keeps a tool (11, 12, 13, 14) in a latched position, in particular in an active position (AP), with a limited retaining force. In order to carry out a tool change, the tool changing device (1) and in particular a tool (11, 12, 13) is placeable against an external object (23) and the tool changing device is guidable about this object (23) in order to rotate the turret carrier. In this case, the limited retaining force is overcome by the movement of the manipulator.
The present invention relates to a platform trolley (1) for a location-flexible installation of production equipment (120), comprising a mounting device (10) which can be extended downwardly from the platform trolley. The platform trolley (1) can be moved when the mounting device (10) is retracted and can be locked with the floor (100) when the mounting device (10) is extended. The invention further relates to a method for fixing a mobile platform trolley (1) in place.
The invention relates to an application tool (2) and an application method for a flexible workpiece (4); the application tool (2) is designed as a combined tool for accommodating the flat flexible workpiece (4) and three-dimensionally shaping same on an external shaping tool (5) and is provided with a shapeable head (11) that can be deformed in a controlled manner, rigidified and reconfigured. The shapeable head (11) comprises a supporting element (19) having a shapeable member (12) which is disposed on the supporting element (19), can be deformed in a controlled manner and be rigidified, and is designed like a mat, is bendable and optionally non-extensible or low-extensible.
The invention relates to a human-robot collaboration workstation, comprising a robot (1) which has a robot controller (3) and a robot arm (2) comprising a plurality of joints (4) and members (5-12) connecting said joints (4), the joints (4) of said robot arm being adjusted automatically by the robot controller (3) in order to move or hold in space a tool (14a) or workpiece (14b) held by the robot arm (2) by adjusting the joints (4) of the robot arm (2). Said human-robot collaboration workstation further comprises a mounting device (17) which has a stationary base frame (19) and a fixing device (18) that is configured to hold in place a workpiece (14b) or a tool (14a) such that the workpiece (14b) and/or tool (14a) held on the mounting device (17) is/are to be mounted and/or machined in interaction with the robot arm (2), wherein the mounting device (17) has a mechanical adjusting device (20) and a triggering device (21) that can be controlled by the robot controller (3) and the adjusting device (20) is configured to automatically adjust the fixing device (18) in relation to the base frame (19) from an operating position to a safety position if the triggering device (21) is activated.
B23K 37/04 - Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
66.
GRIPPING JAW SAFETY DEVICE WITH TONGUE AND GROOVE FOR HRC
The present invention relates to a gripping device (1), in particular as effector for an industrial robot, comprising first (10) and second (20) clamping jaws which are movable relative to each other to engage a workpiece. The first clamping jaw (10) has a tongue projection (11) and the second clamping jaw (20) has a corresponding groove (21) which at least partly accommodates the tongue projection (11) when the clamping jaws (10, 20) are moved towards each other in order to prevent objects or body parts from being accidentally inserted in the space between the clamping jaws.
The invention relates to a device (1) for automatically setting plugs (5) on motor-vehicle body parts (6) and to an associated method. The plug-setting device (1) comprises an industrial robot (2), which has a plug-setting tool (3) and a plug magazine (12), and the plug-setting device is designed to be suitable for human-robot collaboration (HRC). The plug-setting tool (3) has one or more HRC-suitable electric drives (23, 24, 25), the speed and force or torque of which are limited to HRC-permissible values.
The invention relates to a robot-guided tool (3) for automatically setting plugs (5) on vehicle body parts (6) as well as to a setting method. The plug setting tool (3) comprises a frame (10) that has a connection (11) for an industrial robot (2), a plug magazine (12) and a setting unit (18) that includes a plug holder (19) and a rotating mechanism (20) for moving the plug holder (19) between a charging position (40) on the plug magazine (12) and a setting position (39). The plug holder includes one or more holding heads (26, 27) which is/are connected to the rotating mechanism (20) and each of which comprises a setting ram (28) and a plug quiver (29) for accommodating a single plug (5). The setting ram (28) is supported in the axial direction thereof, preferably secured on the frame, and the plug quiver (29) is mounted so as to be able to axially deviate relative to the setting ram (28). 1
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
The present invention relates to a gripping device (1), in particular as effector for an industrial robot, comprising two clamping jaws (10, 20) which are movable relative to each other to engage a workpiece. At least one of the clamping jaws (10, 20) comprises a safety element (30, 40) which is movably mounted on the clamping jaw and can be moved between a safety position and a release position in order to prevent objects or body parts from being accidentally inserted in the occupied space.
A parting device and a parting method are provided, in particular for trimming workpieces (2), in particular solar modules. The parting device has a multi-member (12, 13, 14, 15) programmable robot (6) which is in the form of a tactile robot, in particular a force/torque-regulated robot. The robot guides a parting tool (8) which is in the form of a knife.
The invention relates to a robot workstation having a robot (1) with a robot controller (3) and with a robot arm (2) having a plurality of joints (4) and links (5-12) connecting the joints (4), the joints (4) of said robot arm (2) being intended to be adjusted automatically by the robot controller (3) on the basis of a robot program in order to hold and/or to move a tool (14a), held by the robot arm (2), in space by adjusting the joints (4) of the robot arm (2), wherein the tool (14a) is in the form of a screwing device (14) which has a detection means (22) for detecting and/or displaying a torque applied by the screwing device (14) to a screw (20) or a nut, wherein the robot controller (3) is configured and/or set up to additionally detect a reaction torque supported by means of the robot arm (2), said reaction torque being introduced into the robot arm (2) by a torque applied by the screwing device (14) to the screw (20) or the nut.
Pressure welding device with a measuring device, measuring in a contactless manner, for detecting the surface quality, the true running and/or the axial runout in a front welding area
A pressure welding device (1), especially a friction welding device, holds workpiece parts (2, 4) in clamping devices (6, 7) and axially moves the workpieces towards each other by means of a feed device (21). The pressure welding device (1) has a measuring device (8, 13), measuring in a contactless manner. The measuring device detects the surface condition and/or the concentricity and/or true running and/or the axial runout and/or radial runout in a front welding region (3, 5) of a workpiece part (2, 4).
B29C 65/06 - Joining of preformed partsApparatus therefor by heating, with or without pressure using friction, e.g. spin welding
B23K 20/12 - Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by frictionFriction welding
B23K 9/08 - Arrangements or circuits for magnetic control of the arc
B23K 9/095 - Monitoring or automatic control of welding parameters
B23K 31/12 - Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by any single one of main groups relating to investigating the properties, e.g. the weldability, of materials
B23K 37/00 - Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
B29C 65/00 - Joining of preformed partsApparatus therefor
The invention relates to a robot device comprising: a linear axis (13); a robot arm (2) which is movably mounted on the linear axis (13) and comprises a plurality of joints (4) and members (5-12) connecting the joints (4); and a robot-control system (3) which is designed and/or arranged to control automatically on the basis of a robot program or manually in force- and/or moment-regulated manner the joints (4) of the robot arm (2). The robot-control system (3) is further designed and/or arranged to activate the linear axis (13) in force- and/or moment-regulated manner.
The invention relates to an applicator and to a method for the application and the embossing micro-profiling of a fluidic medium (6) on a substrate (5), in particular in the non-aerospace sector, and a corresponding application device having such an applicator. The applicator (2) has a female die (22) which circulates and has an embossing profile (25), a pressing means (32) for the female die (22) and a stabilization device (15), in particular a curing device, for the applied medium (6). The applicator (2) also has a hollow supporting body (27), which surrounds the female die (22) at a distance, forming an interspace (31), the pressing means (32) being arranged in the interspace (31). In addition to the applicator, the application device has a handling device (3) for a relative movement between the applicator (2) and a workpiece (4).
B05C 1/08 - Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length using a roller
B29C 59/04 - Surface shaping, e.g. embossingApparatus therefor by mechanical means, e.g. pressing using rollers or endless belts
B05D 3/06 - Pretreatment of surfaces to which liquids or other fluent materials are to be appliedAfter-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to radiation
B29C 59/02 - Surface shaping, e.g. embossingApparatus therefor by mechanical means, e.g. pressing
The invention relates to a manipulation device (2) and a manipulation method for a processing tool (3), the manipulation device (2) having two cooperating manipulation units (8, 9) which together hold a support (16) and guide the support with coordinated movements. The processing tool (3) is provided on the support (16) such that it can be moved by means of a conveying device (18).
The invention relates to a robot workstation having a robot (1) with a robot controller (3) and with a manipulator arm (2) having a plurality of joints (4) and members (5-12) connecting the joints (4), the joints (4) of said manipulator arm (2) being able to be adjusted automatically by the robot controller (3) on the basis of a robot program or by manual operation, furthermore having a gripper (13) connected to one of the members (5-12) of the manipulator arm (2), in particular to an end member (12) of the manipulator arm (2), said gripper (13) being configured to hold a tool such that the tool can be held and/or moved in space by setting the joints (4) of the manipulator arm (2).
The invention relates to a method for the partially automated production of workpieces (13, 13a, 13b, 13c) on an MRK work station which comprises a manual workpiece (13, 13a, 13b, 13c) which is to be machined, and a robot (1) holding the workpiece (13, 13a, 13b, 13c), said robot comprising a robot control (3) and with manipulator arms (2) comprising several joints (4) and elements (5 - 12) connecting the joints (4), said joints (4) may be automatically adjusted by the robot control (3) based on a robot program or in a hand-held driving operation. The invention also relates to an associated MRK-work station.
The invention relates to a method for monitoring production processes, in particular in a series production of a plurality of quantities of identical goods (1, 1a), wherein at least one work operation to be monitored is performed manually. The invention further relates to a monitoring device (7.1, 7.2, 7.3), comprising a fastening device (9), which is designed for fastening the monitoring device (7.1, 7.2, 7.3) to a body location (8, 8a) of a person (4), to a workpiece (1, 1a), and/or to a manually guided tool (2, 2a).
The invention relates to a method for operating a robot (1) that comprises a robot arm (2) with a plurality of elements (5-11), a securing device (12), and a tool (13) secured to said securing device (12), as well as a control device (3) which moves said robot arm (2) and is designed to actuate same in an automatic mode such that said tool (13) automatically follows a workpiece path (15) that extends, on a workpiece (16), at least substantially parallel to a workpiece edge (17) of said workpiece (16). The invention also relates to a robot (1) which particularly comprises a mechanical feeler device (14), for carrying out said method.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
B23Q 35/121 - Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means using mechanical sensing
The invention relates to a joining tool (7), a joining device (2) equipped therewith and a joining method for joining stringers (9) to flexible workpieces (8). A plurality of industrial robots (3 to 6) are equipped with joining tools (7) and handle and join the stringer (9) jointly. The joining tools (7) are heated and grip the stringer (9) by means of a gripper tool (25) on the upper face (30) of the structural unit, using a controlled suction gripper (26), a heated counter-holder (29), which is arranged next to the gripper tool, likewise acting upon the upper face (30) of the structural unit.
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
B29C 65/00 - Joining of preformed partsApparatus therefor
B29C 65/02 - Joining of preformed partsApparatus therefor by heating, with or without pressure
81.
MANUFACTURING STATION, MANUFACTURING PLANT AND METHOD
The invention relates to a manufacturing plant (1) comprising a plurality of mutually uniform modular manufacturing stations (2) which are arranged in a station matrix (5) and are interlinked for conveying by means of a conveyor device (16) and a path network (17). The manufacturing stations (2) are modular and comprise a plurality of integrated manufacturing cells (7,8) and each has its own process area (9).
The invention relates to a manufacturing plant (1) for workpieces (29), which comprises a plurality of manufacturing stations (2 to 5) and a conveying system (9) for conveying the workpieces within the manufacturing plant (1) and between the manufacturing stations (2 to 5). Mobile automatic conveying means (13, 14, 15) travel on a conveying path network (11) of a plurality of interlinked conveying paths (10) intersecting each other, the conveying paths (10) being connected to a plurality of manufacturing stations (2 to 5) arranged in a station matrix (8).
B62D 65/18 - Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
83.
INTERCHANGING APPARATUS AND INTERCHANGING METHOD FOR CLAMPING FRAMES SUPPORTING VEHICLE BODY PARTS BETWEEN A CLAMPING FRAME TRANSPORT DEVICE AND A FRAME CONVEYOR BY MEANS OF CLAMPING FRAME MAGAZINES
The invention relates to an apparatus (14) and a method for interchanging clamping frames (6-9) at an assembly station (2) for vehicle body parts. The interchanging apparatus (14) comprises a storage device (15) for the clamping frames (6-9), said storage device (15) being provided with a plurality of controlled, rotatable frame magazines (16-19), and further comprises a frame conveyor (25) and an additional parallel frame transporter (31) which allow the clamping frames (6-9) to be conveyed in parallel between the frame magazines (16-19) and a workplace (10) in the assembly station (2). The clamping frames (6-9) are securely accommodated on the frame magazines (16-19).
The invention relates to a measuring instrument (2) and a measuring method for a steering wheel (3) in a motor vehicle (5). The measuring method is carried out by a programmed tactile industrial robot (8), an end effector (9) of which firmly holds the steering wheel (3) in a defined position. The industrial robot (8) comprising the end effector (9) acts as a steering wheel centering device.
The invention relates to a safety device (4) and a safety process for workers (3) within the work space of industrial robots (2). The safety device (4) continuously monitors the spatial position of the worker and any worker movements, and receives information about the current danger zone around the industrial robot (2). The device also checks for collisions and risks of collisions between the worker (3) and the industrial robot (2), and in the event that there is a collision or a risk of a collision transmits a warning signal to the worker (3). Preferably a body-specific feedback signal is sent and the affected body part is indicated.
F16P 3/14 - Safety devices acting in conjunction with the control or operation of a machineControl arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
The invention relates to a robot tool (4), a working device (1) equipped therewith and an operating method. The robot tool (4) comprises a frame (5) with an integrated powertrain (6) and is used for moving an output element (9). The powertrain (6) is rotationally operated by an industrial robot (2) and has a torque amplifier (7) or parts of a torque amplifier (7) for amplifying an input-side rotating drive torque of the industrial robot (2). On the output side, the torque amplifier (7) is connected to the output element (9).
An apparatus (1) for feeding components has a downwardly inclined guide path (6), a mobile component carrier (4), which is connected in a releasable manner to the guide path (6), and interacting rolling bodies and rails (15, 16) on the guide path (6) and on the component carrier (4). The feed apparatus (1) has a loading location (10), at which a component carrier (4) is connected to the guide path (6), and possibly loaded with one or more components (3), by a worker (12), using a manually operable transfer apparatus (14), which can be actuated by applying manual force counter to a restoring element (31, 40). The transfer apparatus (14) is designed as a preliminary-positioning apparatus (20) for a loose component carrier (4).
B65G 37/00 - Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
B65G 35/00 - Mechanical conveyors not otherwise provided for
B65G 1/08 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
B23Q 7/08 - Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of slides or chutes
B65G 47/56 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices to or from inclined or vertical conveyor sections
The invention relates to a robotic tool (3) comprising a robot link (9) for connection to a preferably tactile industrial robot (2). The robotic tool (3) includes a tool holder (7) comprising a plurality of tools (11-15) for which a common medium supply (16) having a medium connection (18) is provided, said medium supply (16) allowing one or more working media to be supplied. The medium connection (18) is located on the robot link (9) and can be connected to an internal medium supply (36) of the industrial robot (2).
B25J 15/04 - Gripping heads with provision for the remote detachment or exchange of the head or parts thereof
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
89.
METHOD FOR AUTOMATED ASSEMBLY AT AN ASSEMBLY STATION, AND ASSOCIATED AUTOMATED ASSEMBLY STATION
The invention relates to a method for the automated assembly, at an assembly station (1), of a component (16) and a workpiece (4) at a joining point, the component (16) being manipulated by a manipulator arm (9) of an industrial robot (11), and the workpiece (4) being delivered to the assembly station (1) in a suspended state on a workpiece holder (3), the manipulator arm (9) being equipped with a plurality of successive members (13) and joints (12). The invention further relates to an automated assembly station (1) comprising an industrial robot (11) that includes a manipulator arm (9) and a control device (10) which is designed or equipped to carry out a method according to the invention.
G05B 19/418 - 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]
90.
METHOD FOR AUTOMATED ROTATIONAL JOINING AND/OR ROTATIONAL DETACHMENT OF COMPONENTS, AND ASSOCIATED INDUSTRIAL ROBOT AND AUTOMATED ASSEMBLY WORKSTATION
The invention relates to a method for automated rotational joining and/or rotational detachment of components (12), in particular machine elements, such as screws (12a) or nuts, to or from a workpiece (13) by means of a tool (10), in particular a tightening tool (10a), which is handled by a manipulator arm (3) of an industrial robot (5), said manipulator arm having a plurality of successive members (7.1-7.8) and joints (6.1-6.7), in which a reaction torque introduced into the manipulator arm (3) as a result of the applied torque is supported by force-controlled and/or torque-controlled actuation of the joints (6.1-6.7) of the manipulator arm (3) by means of a control device (4) of the industrial robot (5) in such a way that at least one joint (6.1-6.7), which on account of its design can be loaded with a lower maximum torque than at least one of the other joints (6.1-6.7), is parameterized with a lower stiffness than the stiffness parameterized in the at least one other joint (6.1-6.7). The invention also relates to an associated industrial robot (5) and to an automated assembly workstation (1) having such an industrial robot (5).
The invention relates to a working apparatus (1) and a working method, wherein a tactile industrial robot (2) works on a workpiece (6) using its sensory capabilities and a process tool (4). The robot cooperates with a robot assistant (3) and its assistance tool (5) located in its working area. The robot assistant (3) has a greater lifting capacity and optionally a greater reach than the tactile industrial robot (2), and supports and relieves the tactile industrial robot (2) during the working process, compensating for its smaller lifting capacity.
The invention relates to a working device (1) and a working method comprising an industrial robot (2) equipped for human-robot co-operation or collaboration (HRC), said robot having a processing tool (3). The industrial robot has a number of rotatably interconnected members (7,8,9,10) and one or more open- or closed-loop force-controlled robot axes (I-VII) comprising an integrated sensor system which detects the external stress acting on each robot axis (I-VII). As a supplementary HRC protective measure, a personnel protection device (4) is located in the vicinity of the processing tool (3).
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Machines for gripping, moving and positioning mechanical components and/or tools; Machines and machine tools for treatment of materials and for manufacturing; Machines for connecting sheet metal, plastics and other materials; Welding presses, Riveting machines, Joining machines, Folding machines, Machines for screwing, pile pressing machines, Machines for applying adhesives, sealants or coating preparations, Welding machines; Transportation and conveying machines; Belts for conveyors, apron conveyors, roller conveyors, chain, sliding and oscillating conveyors, pneumatic and hydraulic conveying apparatus; Machines for treating or for processing plastic fibres or carbon fibres; Robots; Mobile platforms (parts of machines); Motors and engines (except for land vehicles), Couplings (except for land vehicles), Work carriers for the aforesaid conveying apparatus and installations, tool changers, Mechanical rotation, turning, lifting and conversion apparatus and mechanically driven apparatus for retaining, tensioning and gripping workpieces, Hydraulic drives, Mechanical apparatus and equipment for connecting and coupling machines together, operating devices for the aforesaid machines; Mechanical rotary tables and Rotary drums; Installations, Essentially consisting of the aforesaid machines and/or robots; Installations for metallurgy and for processing plastics; Installations for the manufacture and assembly of vehicle bodies, chassis, drive trains, motors and engines, transmissions and individual parts therefor; Welding installations; Industrial or welding robots for performing welding operations; Parts and accessories for the aforesaid goods, included in this class. Apparatus and instruments for control and regulation of machines, manufacturing installations, robots, mobile platforms and tools; Apparatus and instruments for testing; Computers; Computer programs (recorded); Programs (Computer -) [downloadable software]; Measuring apparatus; Electric/electronic operating apparatus for machines and tools; Measuring, detecting and monitoring instruments, indicators and controllers. Automatic guided vehicles (AGVs); Storage and transport vehicles, including driverless vehicles; Vehicles and conveyances. Technical advice and consultancy; Engineering services; Planning, design, development and construction of automatic manufacturing installations, planning and development of assembly installations and assembly plants; Construction drafting, technical project studies.
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Machines for gripping, moving and positioning mechanical components and/or tools; Machines and machine tools for treatment of materials and for manufacturing; Machines for connecting sheet metal, plastics and other materials; Welding presses, Riveting machines, Joining machines, Folding machines, Machines for screwing, pile pressing machines, Machines for applying adhesives, sealants or coating preparations, Welding machines; Transportation and conveying machines; Belts for conveyors, apron conveyors, roller conveyors, chain, sliding and oscillating conveyors, pneumatic and hydraulic conveying apparatus; Machines for treating or for processing plastic fibres or carbon fibres; Robots; Mobile platforms (parts of machines); Motors and engines (except for land vehicles), Couplings (except for land vehicles), Work carriers for the aforesaid conveying apparatus and installations, tool changers, Mechanical rotation, turning, lifting and conversion apparatus and mechanically driven apparatus for retaining, tensioning and gripping workpieces, Hydraulic drives, Mechanical apparatus and equipment for connecting and coupling machines together, operating devices for the aforesaid machines; Mechanical rotary tables and Rotary drums; Installations, Essentially consisting of the aforesaid machines and/or robots; Installations for metallurgy and for processing plastics; Installations for the manufacture and assembly of vehicle bodies, chassis, drive trains, motors and engines, transmissions and individual parts therefor; Welding installations; Industrial or welding robots for performing welding operations; Parts and accessories for all the aforesaid goods, included in this class. Apparatus and instruments for control and regulation of machines, manufacturing installations, robots, mobile platforms and tools; Apparatus and instruments for testing; Computers; Computer programs (recorded); Computer programs [downloadable software]; Measuring apparatus; Electric/electronic operating apparatus for machines and tools; Measuring, detecting and monitoring instruments, indicators and controllers. Automatic guided vehicles (AGVs); Storage and transport vehicles, including driverless vehicles; Vehicles and conveyances. Technical advice and consultancy; Engineering services; Planning, design, development and construction of automatic manufacturing installations, planning and development of assembly installations and assembly plants; Construction drafting, technical project studies.
The invention relates to a working device and to a working method, said working device comprising a multi-link (5, 6, 7, 8) tactile industrial robot (2) suitable for human-robot cooperation or collaboration. Said industrial robot performs a process on a workpiece (4) by means of a process tool (3). The industrial robot (2) carries the process tool (3) and moves the process tool in relation to the workpiece (4) during the process. The process tool (3) and/or the industrial robot (2) is connected to a guiding device (15), which can be fastened to a workpiece (4). The guiding device reduces the working space of the industrial robot (2) during the process and mechanically limits the robot motions and tool motions. For this purpose, the guiding device (15) has a plurality of rotational and/or translational guiding axes (19) for the process tool (3).
The invention relates to a working device (1), comprising a controller (6) and an industrial robot (2), which industrial robot carries a process tool (3). The working device (1) is designed for human-robot collaboration and has a detection device (5) for detecting an occurred collision of the industrial robot (2) or the process tool (3) with a worker (7), which detection device is connected to the controller and has a sensor device (16). The detection device (5) additionally detects a distance (d) between the industrial robot (2) and/or the process tool (3) and the obstacle (7), wherein the working device (1) has the industrial robot (2) perform an evading motion (a) with respect to the obstacle (7), which evading motion passes by the obstacle (7) and avoids the obstacle (7), or the evading motion (a) enlarges a distance from the obstacle or worker (7) that is too small.
F16P 3/14 - Safety devices acting in conjunction with the control or operation of a machineControl arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
The invention relates to an operating device (1) comprising a multi-member (8, 9, 10) industrial robot (7) that is arranged so as to be movable by a conveying apparatus (3) designed as a gravity conveyor. The gravity conveyor has a downward-sloping conveyor belt (6) on which the industrial robot is arranged so as to be movable as a result of its own weight. The slope of the conveyor belt can be adjusted along one or more coordinate axes by means of a control unit (19, 20).
The invention relates to a sensing device and to a sensing method for robot-induced loads that can act upon the human body in contact with the robot during a working process. The robot-induced loads, in particular forces, are measured by the measuring device (16) of an external sensing device (2). The measuring device (16) is suitably positioned and oriented in this process in the working area of an industrial robot (3) by means of a positioning device (15).
G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
The invention relates to a technology for planning and monitoring human-robot collaboration processes. In a monitoring method, a layout (32) of a work area is recorded, in which work area a human (28) and a manipulator (10) interact within a collaboration area (50). Human-robot collaboration zones (MRK1, MRK2, MRK3, MRK4) are indicated, and optionally body zones or body parts at risk of collision are specified. Limit geometries (G1, G2) are recorded for the manipulator (10) and/or a manipulator attachment (36), and the actual motion path of at least one reference point (TCP, POI, K1, K2, K3) is recorded during the activity of the manipulator (10). By means of an automated evaluation module (38), a permissible process velocity (v_zul) for following the motion path is determined. The actual process velocity (v_POI, v_TCP) is compared with the determined permissible process velocity (v_zul).
The invention relates to a working device and to a working method in which an articulated tactile industrial robot (3) having multiple members (15, 16, 17) and suitable for human-robot cooperation or collaboration (HRC) is used, the industrial robot (3) bearing a processing tool (4) with an end effector (21) for carrying out a working process on a movably held workpiece (5). The working device (2) has a sensing device (7) connected to the industrial robot (3) for detecting unforeseen movements of the workpiece (5) during a working process, the processing tool (4) comprising an actuatable attachment means (27) for achieving a dimensionally stable connection to the workpiece (5).
