CN101437718B - 用于加工车身部件的设备 - Google Patents
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Abstract
本发明涉及加工部件、尤其是车身的设备。所述设备具有用于部件的传送和定位单元1和多个加工站(2,3,4,5),这些加工站位于所述传送和定位单元(1)四周,且被传送和定位单元(1)的部件夹具(14)支撑的部件可进给至准备加工的位置。为了使部件从一个加工站(2)传送至另一加工站(3,4,5)时占据尽可能小的表面积,传送和定位单元由转子(21)和旋转臂(23)组成,旋转臂(23)偏心置于所述转子(21)上、与转子反向驱动并支撑部件夹具(14)。转子(21)和旋转臂(23)同步驱动,通过部件夹具(14)沿着包括相邻的顶点(16,17,18,19)间的空间(6,7,8,9)封闭的曲线轨道(15)更换。
Description
技术领域
本发明涉及一种用于加工由多个零件组成的车身部件的设备,该设备具有用于所述部件的传送和定位单元以及位于所述传送和定位单元四周的多个加工站,通过在封闭的循环轨道上引导将部件夹具经过加工站,能够将被所述传送和定位单元的可替换的部件夹具保持在工位上的部件输送到所述多个加工站。
背景技术
在实践中已知的上述类型的设备中,传送和定位单元被构造成旋转台,在该旋转台上,至少一个部件夹具布置在其周围。当旋转台旋转时,部件夹具沿环形运动至设置在环形外的加工站。更换部件夹具很麻烦。首先必须使用更换装置来移除待更换的部件夹具,并且将该部件夹具移至上述设备之外。提取存放处的新部件夹具并通过更换装置输送到旋转台。此外,上述设备需要大量的空间,而且几乎不适合于预留的空间。
发明内容
本发明的目的是提供一种如技术领域部分所述的用于加工由多个零件组成的车身部件的设备,该设备在节省结构空间的同时能够容易且快速地更换部件夹具。
该目的在如技术领域部分所述的设备中通过以下方式实现,即:在传送和定位单元的上面设置存储器,该存储器将各种类型的部件夹具预先保持在循环轨道的指定位置上,在此,由传送和定位单元支承的部件夹具与由存储器支承的不同类型的部件夹具更换。
部件夹具在传送和定位单元上方的具***置的特殊布置是节省空间的,并能够快速且容易地更换部件夹具。传送和定位单元的周围区域可被充分地自由地用于为其他单元如加工机器人、地面运送工具、仓库等留下位置,不同部件夹具的提供使得在同一加工厂房内生产不同的部件、甚至不同的车辆型号变得可能。因此,根据本发明的加工厂柔性高且改装时间短。
在本发明的一种实施方式中这些条件是极为有利的,该实施方式的特征在于封闭的循环轨道上至少有两个顶点,在这些顶点区域中设置有加工站,在相邻的顶点之间留有所述部件夹具在其沿封闭的循环轨道运动时未经过的空间,该空间尤其用于设置加工机器人,并且所述存储器预先将部件夹具保持在上述顶点区域中。曲线轨道可以是椭圆或摆线,特别是圆内摆线或星形线。在本发明的具体实施方式中,曲线轨道中指定的点就是这些顶点,部件夹具被存储器预先保持在所述指定点上。
在传动技术方面,这样的曲线轨道可以例如按如下方式实现,即传送和定位单元由转子和旋转臂组成,其中旋转臂偏心地安装在所述转子上、沿着同转子的轴线平行的轴线与所述转子相反地被驱动、并支撑部件夹具,其中,转子和旋转臂的旋转运动相互配合,使得所述部件夹具沿带有顶点的封闭的曲线轨道运动。
优选地,由存储器预先保持的部件夹具被保持在共同的提升装置或者可以单独下降的支架上。这样,部件夹具可以降至易于更换的高度。在更换的过程中,也可以使用装备有相应的夹持装置的加工机器人。
为了能够加工尽可能多的类型的部件,大量不同类型的部件夹具可以以能相继径向移动的方式存放在存储器上。然后,很容易将正好需要的部件夹具送到最佳的更换位置。
优选的是,从传送和定位单元上方通过设置在旋转臂的旋转轴上的旋转分配器将能量和控制指令输送给传送和定位单元。对于能量和控制指令的输送线,线路树通过连接杆形式的旋转分配器连接到设置在转子轴线中心的源。
附图说明
以下将借助附图示意性所示的实施方式详细描述本发明。附图为:
图1是用于加工部件的设备的俯视图,该设备具有传送和定位单元、多个加工站以及多个用于加工机器人的空间。
图2是图1中设备的侧视图。
具体实施方式
如图1所示,加工由多个零件组成的车身部件的设备具有传送和定位单元1,在该传送和定位单元1周围设有加工站2、3、4、5。在加工站2、3、4、5之间存在空间6、7、8、9,这些空间可用于不同用途,特别是用来放置加工机器人、大量工具等。上述设备也可以按这样一种方式放置,即把厂房立柱设置在空间6、7、8、9处。从而可以实现位置关系的最佳匹配。在图1的实施方式中,空间6、7用来放置仅示意性地以箱子表示的加工机器人10、11、12、13。
传送和定位单元1具有用于未示出的待加工部件的可更换的部件夹具14,例如已知的张紧架。该部件夹具14通过传送和定位单元1沿具有顶点16、17、18、19的圆弧轨道15运动至加工站2、3、4、5。在顶点16、17、18、19处,部件夹具14以及受其保持的部件被至少一个其附近的加工机器人10、11、12、13保持在适当的位置上。当部件夹具14处于图1所示的位置时,加工机器人10以及加工机器人13都能对该部件进行加工。该特殊的曲线轨道15使得具有传送和定位单元1以及加工机器人10、11、12、13的设备非常紧凑,从而占据尽可能少的面积。
上述依照图1中的具有四个顶点16、17、18、19的圆弧曲线轨道15或者具有不同顶点数的曲线轨道,是在本发明中具有特殊构造和传动机构的传送和定位单元的实施方式下产生的。如图2所示,传送和定位单元1在固定基座20上具有转子21,该转子具有细节上未示出的旋转驱动装置。在转子21上与旋转轴22偏心地设置有能绕与旋转轴线22平行的轴线24旋转的旋转臂23。在驱动方面,旋转臂23通过齿轮驱动装置与转子22耦合,使得转子22和旋转臂23朝相反的方向旋转。这样,例如在基座20上以不可旋转的方式保持外部插齿的齿轮圈,所述齿轮圈与受转子22支撑且与可相对于转子旋转的中间齿轮啮合。中间齿轮与传动齿轮接合,该传动齿轮可旋转地安装在转子22的自由端上并且以不可旋转的方式与旋转臂23的驱动轴相连。通过齿轮的各种齿数比以及转子22和旋转臂23的有效臂长能够产生不同的曲线轨道。在任何情况下,转子22和旋转臂23的反向自转满足以下关系:角度总和-节拍角度=转子21的自转角度,其中,角度总和=360°,相邻顶点16、17、18、19或加工站之间的节拍角度=旋转臂23或部件夹具14在相邻加工站之间的自转角度,并且转子21的自转角度是为了使旋转臂23或者部件夹具14进一步地转过节拍角度(即从一个加工站到下一个加工站)而转子21需要转过的角度。
旋转臂23的自由端以可更换的方式支撑部件夹具14,特别是张紧架,通过该部件夹具可以将待加工的部件保持在精确预定的工位上。为了协助在这个位置的定位,在加工站2、3、4、5中可以分别设置对中单元2a、3a、4a、5a,所述对中单元由垂直安装在旋转臂23或部件夹具14上的支撑轮2a*以及固定的连接导块2a**、3a**、4a**、5a**组成,支撑轮2a*在部件夹具14基本径向移动的过程中进入上述导块。
在旋转臂23上,用于提供能量及控制指令的旋转分配器26被布置在旋转臂23的旋转轴线24上,该旋转分配器26通过固定的连接点连接到例如工厂的天花板上。
星状的(在实施方式中是十字状的)存储器30通过支架35设置在工厂的天花板上,所述存储器30具有用于多个不同类型的部件夹具32、33的四个顶点16、17、18、19。存储器30可以与所有的支架35、36、37一起降下,或者上述支架35、36、37可以单独降下。每个支架35、36、37都安装有夹紧装置35*、36*、37*,通过所述夹紧装置可以将部件夹具32、33以固定的方式保持在有利于更换的位置。
部件夹具的更换以下列方式进行:
在实施方式中,支架35处于空闲状态,不再需要的部件夹具14已经被置于支架35下面,该支架35被降下并用其夹紧装置35*夹住部件夹具14。当部件夹具14从旋转臂23上脱开后,该部件夹具14通过支架35抬升至其上方的存放位置。为了给旋转臂23装载新的部件夹具例如33,通过传送和定位单元1的旋转将旋转臂23带入加工站5。通过支架37将部件夹具33从其上方的存放位置降低到其下方的可更换位置,在该下方的可更换位置处,部件夹具37与旋转臂23连接并从夹持装置37*释放。
通过将部件夹具及其支架以可相继径向移动的方式设置在存储器30上,存储器30可以在无需耗费大量设备技术的情况下装载不同类型的部件夹具。从而,所需的部件夹具可以通过径向移动进入适于更换的位置。
Claims (5)
1.一种用于加工由多个零件组成的车身部件的设备,该设备具有用于该部件的传送和定位单元(1)以及设置在所述传送和定位单元(1)四周的多个加工站(2,3,4,5),通过在封闭的循环轨道(15)上引导所述传送和定位单元(1)的可更换的部件夹具(14)经过所述多个加工站(2,3,4,5),能够将被所述部件夹具(14)保持在工位上的部件输送到所述多个加工站,其特征在于:在所述传送和定位单元(1)上方设置有存储器(30),该存储器(30)用于将不同类型的部件夹具(14,32,33)预先保持在循环轨道(15)的指定位置上,在该位置上,受所述传送和定位单元(1)支承的部件夹具(14)能够与由存储器(30)支承的不同类型的部件夹具(32,33)更换。
2.如权利要求1所述的设备,其特征在于:封闭的循环轨道具有至少两个顶点(16,17,18,19),在这些顶点的区域中设置有加工站(2,3,4,5),在相邻顶点(16,17,18,19)之间留有所述部件夹具(14)在其沿封闭的循环轨道(15)运动时未经过的空间(6,7,8,9),并且所述存储器(30)预先将部件夹具(32,33)保持在所述顶点(16,17,18,19)的区域中。
3.如权利要求1或2所述的设备,其特征在于:所述传送和定位单元(1)包括转子(21)和旋转臂(23),所述旋转臂(23)偏心地设置在所述转子(21)上、围绕同转子轴线(22)平行的轴线(24)与所述转子(21)反向地被驱动、并且支撑所述部件夹具(14),其中,所述转子(21)和所述旋转臂(23)的旋转运动互相配合,使得所述部件夹具(14)沿带有顶点(16,17,18,19)的封闭的曲线轨道(15)运动。
4.如权利要求1或2所述的设备,其特征在于:由所述存储器预先保持的部件夹具(32,33)通过支架保持在共同的升降装置或者能单独下降的支架(36,37)上。
5.如权利要求1或2所述的设备,其特征在于:多个部件夹具(32,33)以能相继径向移动的方式安装在存储器(30)上。
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DE102006020922.2 | 2006-05-05 | ||
DE102006020922A DE102006020922B4 (de) | 2006-05-05 | 2006-05-05 | Vorrichtung zum Bearbeiten von Bauteilen einer Kraftfahrzeugkarosserie |
PCT/EP2007/053881 WO2007128667A1 (de) | 2006-05-05 | 2007-04-20 | Vorrichtung zum bearbeiten von bauteilen einer kraftfahrzeugkarosserie |
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CN101437718A CN101437718A (zh) | 2009-05-20 |
CN101437718B true CN101437718B (zh) | 2010-10-20 |
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US (1) | US8127415B2 (zh) |
EP (1) | EP2015981B1 (zh) |
KR (1) | KR20090010183A (zh) |
CN (1) | CN101437718B (zh) |
AT (1) | ATE448132T1 (zh) |
BR (1) | BRPI0711087A2 (zh) |
DE (2) | DE102006020922B4 (zh) |
ES (1) | ES2336274T3 (zh) |
WO (1) | WO2007128667A1 (zh) |
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DE102006020924B4 (de) * | 2006-05-05 | 2009-03-19 | Thyssenkrupp Drauz Nothelfer Gmbh | Vorrichtung zum Bearbeiten von Bauteilen, insbesondere einer Kraftfahrzeugkarosserie |
JP5454491B2 (ja) * | 2011-02-25 | 2014-03-26 | 株式会社安川電機 | 作業システム |
ITTO20110848A1 (it) * | 2011-09-23 | 2013-03-24 | Fond Istituto Italiano Di Tecnologia | Attuatore rotante elastico. |
US9272372B2 (en) * | 2013-11-14 | 2016-03-01 | 1202858 Alberta Ltd. | Welding spinners, and related methods and devices |
DE202015103526U1 (de) * | 2015-07-03 | 2016-10-13 | Kuka Systems Gmbh | Magazin |
CN107322230A (zh) * | 2017-08-22 | 2017-11-07 | 凯里市浪金科技有限责任公司 | 一种箱体焊接的固定装置 |
CN107498308B (zh) * | 2017-08-26 | 2024-06-04 | 芜湖隆深机器人有限公司 | 家电产品底壳自动化生产设备 |
CN112338485B (zh) * | 2020-10-31 | 2022-06-17 | 广州市燊雅精密科技有限公司 | 一种快速精准自动化装配机 |
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DE29817895U1 (de) * | 1998-10-07 | 2000-02-10 | Kuka Schweissanlagen Gmbh | Arbeitsstation zur Eingliederung in eine mit Industrie-Robotern bestückte Fertigungslinie |
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JPS62222906A (ja) | 1986-03-25 | 1987-09-30 | Hitachi Electronics Eng Co Ltd | ウエ−ハ搬送機構 |
JPH01281891A (ja) | 1988-04-30 | 1989-11-13 | Tokico Ltd | 工業用ロボット装置 |
GB2236409B (en) * | 1989-08-31 | 1993-11-10 | Mitsubishi Electric Corp | Industrial robot apparatus |
US6366830B2 (en) | 1995-07-10 | 2002-04-02 | Newport Corporation | Self-teaching robot arm position method to compensate for support structure component alignment offset |
DE19533320C2 (de) * | 1995-09-08 | 1999-01-28 | Ottobeurer Facondreherei Alois | Rundtaktmaschine |
DE19713860A1 (de) | 1997-04-04 | 1998-10-08 | Kuka Schweissanlagen Gmbh | Verfahren und Vorrichtung zum Fertigen von komplexen Werkstücken |
DE19914125A1 (de) * | 1999-03-27 | 2000-09-28 | Volkswagen Ag | Verfahren und Bearbeitungsstation zur Fertigung von Fahrzeugen bzw. Fahrzeugteilen |
FR2795012B1 (fr) * | 1999-06-18 | 2001-10-12 | Faciliter Les Operations Mecan | Dispositif de transfert de pieces a usiner |
DE10153807A1 (de) | 2001-11-05 | 2003-05-28 | Emag Maschfab Gmbh | Werkzeugmaschine |
DE20211755U1 (de) | 2002-07-30 | 2003-12-18 | Kuka Schweissanlagen Gmbh | Bearbeitungsanlage |
DE102005057602A1 (de) * | 2005-12-02 | 2007-06-14 | Volkswagen Ag | Bearbeitungsstation und Verfahren zur Fertigung von Karosserien |
DE102006020924B4 (de) * | 2006-05-05 | 2009-03-19 | Thyssenkrupp Drauz Nothelfer Gmbh | Vorrichtung zum Bearbeiten von Bauteilen, insbesondere einer Kraftfahrzeugkarosserie |
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- 2007-04-20 WO PCT/EP2007/053881 patent/WO2007128667A1/de active Application Filing
- 2007-04-20 CN CN2007800160988A patent/CN101437718B/zh not_active Expired - Fee Related
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Also Published As
Publication number | Publication date |
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EP2015981A1 (de) | 2009-01-21 |
DE102006020922B4 (de) | 2009-05-28 |
KR20090010183A (ko) | 2009-01-29 |
CN101437718A (zh) | 2009-05-20 |
DE502007001983D1 (de) | 2009-12-24 |
ES2336274T3 (es) | 2010-04-09 |
US8127415B2 (en) | 2012-03-06 |
EP2015981B1 (de) | 2009-11-11 |
ATE448132T1 (de) | 2009-11-15 |
WO2007128667A1 (de) | 2007-11-15 |
DE102006020922A1 (de) | 2007-11-08 |
BRPI0711087A2 (pt) | 2011-08-23 |
US20090276999A1 (en) | 2009-11-12 |
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