DE102011107967B4 - Device for automatically mounting an assembly consisting of at least a first and a second single element - Google Patents

Abstract

Device for the automatic assembly of an assembly comprising at least a first and a second individual element, comprising:
a transport device (10) having at least one receiving element (12), which is designed to receive position-accurate accommodation of at least one first individual element,
- A first feed device (20) for supplying in each case a first single element of a first single element bearing (22) to the receiving element (12) and
- A second feed device (30) for feeding in each case a second single element of a second single element bearing (32) for receiving element (12) and for positioning this second single element on, or in a receiving element (12) received first single element, which of the transport device from the first feeder (20) to the second feeder (30), characterized
in that the first feed means (20) feed a first conveyor belt (24), a first feeder which randomly feeds the first conveyor belt (24) with first individual elements from the first single element store (22), a first camera (26) and one of the first Camera coming signals controlled first gripping robot (27) which on the first conveyor belt (24) disorderly resting first individual elements and the recording element (12) supplies positionally accurate, and that the second feed means (30) a second conveyor belt (34), a second Feeder which feeds the second conveyor belt (34) disorderly with second individual elements from the second single element bearing (32), a second camera (36) and a second gripping robot (37) controlled by means of the second camera (36), which gripper on the second conveyor belt (34) randomly resting second individual elements engages and on, on or in of the receiving element (12) recorded first individual elements, which of the transport device from the first feeder to the second feeder have been transported, arranges.

Description

The invention relates to a device for automatically mounting a module consisting of at least a first and a second individual element according to the preamble of claim 1.

DE 10 2008 004 032 A1 describes an assembly plant to reduce the error rate during assembly or disassembly. For this purpose, the assembly system has a workpiece inlet, a workpiece outlet and hand-guided, electrically operated tools, by means of which a plurality of assembly or disassembly types can be performed, wherein the hand-held, electrically operated tools can be locked or unlocked.

DE 10 2004 030 945 A1 describes a device for mounting structural units of components by means of a manipulator. The components are optically detected in a container with a lighting device and a camera and then removed from the container by means of the manipulator. The device has a transport and storage container, which has two or more pivotable compartments for receiving the components. Each compartment can be placed under a lighting device and a camera for the optical detection of the components. As a result, the signals of the coordinates of the components in control signals for the manipulator can be implemented, whereby a precise gripping of a component is possible.

DE 10 2004 030 946 A1 describes a method and a device for assembling assemblies of components using a manipulator. In this case, one component after the other from a storage device out on a detection field of a mounting plate is arranged. This position is accurately determined and forwarded to the controller of a manipulator. Subsequently, the component is detected by the gripper device of the manipulator and inserted into a unit to be manufactured.

There are many simple assemblies in the art, which are composed of only a few individual elements. This may be, for example, simple electrical components such as switches, sockets, connectors and so on. As an example, here is a simple socket called, which has a one-piece, made of plastic housing, two housed in this housing contact elements and a lid which is latched onto the housing, and which is also a one-piece plastic part has.

The assembly of such an assembly is easy to carry out for a person, he does not need any tools for this purpose. The assembly is done easily at a table by hand, first the two contact elements are inserted into the housing and then the lid is snapped onto the housing.

Since in high-wage countries, such as Germany, such work is hardly carried out on a larger scale, this has meant that the production of the individual elements and their assembly, if it is carried out manually, often fall apart locally, resulting in a considerable transport effort, which is not only disadvantageous for ecological reasons.

However, a further drawback inherent in manual assembly is inherent: without a very elaborate final inspection, correct assembly of each individual assembly can not be ensured. This is particularly problematic from the point of view of today almost continuously required quality assurance standards (ISO 9000 etc.).

As an alternative to manual assembly, devices for automatically mounting such assemblies are also known. Such devices have a transport device with a plurality of circulating receiving elements (workpiece carriers) and at least two feeders. Each receiving element has a receptacle - usually in the form of a recess - for receiving a first single element (this is in the example above, the housing). The first feed device leads in each case to a first individual element of such a receptacle, which then passes through the transport device to the second feed device, which applies a second individual element (in the above-described example, this is the cover) to the first individual element (housing). Between the first feeding device and the second feeding device, a third feeding device may be provided, in which (in order to stay in the above example), the two contact elements are introduced into the first individual element (housing). This can be done, for example, by virtue of the fact that these contact elements are separated from an endless punching tape only at or above the transporting device, so that the arrangement in the first individual element is relatively simple.

The first feed device guides the first individual elements out of a first single element store, and the second feed device feeds the second individual elements out of a second single element store of the transport device. In the respective elementary element bearings, the respective individual elements are disorderly disordered, it is to a certain extent bulk goods. The feeder of Of course, individual elements of the transport device must be precisely positioned and aligned, so that a great deal of effort must be made to singulate and align the individual elements. For this purpose, so-called vibrators are currently used.

However, the currently used feeders using vibrators have some significant drawbacks: First, the feeders are very large, that is, the entire device for automatic mounting takes up a lot of space. On the other hand, the feeders are always aligned only for a particular single element, so that only a very specific assembly can be produced. The conversion to another module (that is, to other individual elements) is tedious and often takes several working days.

This in turn means that generic devices for automatic mounting can only be used efficiently when very large quantities of one and the same assembly to be produced. This is also the reason why the manual assembly described above still takes place to a significant extent.

On this basis, the present invention has the object to develop a generic device to the effect that their disadvantages are overcome, in particular in terms of space requirements and the changeover times.

This object is achieved by a device having the features of claim 1.

The inventive device is constructed from its basic structure as a generic device described above. That is, it has a transport device with at least one receiving element and at least two feeders. As in the prior art, the feeders remove the individual elements each a single element storage, in which the individual elements are above one another disorderly. According to the invention, each feed device in each case has a conveyor belt, a feeder which randomly loads the conveyor belt with individual elements from the single-element bearing, a camera and a gripper robot controlled by signals coming from the camera, which picks up individual elements lying on the conveyor belt in a disordered manner and delivers them accurately to the receiving element. By "positionally accurate" is meant here a positional accuracy of preferably at least ± 0.1 mm.

Essential to the success of the invention is that the respective gripping robot grips the respective individual element in a state in which it neither aligns nor is positioned. This has the consequence that the feeders are always the same, regardless of the exact geometric shape of the individual elements to be installed, which at conversion to another module mechanically at most the grippers of the gripper robot (hereinafter also called only robot) must be replaced, resulting in a few Handlings to do is. The other changes relate exclusively to the control software. When retrofitting the device from one module to another module thus at most the grippers of the robot and possibly the receiving elements of the transport device must be replaced. However, since it is also possible (dependent claims 5 and 6) to form the receiving elements so that they are suitable for receiving different individual elements, it is even possible to assemble different assemblies with almost no retrofitting with the same device.

The full advantages of the invention are then used when the feeder feeds the conveyor belt completely disordered, which in particular can also lead to individual elements not lie with their bottom, but on the side or upside down on the conveyor belt. Only this complete lack of regulatory means that the machine can be very simple and is equally suitable for several different modules. If one set the goal now that every single element which is conveyed on the conveyor belt in the direction of the gripping robot is also used directly, a very complex gripping robot would have to be used on the one hand and on the other hand a very complex sensor technology and control software would also be necessary , Preferably, therefore, according to claim 2, each feed device on a return conveyor, which individual elements, which were not gripped by the gripping robot, to the single element bearing back. In practice, this usually means that only individual elements are recognized as "tangible", which lie on their right side on the conveyor belt. Individual elements that do not meet this requirement are not considered usable by the image processing software. On the one hand, this considerably simplifies the image processing effort and, moreover, it is generally sufficient to use 4-axis robots. The individual element in question must always only be grasped directly from above and only has to be turned by the gripper robot in the XY plane. Pivoting movements outside the XY plane of the gripper of the robot are not absolutely necessary. In some applications, however, it may be useful to be able to rotate the gripper about a third axis, in particular, if components are mounted with not parallel surfaces.

• 1 eine vollständige erfindungsgemäße Vorrichtung in einer perspektivischen Ansicht,
• 2 einen Teil der Transporteinrichtung mit mehreren Werkstückaufnahmen, das erste Einzelelementelager und die erste Zuführeinrichtung, wobei zusätzlich mehrere erste Einzelelemente in unterschiedlichen Lagen dargestellt sind,
• 3a das erste Förderband mit einem ersten Einzelelement in einer Lage, in der es vom Roboter gegriffen werden kann,
• 3b das in 2a Gezeigte, wobei sich das erste Einzelelement in einer Position befindet, in der es nicht vom Roboter gegriffen werden kann,
• 3c das in 2a Gezeigte, wobei sich das erste Element ebenfalls in einer Position befindet, welche nicht vom Roboter gegriffen werden kann,
• 4 ein Aufnahmeelement in einer Draufsicht und
• 5 eine Alternative zu dem in 4 Gezeigten

The invention will now be explained in more detail using an exemplary embodiment with reference to the figures. Hereby show:

• 1 a complete device according to the invention in a perspective view,
• 2 a part of the transport device with a plurality of workpiece holders, the first single-element bearing and the first feed device, wherein in addition a plurality of first individual elements are shown in different positions,
• 3a the first conveyor belt with a first single element in a position in which it can be gripped by the robot,
• 3b this in 2a Shown, with the first single element in a position where it can not be gripped by the robot,
• 3c this in 2a Shown, with the first element also in a position that can not be gripped by the robot,
• 4 a receiving element in a plan view and
• 5 an alternative to that in 4 shown

The 1 shows a complete device for automatically mounting an assembly. The assembly, which is to be mounted here, consists of a first single element made of plastic, which forms a housing, two metal contact elements, which are inserted into this first single element, and a second single element, which engages in the manner of a lid on the housing-like first single element becomes.

The device has a transport device 10 like a revolving endless conveyor with a plurality of receiving elements 12 (which could also be referred to as workpiece holders) on. At this transport device 10 are arranged at three positions feeders for the parts to be assembled. This is the first feeder 20 , the second feeder 30 and the third feeder 40 , The first feeder 20 serves to positionally accurate feeding each of a first single element to a receiving element of the transport device, the third feeder 40 serves to insert the mentioned contact elements in this first single element and the second feeder 30 serves to each set up a second element on a first element and to lock on this. The first feeder 20 and the second feeder 30 are the same structure, so that their structure and operation now based on the first feeder with respect to the 2 is explained in more detail.

In the 2 is next to the first feeder 20 a part of the transport device 10 namely, three receiving elements 12 to see. Each of these receiving elements 12 is suitable for receiving three different first individual elements, including each receiving element 12 three recesses 12a . 12b . 12c that is, in the concrete shown one with a triangular cross section, one with a circular cross section and one with an elongated cross section. In 2 are at the right receiving element all these recesses, each with a first single element 50a . 50b . 50c shown filled in practice, however, usually only one type of individual elements are mounted at a time, so that the figure is to be understood in this sense as illustrative.

The first feeder 20 serves to, first individual elements 50a . 50b . 50c from a first single element storage 22 precise position to supply the receiving elements. The first feeder 20 has for this purpose a first feederhouse 23 as a feeder, a first conveyor belt 24 , a return conveyor 25 one above the first conveyor belt 24 arranged first camera 26 and a first robot 27 with a gripper 27a on. First camera and first robot are at a common first frame 28 disposed 1 ). The camera delivers the images it has taken to a control unit that controls the first robot (not shown). The first robot is a top-to-bottom tripod, as known in the art. Suitable currently available robots are, for example: "Flexpicker" from ABB, "Quattro" from Adept, "Delta Picker" from Kawasaki, and "M-1iA / 0.5S" from Fanuc. These robots are currently used mainly in the food industry to individually position food in thermoforming trays.

The first feederhouse 23 promotes from the first single element storage 22 in bulk stored first individual elements on the first conveyor belt 24 on which they then rest unordered. Again, all three types of first individual elements 50a . 50b . 50c again, it should be mentioned that usually only one type of first individual elements is processed at a time. The first individual elements are usually box-like components which are completely open or fully open at the top. After the first feederhouse 23 this on the first conveyor belt 24 In principle, the first individual elements can always be upside down (correct position) or upside down (wrong position - in 2 crossed out) or even on one side. The first robot 27 can only those first elements grip, which lie with their top side upwards (this will be later again with reference to the 3a to 3c received). The first camera 26 So watch the top of the first conveyor belt 24 and recognizes such first individual elements which from the first robot 27 can be grasped. The position and orientation of such suitable individual elements are determined by the controller with which the first camera 26 is connected (not shown) the first robot 27 transmitted, which then engages a corresponding first element and stores exact position in the space provided for receiving a receiving element. Ungripped first individual elements are transported via the first return conveyor 25 to the first single element bearing 22 recycled.

The transport device 10 promotes each equipped with a first single element receiving elements 12 at the third feeder 40 passing, which introduces contact elements in the first individual elements in a known manner. In the exemplary embodiment shown, these contact elements, which are third individual elements in the nomenclature of this application, only directly on the transport device of a punching tape 52 separated. The two punching bands 52 are from a stamping machine 54 generated immediately before. This procedure is known in the art and need not be further explained here. Alternatively, it is also possible to design the third feed device as the two first feeders. In this case, already isolated contact elements would be conveyed on a conveyor belt and used with a gripping robot, which is designed as the first and the second gripping robot, in the first single element.

The so equipped first individual elements are at the second feeder 30 conveyed along, as well as the first feeder described above 20 is constructed. The only difference in the operation here is that the second individual elements supplied there are not stored in the receptacles of the receiving elements, but are latched onto the first individual elements arranged in the receiving elements. However, the basic procedure is as just described, in particular, by the second robot 37 only those second individual elements are used, which are classified as "correctly lying".

The grippers 27a . 37a the two robots can be equipped in particular with relatively movable pliers and / or with suckers.

As a rule, the inclined conveyors are moving 23 . 33 , the conveyor belts 24 . 34 and the return promoters 25 . 35 continuously. The transport device 10 preferably moves the receiving elements gradually, so that they are at rest when feeding the individual elements or the contact elements.

The 4 shows a Aufnahmeelment 12 as it is in the 2 can be seen in the plan view. You can see the three recesses 12a . 12b . 12c , which are each provided for receiving a different first single element. When using such Aufnahmeelemnte three different modules can be produced without having to replace the receiving elements.

The 5 shows an alternative to that in 4 Shown. Here is just a common recess 12d present, the outer contour but a superposition of the contours of the three recesses 12a . 12b . 12c of the receiving element of 4 is how you can easily recognize. This common recess 12d is to receive the same individual elements as the three voneiender separate recesses 12a . 12b . 12d of the receiving element of 4 suitable.

In the 3a to 3c is again very schematically shown what is understood by "right" first individual elements and "wrong" first individual elements. This shows the 3a a right lying and the 3b and 3c each one wrong lying single element.

LIST OF REFERENCE NUMBERS

10

transport means

12

receiving element

12a

first recess

12b

second recess

12c

third recess

12d

common recess

20

first feeder

22

first single element storage

23

first feederhouse

24

first conveyor belt

25

first return conveyor

26

first camera

27

first robot

27a

first gripper

28

first frame

30

second feeder

32

second single element bearing

33

second feederhouse

34

second conveyor belt

35

second return conveyor

36

second camera

37

second robot

37a

second gripper

38

second frame

40

third feeder

42

punching machine

50, 50 ', 50 "

first individual elements

52

punched tape

54

punching machine

Claims (7)

Device for automatically mounting an assembly comprising at least a first and a second individual element, comprising: a transport device (10) with at least one receiving element (12) which is designed to receive at least a first individual element in a positionally accurate manner, - a first supply device (20) for Feeding respectively a first single element from a first single element bearing (22) to the receiving element (12) and - a second feeding device (30) for feeding respectively a second single element from a second single element bearing (32) to the receiving element (12) and for positioning this second single element , on or in a first individual element received by the receiving element (12), which was transported by the transport device from the first feed device (20) to the second feed device (30), characterized in that the first feed devices (20) comprise a first conveyor belt (24) , a first B eschicker, which feeds the first conveyor belt (24) in a disordered manner with first individual elements from the first single-element bearing (22), a first camera (26) and a first gripper robot (27) controlled by means of the first camera, which gripper is mounted on the first conveyor belt (27). 24) randomly resting first individual elements engages and the receiving element (12) supplies positionally accurate, and that the second feed means (30) a second conveyor belt (34), a second feeder, the second conveyor belt (34) disordered with second individual elements from the second Single element bearing (32) feeds a second camera (36) and a second gripping robot (37) controlled by means of the second camera (36), which grips second individual elements lying on the second conveyor belt (34) in a disorderly manner and on, on or in from the receiving element (12) received first individual elements, which from the transport device of the first Zuführei tion were transported to the second feeder, arranges. Device after Claim 1 , characterized in that each feeder further comprises a return conveyor (25, 35) which conveys individual elements which have not been gripped by the gripping robot to the single element storage. Device after Claim 1 or Claim 2 , characterized in that the transport device has a plurality of circumferential receiving elements. Device according to one of the preceding claims, characterized in that each receiving element has at least one recess (12a, 12b, 12c, 12d) for the positionally accurate recording of a first individual element. Device after Claim 4 , characterized in that each receiving element has at least two recesses, wherein these two recesses have different contours. Device after Claim 4 , characterized in that each recess is contoured so that it can accommodate at least two different first individual elements. Device according to one of the preceding claims, characterized in that between the first and the second supply means, a third supply means for the arrangement of third individual elements in or on the first individual elements is provided.

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