DE202015101427U1 - mounter - Google Patents

Abstract

Mounting device for discs (5) on disc cutouts (3) of objects (2), in particular vehicle bodies, characterized in that the mounting device (1) a controllable (15), powered vehicle (6) with a working platform (11) for a worker ( 10) and with a preferably tactile programmable industrial robot (8) with a tool (9) for applying a mounting aid, in particular an adhesive and / or a sealant having.

Description

The invention relates to a mounting device with the features in the preamble of the main claim.

From practice it is known to mount window panes of rail vehicles by hand and glue. Here, all process steps, such as the provision and preparation of the discs, as well as the adhesive application and the disc installation are performed manually. A fully automatic windscreen assembly with stationary robots as in the car manufacturing is too expensive and too expensive for rail vehicles and other vehicles.

It is therefore an object of the present invention to improve the mounting technique for discs.

The invention solves this problem with the features in the main claim. The claimed mounting device for windows, in particular window panes, allows a partial automation of the pane mounting. It is suitable for any objects, in particular vehicle bodies. This can e.g. Vehicle bodies of land-air and water vehicles. These include, in particular motor vehicles, cars, buses or other road vehicles, rail vehicles and aircraft or boats. Special advantages exist with rail vehicles or aircraft.

The assembly device improves and accelerates the assembly process and increases the process performance. In addition, the ergonomics for the worker is improved. The process time of the industrial robot and the worker can be overlapped, thereby shortening the assembly process and increasing performance.

The industrial robot may use a mounting tool, e.g. Apply an adhesive and / or a sealant fully automatically with high precision and speed. The quality and performance of the coating is significantly improved compared to a manual application and the quality of the final product is increased.

With a controllable and powered vehicle, the work platform for the worker and the industrial robot can be quickly and accurately positioned on the window pane of the object. An omnidirectional movable and steerable vehicle with Mecanum wheels is particularly advantageous for this purpose. It can go in any direction and turn on the spot. The object with the disk cutout can remain at rest during the assembly process and does not have to be moved and positioned by itself. With the claimed vehicle also the platform and the industrial robot can be moved after completion of a disc assembly quickly and accurately to the next disc cut and the local disc assembly. The vehicle can be manually controlled by the operator or automatically.

The mounting device is preferably self-sufficient. On the vehicle all necessary equipment can be arranged and taken away. This includes a supply device for the assembly tool, a disc holder for a plurality of discs, a control panel and possibly a support or a pedestal for the industrial robot. In addition, an entrained power supply may be present. For easy and quick adaptation to different positions, especially at high altitudes, of pane cut-outs, the work platform can be adjustable, in particular height-adjustable. If necessary, the industrial robot can be arranged correspondingly adjustable.

The industrial robot is preferably designed as a tactile robot. He has thereby sensitive capabilities that can be used advantageously both for the assembly process, in particular the application process and possibly a test process, as well as for a human-robot cooperation or collaboration (MRK). The industrial robot and the worker can work side by side without the worker being threatened with a significant risk of injury.

In the subclaims further advantageous embodiments of the invention are given.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

1 and 2 a side view and a top view of a mounting device on a rail vehicle and

3 : a tactile industrial robot in extended position and in perspective view.

The invention relates to a mounting device ( 1 ) for one or more slices ( 5 ) on an object ( 2 ). The invention also relates to an assembly method.

The one or more discs ( 5 ) are formed in the embodiment shown as a window glass, which consists of a transparent or opaque material, such as glass, plastic or the like. Alternatively or additionally, a disc ( 5 ) may be formed as a lid or as a diaphragm. The single disc ( 5 ) forms eg one dimensionally stable and manageable body, where it may have a limited bending elasticity.

The disc ( 5 ) is attached to a slice ( 3 ) in the wall of an object ( 2 ) assembled. The disk cutout ( 3 ) may have a frame. Furthermore, at the disk cutout ( 3 ) a receiving area ( 4 ) provided for the disc edge. The recording area ( 4 ) may be formed as inwardly projecting and circumferential flange.

The object ( 2 ) can be configured arbitrarily. In the exemplary embodiments shown, it is a vehicle, in particular a rail vehicle or a road vehicle with a special construction or an aircraft. It has a body designed as a body with a wall and the local one or more disc cutouts ( 3 ) on. The wall and the pane cutouts ( 3 ) preferably have an upright position or main plane and may have a greater distance from the ground, for example, greater than the usual human working height.

The mounting device ( 1 ) is used for semi-automatic mounting of windows by a worker ( 10 ) together with a multi-axis, programmable and preferably tactile industrial robot ( 8th ) is carried out. The mounting device ( 1 ) is intended and trained for human-robot cooperation or collaboration (MRK).

The mounting device ( 1 ) has a vehicle ( 6 ) with a working platform ( 11 ) for the worker ( 10 ) and with the industrial robot ( 8th ), which is a tool ( 9 ) leads. The tool ( 9 ) is, for example, as a job tool for a mounting tool, such as an adhesive and / or a sealant formed.

The vehicle ( 6 ) has its own drive (not shown) and can be controlled manually by the operator ( 10 ) or controlled automatically. The vehicle ( 6 ) can be moved and steered in different directions. The vehicle ( 6 ) has several wheels ( 7 ) and can drive on the ground.

In the illustrated and preferred embodiments, the vehicle is ( 6 ) omnidirectional and can also rotate on the spot. The wheels ( 7 ) are designed for this example as Mecanum wheels. This allows the vehicle ( 6 ) in any direction on a straight or curved path. It can also drive curves with arbitrary radii. Alternatively, the vehicle ( 6 ) on rails or otherwise relative to the object ( 2 ).

On the vehicle ( 6 ) is the work platform ( 11 ) arranged. It occupies an elevated position relative to the ground and can be removed by the worker ( 10 ) by means of a climb, for example a ladder. The work platform ( 11 ) can be used, for example, as a platform with a suitable protective device which can be removed in places, eg in the form of a railing, for the worker ( 10 ) be formed. The work platform ( 11 ) can be rigid or adjustable on the vehicle ( 6 ) can be arranged.

The adjustment can take place in any desired manner and in one or more directions or adjustment axes. Preferably, a height adjustment is provided, so that the working platform ( 11 ) and the working level of the worker ( 10 ) to different heights of pane cutouts ( 3 ) can be adjusted. The adjustment, in particular height adjustment, can be manually operated or provided with a drive and controllable.

The industrial robot ( 8th ) can be mounted on the fixed or adjustable platform ( 11 ) can be arranged. He can alternatively on a separate carrier ( 24 ), which is, for example, like a column and formed as a pedestal. The industrial robot ( 8th ) can be attached to the carrier ( 24 ) rigid or also adjustable in the manner described above, in particular height-adjustable, be arranged.

On the vehicle ( 6 ) there is also a supply device ( 14 ) for the mentioned assembly aid with which the disc ( 5 ) at the edge on or in the disk cutout ( 3 ), in particular at the reception area ( 4 ), and sealed against environmental influences. The supply device ( 14 ) For this purpose, for example, have a reservoir and a controllable conveyor for the assembly tool. The reservoir can be designed as a pressure tank. The conveyor may have a controllable pump with a conduit and a port. The connection is used to connect the line with the application tool ( 9 ). With this, the assembly aid in a closed track shape on the receiving area ( 4 ) applied. Alternatively, an order may be made in discrete points or short track pieces. The application tool ( 9 ) has, for example, an optionally controllable nozzle unit.

On the vehicle ( 6 ), a controller ( 15 ) for the vehicle and possibly other components of the mounting device ( 1 ) can be arranged. Furthermore, the vehicle ( 6 ) a preferably entrained energy supply for the traction drive, the industrial robot ( 8th ), the supply facility ( 14 ), the control ( 15 ) and possibly other components of the mounting device ( 1 ) exhibit. The drive is preferably designed as an electric motor drive. For this one can electrical power supply, in particular a battery or the like. Be present.

At the vehicle ( 6 ), a control panel ( 25 ) in the workspace of the worker ( 10 ) can be arranged. It may, for example, on the possibly height-adjustable work platform ( 11 ) are located. With the control panel and its one or more controls, the operator can ( 10 ) the vehicle ( 6 ) steer and steer if necessary while driving. He may also be the possibly or the actuators for the platform ( 11 ) and possibly the industrial robot ( 8th ) serve. The control panel ( 25 ) is with the controller ( 15 ) and possibly also with the robot controller ( 23 ) of the industrial robot ( 8th ) connected. The latter can be used by the worker ( 10 ), if necessary, the industrial robot ( 8th ) control and move.

At the work platform ( 11 ) is a disc holder ( 12 ) for several slices ( 5 ) arranged. The disc holder ( 12 ) is eg as a rack for the distanced single recording of discs ( 5 ) educated. Furthermore, at the work platform ( 11 ) manual tools for the worker ( 10 ) disc pretreatment to be performed.

With the mounting device shown ( 1 ), the mentioned semi-automated assembly of the disc ( 5 ) at the disk cutout ( 3 ). The worker ( 10 ) controls the vehicle manually ( 6 ) into the working position on the object ( 2 ) and at the disk cutout ( 3 ). The approach and positioning at the working position can alternatively fully automatically by means of an appropriately designed control ( 15 ) and an associated sensor.

The disk installation is carried out in a human-robot collaboration (MRK). On the work platform ( 11 ) is an MRK zone ( 13 ) with a common work area of the worker ( 10 ) and the industrial robot ( 8th ) arranged. The worker ( 10 ) prepares the disc ( 5 ) for assembly, it removes from the disc mount ( 12 ) and place it in the disk cutout ( 3 ) or on the receiving area ( 4 ) on which the industrial robot ( 8th ) previously with his tool ( 9 ) has applied the said assembly aid. The order by the industrial robot ( 8th ) takes place automatically along the receiving area ( 4 ) and a preprogrammed and in the robot controller ( 23 ) stored web. The order is handled by the industrial robot ( 8th ) controlled and logged.

The industrial robot ( 8th ) is preferably designed as a tactile robot that has sensitive properties. He can use these sensitive properties, the disk cut ( 3 ) or the recording area ( 4 ) independently and then follow its course as well as the programmed path for the order of the assembly tool. He can do this for a search and tracking function.

Alternatively or additionally, additional devices may be present for the search and / or tracking function, e.g. for edge detection, in particular guide rollers.

Alternatively, the worker ( 10 ) the industrial robot ( 8th ) manually and with his tool ( 9 ) at the disk cutout ( 3 ) or recording area ( 4 ) and at the reference or start point of the programmed application path. This can be done via the control panel ( 25 ) or by manually gripping and guiding the tool ( 9 ) with soft switched industrial robot ( 8th ) respectively. The track tracking works again automatically with the mentioned tracking function.

The industrial robot ( 8th ) can also be a test function for a press-in and / or depth control of the worker ( 10 ) mounted disc ( 5 ) exhibit. In doing so, for example, he scans the edge of the pane and its spatial position in a revolving movement. He can also scan the surrounding wall edge and determine its position. The position values can be compared with default values, whereby the test result is logged and displayed. In particular, any faulty connection points and their position for a possibly manual post-processing can be displayed here.

At the control panel ( 25 ) or elsewhere for this purpose, a corresponding display (not shown) may be arranged, which is formed, for example, optically and possibly also acoustically. The display can also be used for possibly position-related signaling of the inspection results during the automatic order of the assembly aid and possibly occurring order errors.

The in 3 industrial robots ( 8th ) has a plurality, eg three, four or more, movable and interconnected robot members ( 16 - 19 ) on. It also has several, eg five, six, seven or more, powered robot axes (I-VII). These may be rotational and / or translational and be present in any number and Kofiguration. The robot members ( 16 - 19 ) are preferably articulated and connected via rotating robot axes (I-VII) to each other and to a pedestal. The base can have a connection for equipment and can optionally control the robot ( 23 ) take up. It is also possible that individual robot members ( 17 . 18 ) are in several parts and in itself movable, in particular rotatable about the longitudinal axis, are formed.

In the illustrated embodiment, the industrial robot ( 8th ) designed as Gelenkarm- or articulated robot and has seven driven robot axes or axes of motion (I-VII). The robot axes (I-VII) are connected to the robot controller ( 23 ) and can be controlled and possibly regulated. The industrial robot ( 8th ) preferably has one or more force-controlled or force-controlled robot axes (I-VII).

The output end member ( 19 ) of the robot ( 8th ) is designed, for example, as a robot hand and has this about an output axis ( 21 ) rotatable output element ( 20 ), eg an output flange. The output axis ( 21 ) forms the last robot axis VII. By a possibly hollow output element ( 20 ) and possibly other robot members ( 16 - 19 ) can be one or more lines for resources, such as power and signal streams, fluids, etc. performed and on the output element ( 20 ) step outside and to the tool ( 9 ). The tool ( 9 ) can with the output element ( 20 ) be connected directly or possibly with the interposition of an automatic change coupling and possibly also a media coupling for resources.

The industrial robot ( 8th ) indicates with the carrier ( 24 ) or the working platform ( 11 ) Base member connected by a socket ( 16 ) and the aforesaid end member ( 19 ) and two intermediate links ( 17 . 18 ) on. The industrial robot ( 8th ) can according to 1 and 2 be arranged laterally and with horizontal orientation. The intermediate links ( 17 . 18 ) are multipart and rotatable by means of axes (III) and (V) are formed. The number of intermediate links ( 17 . 18 ) may alternatively be smaller or larger. In a further modification, individual or all intermediate links ( 17 . 18 ) Be formed in rotation and without additional axis. The robot members ( 17 . 18 ) can be a straight or according to 3 have angled shape.

The tactile industrial robot ( 8th ) has an associated, preferably integrated sensor system for its sensitive capabilities ( 22 ) for detecting externally acting mechanical loads, in particular forces and / or moments on. The sensors ( 22 ) is connected to the robot controller ( 23 ) connected by signal technology. It is preferably in the industrial robot ( 8th ), in particular in its robot links ( 16 - 19 ) integrated. Alternatively, it can be located elsewhere, eg at its output element ( 20 ) or on the tool ( 9 ) can be arranged. The sensors ( 22 ) may comprise one or more sensors, in particular force sensors and / or torque sensors and possibly position or position sensors.

The robot axes (I-VII) each have an axle bearing, for example a rotary bearing or a joint, and an here associated and integrated controllable, possibly adjustable final drive, eg rotary drive, on. In addition, the robot axes (I-VII) a controllable or switchable brake and the mentioned possibly redundant sensor ( 22 ) for the detection of externally acting mechanical loads. In the 3 schematically indicated integrated sensor system ( 22 ) may have one or more sensors on each one or more robot axes (I-VII). These sensors can have the same or different functions. In particular, they can be designed to detect moments, rotational movements and possibly rotational positions.

The industrial robot ( 8th ) may have one or more compliant robot axes (I-VII) or compliant axle drives with a compliance control. The compliance control can be a pure force control or a combination of a position and a force control. Such a flexible robot axis (I-VII) can be used for the detection of the reaction forces and / or reaction moments occurring in the assembly process in conjunction with the respective current robot or axis position and allows a process-appropriate response to any deviations of the detected values from a specification.

The aforementioned force control or force control of the robot axes (I-VII) refers to the effect on the output element ( 20 ) of the end member ( 19 ) as well as on the reaction forces acting there. Robot-internally, a torque control or torque control takes place on the rotating axes or axle drives.

The tactile industrial robot ( 8th ) can have different modes of operation with different stiffnesses or compliance of its robot axes (I-VII). This can be, for example, a manual mode, a positioning or search mode and a stiffness mode. You can switch between the operating modes as needed.

The preferably tactile industrial robot ( 8th ) is suitable for MRK. Its compliant robot axis (s) (I-VII) avoid accidents with the worker ( 10 ) and crashes with objects in the work area by force limitation and possibly standstill or resilient Dodge in the event of unforeseen collisions. The tactile industrial robot ( 8th ) can thus also be used for human-robot cooperation or collaboration (MRC) in partial automation. The MRK-compatible industrial robot ( 8th ) can detect and respond to a touch contact with the human body or other obstacles. He may, for example, stop or, if necessary, also move away from the contact point, in particular move back. For the reaction to a touch contact, there may be different levels of stress and reaction thresholds. The tactile industrial robot ( 8th ) can with the worker ( 10 ) in the MRK zone ( 13 ) work without a fence or other machine boundary without the worker ( 10 ) to hurt. It can also come to painless contacts.

The illustrated tactile industrial robot ( 8th ) may be designed as a lightweight robot and made of lightweight materials, eg light metals and plastic. He also has a small size. In addition, he can have a low load capacity of eg 5 to about 20 kg. The simplistic tool in its construction and function ( 9 ) also has a low weight. The industrial robot ( 9 ) with his tool ( 9 ) is thus lightweight overall and can be transported without much effort and moved from one location to another. The weight of industrial robots ( 9 ) and tools ( 9 ) can be less than 50 kg, in particular about 30 kg. Due to the possibility of manual teaching, the mounting device ( 1 ) can be quickly and easily programmed, put into operation and adapted to different processes.

Variations of the embodiments shown and described are possible in various ways. In particular, the features of the various embodiments and the abovementioned modifications can be arbitrarily combined with each other, in particular also be reversed.

The industrial robot ( 8th ) may be formed in another way, in particular not tactile. For example, it can have position-controlled robot axes (I-VII). Its MRK capability can be achieved in other ways, eg by proximity sensors, optical work space monitoring or the like.

The industrial robot ( 8th ), if necessary, the application tool ( 9 ) and pick up another tool. This may be, for example, a special test tool for the test process or processes mentioned above. Furthermore, a tool ( 9 ) of the industrial robot ( 8th ) as a gripping tool for a disc ( 5 ), with which the manual power of the worker ( 10 ) is supported. At the work platform ( 11 ) may alternatively for ergonomic purposes, a separate support device (not shown), for example, a pivoting balancer with counterweight, for the disc ( 5 ) can be arranged.

LIST OF REFERENCE NUMBERS

1

 mounter

2

 Object, body

3

 Slice cut-out, frame

4

 Pick-up area, flange

5

 disc

6

 vehicle

7

 Wheel, Mecanum wheel

8th

 Industrial robots, lightweight robots

9

 Tool, application tool

10

 improvement

11

 platform

12

 Disc holder, rack

13

 MRK zone

14

 supply

15

 control

16

 Robotic link, base link

17

 Robotic link, intermediate link

18

 Robotic link, intermediate link

19

 Robotic link, end link

20

 output element

21

 output shaft

22

 sensors

23

 robot control

24

 Carrier, pedestal

25

 control panel

I-VII

 Axis of robot

Claims (18)

Mounting device for discs ( 5 ) on pane cutouts ( 3 ) of objects ( 2 ), in particular vehicle bodies, characterized in that the mounting device ( 1 ) a controllable ( 15 ), powered vehicle ( 6 ) with a working platform ( 11 ) for a worker ( 10 ) and with a preferably tactile programmable industrial robot ( 8th ) with a tool ( 9 ) for the order of a mounting aid, in particular an adhesive and / or a sealant having. Mounting device according to claim 1, characterized in that the vehicle ( 6 ) is formed omnidirectionally movable and steerable. Mounting device according to claim 1 or 2, characterized in that the vehicle ( 6 ) several wheels ( 7 ), in particular Mecanum wheels. Mounting device according to claim 1, 2 or 3, characterized in that the vehicle ( 6 ) manually from the worker ( 10 ) or is automatically controllable. Mounting device according to one of the preceding claims, characterized in that on the vehicle ( 6 ) one with the tool ( 9 ) connected supply device ( 14 ) is arranged for the assembly aid. Mounting device according to one of the preceding claims, characterized in that at the working platform ( 11 ) a disc holder ( 12 ) for several slices ( 5 ) is arranged. Mounting device according to one of the preceding claims, characterized in that the work platform ( 11 ) and possibly the industrial robot ( 8th ) adjustable, in particular height-adjustable, is arranged. Mounting device according to one of the preceding claims, characterized in that the mounting device ( 1 ) is provided and designed for human-robot cooperation or collaboration (MRK). Mounting device according to one of the preceding claims, characterized in that on the working platform ( 11 ) an MRK zone ( 13 ) with a common work area of the worker ( 10 ) and the industrial robot ( 8th ) is arranged. Mounting device according to one of the preceding claims, characterized in that the industrial robot ( 8th ) is designed for MRK suitable. Mounting device according to one of the preceding claims, characterized in that the industrial robot ( 8th ) a plurality of movable, in particular rotatable, interconnected members ( 16 . 17 . 18 . 19 ) and a plurality of translatory and / or rotary robot axes (I-VII). Mounting device according to one of the preceding claims, characterized in that the industrial robot ( 8th ) has five, six, seven or more robot axes (I-VII). Mounting device according to one of the preceding claims, characterized in that the tactile industrial robot ( 8th ) has one or more force-controlled or force-controlled robot axes (I-VII). Mounting device according to one of the preceding claims, characterized in that the tactile industrial robot ( 8th ) an associated, preferably integrated, sensor ( 22 ) for detecting externally acting mechanical loads, in particular forces and / or moments. Mounting device according to one of the preceding claims, characterized in that the tactile industrial robot ( 8th ) an integrated sensor system ( 22 Having sensors, in particular torque sensors and possibly displacement or position sensors, on the preferably rotary robot axes (I-VII). Mounting device according to one of the preceding claims, characterized in that the industrial robot ( 8th ) has at least one compliant robot axis (I-VII) with a compliance control, in particular a pure force control or a combination of position and force control having. Mounting device according to one of the preceding claims, characterized in that the tactile industrial robot ( 8th ) a search function and / or a tracking function for an application area ( 4 ), in particular a flange, on the disk cutout ( 3 ), having. Mounting device according to one of the preceding claims, characterized in that the tactile industrial robot ( 8th ) a test function for a press-in and / or depth control of the mounted disc ( 5 ) having.

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