Processing system for a moving workpiece and method of positioning the processing system

• US 8,250,743 B2
• Filed: 02/14/2007
• Issued: 08/28/2012
• Est. Priority Date: 06/03/2006
• Status: Active Grant

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Habisreitinger, Uwe
• Primary Examiner(s): Banks, Derris
• Assistant Examiner(s): PARVEZ, AZM A
• Application Number:
  US12/303,279
• Publication Number:
  US 20090226292A1
• Time in Patent Office: 2,022 Days
• Field of Search: 295/59, 298/22, 298/23, 298/24, 292/801, 901/6, 901/7
• US Class Current: 29/822
• CPC Class Codes: 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
• CPC Class Codes: B23P 21/008 the assembling machines or tools moving synchronously with the units while these are being assembled
• CPC Class Codes: B23P 2700/50 Other automobile vehicle parts, i.e. manufactured in assembly lines
• CPC Class Codes: B25J 5/02 travelling along a guideway
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: Y10T 29/49998 Work holding
• CPC Class Codes: Y10T 29/53539 including work conveyor
• CPC Class Codes: Y10T 29/53543 including transporting track
• CPC Class Codes: Y10T 29/53548 and work carrying vehicle
• CPC Class Codes: Y10T 29/53961 with work-holder for assembly

Abstract

The processing system (10) serves for processing a moving workpiece (12) by means of an industrial robot (16) that can be rigidly coupled, intermittently, to the workpiece (12) and/or to a movable workpiece carrier unit (14), the industrial robot (16), when in a decoupled operating position (42), being carried by a carrier device (18) that is movable, independently of a workpiece, by means of a drive unit (20) acting with active drive, and, when in a coupled operating position (44), being floatingly mounted relative to the carrier device (18) by means of a floating bearing system (22).

Provision is made in this case whereby, in a coupled operating position (44) of the industrial robot (16), the drive unit (20) does not act with active drive upon the carrier device (18), the carrier device (18) being moved concomitantly, at least intermittently, by the moving workpiece (12) and/or by the moving workpiece carrier unit (14), by means of the floating bearing system (22), when the industrial robot (16) has been coupled.

Further provided is a positioning method for an industrial robot (16) of such a processing system (10), which industrial robot (16) can be coupled to a moving workpiece (12).

Claims

1. A processing system (10) for processing a moving workpiece (12) by means of an industrial robot (16) that can be rigidly coupled, intermittently, to the workpiece (12) and/or to a movable workpiece carrier unit (14), the industrial robot (16), when in a decoupled operating position (42), being carried by a carrier device (18) that is movable, independently of a workpiece, by means of a drive unit (20) acting with active drive, and, when in a coupled operating position (44), being floatingly mounted relative to the carrier device (18) by means of a floating bearing system (22), wherein, in a coupled operating position (44) of the industrial robot (16), the drive unit (20) does not act with active drive upon the carrier device (18) and the carrier device (18) is moved concomitantly, at least intermittently, by the moving workpiece (12) and/or by the moving workpiece carrier unit (14), by means of the floating bearing system (22).

2. The processing system as claimed in claim 1, wherein the carrier device (18) has a floating carrier unit (24) for moving the industrial robot (16) with reduced friction.

3. The processing system as claimed in claim 2, wherein the floating carrier unit (24) is an air cushion unit (26).

4. The processing system as claimed in claim 1, wherein the drive unit (20) is a friction wheel system which is connected or connectable to a guidance system (54) provided for the carrier device (18).

5. The processing system as claimed in claim 1, wherein the carrier device (18) has a platform (30), to which the industrial robot (16) is rigidly connected when in a decoupled operating position (42) and is floatingly connected when in a coupled operating position.

6. The processing system as claimed in claim 5, wherein the industrial robot (16) is connected to the platform (30) via an interposed height compensation system (46).

7. The processing system as claimed in claim 5, wherein the platform (30) is carried by the floating carrier unit (24) with reduced motional force.

8. The processing system as claimed in claim 5, wherein the industrial robot (16), when in a coupled operating position (44), is floatingly connected to the platform (30) by means of an air cushion system (32).

9. The processing system as claimed in claim 1, wherein the industrial robot (16) has a weight compensation unit (34), which, in dependence on a movement of the industrial robot (16), can be brought into an appropriate compensating position by means of a control unit (36) of the industrial robot (16).

10. The processing system as claimed in claim 1, wherein a control unit (36) of the industrial robot (16) and/or at least one production unit (40) is/are additionally arranged on the carrier device (18).

11. The processing system as claimed in claim 10, wherein the production unit (40) is a further industrial robot and/or a load carrier and/or a processing unit.

12. The processing system as claimed in claim 10, wherein the production unit (40) is an exchangeable and/or expandable module.

13. The processing system as claimed in claim 1, wherein the carrier device (18) is exchangeable and/or expandable module.

14. The processing system as claimed in claim 1, wherein it includes a coupling device (66) coupled to the industrial robot (16) by means of a floating bearing unit (72) that can be activated.

15. The processing system as claimed in claim 14, wherein, in the coupled operating position (44), the coupling device (66) is connected to the industrial robot (16) in a motionally rigid manner and, in the decoupled operating position (42), is floatingly connected thereto.

16. The processing system as claimed in claim 14, wherein the coupling device (66) has a connection system (84) for effecting a connection to the moving workpiece carrier unit (14) and has a gripping system (80) for effecting a connection to the moving workpiece (12).

17. A method for positioning an industrial robot (16) of a processing system (10) as claimed in claim 1, which industrial robot (16) can be rigidly coupled, intermittently, to a movable workpiece (12) and/or to a movable workpiece carrier unit (14), the processing system (10) having a carrier device (18) that is movable, independently of a workpiece, by means of a drive unit (20) and that carries the industrial robot (16) in the decoupled operating state (42), wherein, in the coupled operating state (44), the industrial robot (16) moved concomitantly by the moving workpiece moves the carrier device (18) concomitantly, at least intermittently, by means of a floating bearing system (22), the carrier device (18) being movable on the sub-floor (11) with reduced motional friction by means of a floating carrier unit (24).

18. The method as claimed in claim 17, wherein the floating bearing system (22) is an air cushion system (32) and the floating carrier unit (24) is an air cushion unit (26).

19. The method as claimed in claim 17, wherein the carrier device (18) is movable in a directionally defined manner on the sub-floor (11) by means of a guidance system (38).

20. The method as claimed in claim 17, wherein the industrial robot (16) is rigidly connected to the carrier device (18), the carrier device (18) is then moved into a coupling position relative to the workpiece (12), a coupling device (66) that is floatingly connected to the industrial robot (16) is then coupled to the workpiece (12) and/or to the workpiece carrier unit (14), the industrial robot (16) is then floatingly connected to the carrier device (18), the coupled coupling device (66) is then rigidly connected to the industrial robot (16) and, upon a workpiece movement (48), the carrier device (18) is then moved concomitantly by means of the floating bearing system (22) of the industrial robot (16).

21. The method as claimed in claim 20, wherein the workpiece (12) is moved at the instant of coupling of the coupling device (66).