DE10313463B3 - Carrying out working operation on moving workpiece with synchronously moved robot involves raising base from longitudinal guide to floating state relative to all 6 degrees of freedom in working phase - Google Patents

Abstract

Method involves coupling the base part of the robot rigidly to the workpiece or to a component rigidly attached to the workpiece in all 6 degrees of freedom on the one hand and raising it from a guide on the other hand and holding it in a floating state relative to all 6 degrees of freedom in a known movement play volume during a working phase. The base is only carried by the guide in non-floating manner during acceleration and static phases. The method involves coupling the base part (14) of the industrial robot (10) rigidly to the workpiece (3) or to a component (5) rigidly attached to the workpiece in all six degrees of freedom on the one hand and raising it from a longitudinal guide on the other hand and holding it in a floating state relative to all six degrees of freedom within a known movement play volume during the working phase. The base part is only carried by the guide in non-floating manner during acceleration and stationary phases. AN Independent claim is also included for a device for carrying out a working operation on a moving workpiece with a synchronously moved industrial robot.

Description

The invention relates to a method and a device for performing a working operation on a continuously moving on a conveyor workpiece by a mitbewegende with the workpiece industrial robot according to the preamble of claim 1 (method) or of claim 7 (device), both of which, for example, from U.S. Patent 3,283,918 as known.

In mass production of goods has the continuous advancing of the workpieces besides avoiding always recurring acceleration and deceleration processes of the workpiece very special advantage that the workstations are not connected to one uniform length or a uniform, rigid station spacing are bound and that a change between continuous and clocked manufacturing can be omitted. The latter always made space-consuming buffer zones and / or expensive workpiece storage required in the production halls. Rather, the workstations can be flexible the continuous workpiece flow be assigned.

In the automated painting of workpieces, for example in the interior painting of vehicle bodies by means of painting robot, it is known (cf., for example, the EP 220 687 B1 ) to advance the workpieces continuously on a conveyor and to move the painting robots during painting synchronously with the corresponding workpiece. When interior painting of vehicle bodies, the doors or flaps of the body can be opened and closed again during the body race by also synchronously mitfahrende, simple opening and closing devices.

Although it has long been the goal This automated, belt-synchronous mode of operation also applies to assembly or to extend other working operations than painting There, too, the advantages of a tact-free operation and a flexible station distribution to achieve. This effort failed always because that for assembly operations, mechanical Machining operations, welding operations or the like. On the workpiece Required constant position between the workpiece on the one hand and industrial robots On the other hand, could not be achieved to a sufficient degree. Only lacquering allow a certain mutual positional tolerance, which with conventional Systems of the type mentioned was achievable.

The aforementioned U.S. Patent 3,283,918 shows a multi-axis, programmable industrial robot, which is parallel to a conveyor belt assembly or processing line by means of flange wheels on guide rails in the longitudinal direction movable and selectively driven. At the end of his working arm, the industrial robot carries a robot tool designed to carry out a work operation. It is desirable to track the industrial robot during the execution of the programmed work belt synchronously to the assembly line, so that as constant as possible relative position between the industrial robot and the workpiece is maintained during the movement and the execution of the working operation. At the end of processing, the industrial robot is returned at full speed to the starting position, so that it can perform the same processing in a synchronized manner on the next workpiece. In order to bring about a synchronization between industrial robot and workpiece, is in a in the U.S. Patent 3,283,918 shown embodiment of each moving on the conveyor workpiece itself or on a rigidly connected to the workpiece workpiece carrier each a laterally projecting driving pin arranged, to which the industrial robot is coupled. So that the industrial robot does not need to be dragged by the conveyor belt, the industrial robot is moved in another embodiment shown there during synchronous operation by a self-propelled industrial robot.

A disadvantage of the U.S. Patent 3,283,918 known device for belt-synchronous assembly is that despite the enforced by the mechanical coupling between industrial robot and workpiece reciprocal synchronism still occur relative movements between them, which prevent an exact working operation. As has been found out, the guiding inaccuracies of the conveyor belt for the workpiece on the one hand and inaccuracies of the guide rails for the industrial robot on the other hand are responsible for these surprising relative movements. These inaccuracies add up to relative movements that exceed the positional tolerance required for a mechanized joining, machining, or welding operation. Therefore, synchronous operation caused by a positive coupling between the industrial robot and the workpiece is not suitable for carrying out accurate work operations by a co-moving industrial robot.

The DE 35 16 284 A1 shows an apparatus for automated, belt synchronous assembly of doors to vehicle bodies, which are conveyed on a conveyor, namely on towed guided by rails and wheeled on body supports continuously. The above the conveyor for the bodies in a suspension conveyor of the assembly station supplied doors are mounted simultaneously on two opposite sides of the body, for which each side of the vehicle a respective mounting robot is provided. Each of the robots is mounted on platforms movable parallel to the conveyor net, which are guided by means of slides on fixed guide profiles and can be selectively moved by a drive. In addition to the robot and the drive, a screw-on device is also provided on the movable platforms. In order to ensure in the known mounting device not only exact synchronism between the two opposing robots and the continuously transported body, but also a defined and always consistent relative position between the two, is at each of the two robotic platforms on the conveyor belt facing longitudinal side in each case a lifting and centering device is provided, with which the body detected in the sill area right and left at the same time, lifted from the body support and can be centered in the longitudinal and / or transverse direction.

At the beginning of a working game of the DE 35 16 284 A1 known mounting device, the two doors are initially taken by the robots at a standstill from the overhead conveyor. Subsequently, the opposite platforms are simultaneously accelerated to belt speed according to a specific control algorithm. At the same speed and correct longitudinal relative position between platform and body, it is lifted, centered and fixed during the run. Thereafter, the assembly process can be carried out with continuous, belt synchronous continuation of the platform. After completion of the assembly, the body is lowered during the run on the body support, whereby the coupling between the robot and body is solved. The platform then returns at full speed to its starting position and is ready for a new working game.

Although, at the time of the DE 35 16 284 A1 known mounting device a leadership inaccuracy of the movable body rails leading rails do not affect a relative movement between body and assembly robot. But there are certain unavoidable leadership inaccuracies of the opposite, the two platforms supporting and leading guide rails of the assembly robots, which lead to relative movements between the body and the assembly robots. At best, in a more theoretical case to be considered, in which the guide rails for the platforms of the assembly robots with a standard accuracy only for machine tools exactly rectilinear and on both sides of the conveyor for the bodies with machine tool accuracy in the height and width directions are arranged exactly parallel to each other , Such relative movements between the body and the opposite assembly robots could be reduced to a negligible degree. In order to achieve such a high accuracy of the two opposite platform guides, both guides would have to be mounted on a uniform, existing steel guide bed. Considering that the two opposing guides have a distance above about 3.50 m and a longitudinal workstation including acceleration section extends over at least two vehicle lengths, ie about 10 to 12 m, the requirement would be for a uniform, rigid Steel work piece for the platform guides onto a precisely machined machine bed with a ground plan dimension of 3.50 m × 10 m and a height dimension responsible for the flexural rigidity of at least approximately 0.5 m. Such a large machine bed accurately machined with machine tool accuracy would be unreasonably expensive for the present application. In addition, the height dimension of the machine bed would require a correspondingly raised arrangement of the conveyor for the bodies, which would be very disturbing with regard to a uniform level of conveyance for the bodies throughout the factory. Guiding the opposing robot platforms on a machine-tool accurately machined machine bed is therefore in fact only a theoretical consideration.

Consistently, those are in the DE 35 16 284 A1 As shown, four guide rails for the opposite robot platforms are laid individually on the hall floor as usual, although a certain unavoidable inaccuracy with regard to exact straightness and parallelism of the guide rails is accepted. Apart from thereby causing relative movements between assembly robot and body also a certain constraint in the horizontal direction on the both sides firmly clamped in the opposite platforms body can be exercised, which of course is very harmful to the latter. Moreover, the known assembly technique requires, on the one hand, that simultaneous work operations of the same amount of time are undertaken on opposite sides of the vehicle, which generally applies only to the assembly of identical parts or symmetrical parts such as doors, vehicle seats or vehicle wheels. Another restrictive prerequisite of the known assembly technique consists in the advancing the bodies used conveyor technology, which allows a free lifting of the bodies of a body support. Often, however, for the body transport within the factory conveyor hangers are used, in which the bodies are rigidly received. When using such conveyor hanger the known assembly technique could not be used.

The object of the invention is the generic method based on or the entspre To improve the device to the effect that despite any leadership inaccuracies of the guide rails for the movable industrial robot relative movements during the working phase between the workpiece and industrial robots can nevertheless be avoided and that, moreover, any conveyor system for the carriage of workpieces within the production can be fully authorized.

Based on the respective underlying Genera is the o.g. Task with respect to the method according to the invention by the characterizing features of claim 1 and with respect to a corresponding device by the characterizing features of Claim 7 solved.

Thereafter, the base part of the industrial robot while the working phase on the one hand with respect to all six degrees of freedom rigidly coupled to the workpiece and on the other hand lifted off the longitudinal guide and weight balanced within a certain range of motion in terms of of all six degrees of freedom of movement held floating, so that the base part of the industrial robot the movements of the workpiece in is able to follow all directions without restraint and an exactly constant Relative position between industrial robot and workpiece during the working phase upright preserved. The industrial robot "flies" in a sense during his working phase over his Longitudinal guide away and drives "piggyback" with the workpiece.

Apart from the higher working accuracy while the working phase of the industrial robot pass the invention achievable Advantages in the following:

• - It Only very low accuracy requirements for the guide rails for longitudinal guidance of the Industrial robot made what both the procurement and the installation costs of the industrial robot favorably influenced.
• - Nevertheless can be a high positional stability between workpiece and industrial robot during the Guaranteed working phase become.
• - Thereby can all possible Work operations on workpieces for one band synchronous robot processing.
• - For the inventive, object-coupled robot processing can all possible conveyor systems for further transport of the workpieces the production is permitted, and optionally ground-based conveyor systems or suspension conveyors, with loose lying or mechanically coupled to a bucket workpieces.
• - The according to the invention, object-coupled Robot processing can also be used in existing production facilities retrofitted become.

Advantageous embodiments of the invention can the dependent claims be removed; Furthermore the invention is illustrated with reference to various in the drawings embodiments explained below; show:

1 a plan view of a workstation consisting of a trained as a roller conveyor conveyor for the continuous transport of vehicle bodies and from a movable next to the conveyor line, rigidly coupled to the body and synchronously with her rides moving industrial robot to perform a working operation,

2 a view of the workstation 1 against the conveying direction, ie according to the section line II-II in 1 wherein the base part of the industrial robot is detachably but weight-balanced with a subframe supporting the industrial robot, and wherein the industrial robot is coupled thereto by means of a pair of pliers engaging at the top of its center column to prevent relative roll motions between the robot and the vehicle body;

3 one opposite 2 modified embodiment of the industrial robot, in which this is coupled to prevent relative rolling movements to the vehicle body by means of a suction cup engaging on the roof,

4 another, opposite 2 modified embodiment of the industrial robot, in which this is coupled to prevent relative rolling movements of the vehicle body by means of two pushed through the two opposite adapter rails through, rigid coupling coupling blades,

5 a fourth variant of the industrial robot, in which this is coupled to prevent relative rolling movements of the vehicle body by means of a suction gripper acting on the roof, but this is rigidly connected via a wide cantilever with the base part of the industrial robot,

6 a fifth variant of the industrial robot, in which to prevent relative rolling movements - similar to the embodiment according to 4 - A rigid connection between industrial robot and over the entire body width extending, rigid adapter frame is made, which has a certain height; Incidentally, a suspension conveyor with C-shaped conveyor hangers is provided in this embodiment as a conveyor for the bodies,

7 the C-shaped conveyor hanger after 6 with body received in it in side view

8th an enlarged detail in the field of floating and weight balanced Holder of the base part of the industrial robot according to one of 1 to 6 on the top of the subframe by means of an air spring bellows and a dynamic, open-bottom air cushion,

9 in an enlargement the rigid but releasable fixation of the base part of the industrial robot 8th on the upper side of the subframe by means of fixing bolts, wherein the base part in the released state is movable on all sides but limited relative to the subframe,

10 a detail of one of the robots after the 1 to 3 . 5 and 6 relating to the fixation of the lower, telescopically extendable connecting rod acting on the adapter rail,

11 a view similar to the one after 2 to another embodiment of the workstation, in which the base part of the industrial robot itself forms a subframe and this by a supported on the hall floor via a dynamic air cushion air spring bellows weight balanced from the guide rails can be lifted and rigidly coupled to the body, and

12 and 13 each a sectional view parallel to the conveying direction ( 12 ) or transversely to her ( 13 ) on or by another embodiment of an industrial robot, which is supported on the hall floor weight balanced by a dynamic air cushion and an air spring bellows, wherein the robot is guided during the acceleration phase or the rapid return by a frame-like, surrounding the robot, rail-guided and drivable subframe.

The in three basic variants, namely in the 1 to 6 with different subspecies on the one hand, 11 to the other and finally into the 12 and 13 The invention relates to a method and a device for the movement synchronous performing a specific work operation on a on a conveyor, such as a roller conveyor 1 continuously advancing workpiece, such as a vehicle body 3 by an industrial robot moving with the workpiece 10 . 10 ' respectively. 10 '' , In the following, the similarities of these basic variants will be described.

The vehicle body shown as a workpiece in the illustrated embodiments 3 is at its two side sills on the underside rigid, each with an adapter rail 5 or with an adapter frame 5 ' connected. The two inherently stiff and accurately manufactured adapter rails and the adapter frame are connected via special, each containing a receptacle body nodes of high local strength and monitored manufacturing accuracy with the body and thus not only have a well-defined relative position to the body, but the Connection also withstands certain stresses without giving in unreasonably.

In the in the 1 to 5 . 10 and 11 shown embodiments with a roller conveyor 1 trained conveyor rests the bodywork 3 with the adapter rails 5 loose, but secured by stops positively in their horizontal position, on a body support 4 which extends over the entire length and width of the body and the bottom is flat or at least on both sides each having a straight runner. As a result, the body support on the partially driven support rollers 2 the roller conveyor 1 rest him continuously in the conveying direction 6 forward move. All driven conveyor rollers of the roller conveyor within the entire production line are driven at the same, precisely adjustable peripheral speed, so that all bodies are moved forward at the same speed. When this conveying speed is changed, all the driven carrying rollers of the roller conveyor track are changed synchronously in their circumferential speed within the entire production line. In the event of an emergency stop, all driven idlers are driven down to zero after a relatively steep speed ramp, which is the same for all idlers, so that, due to the mass, there is no uncontrolled slippage of the bodies on the roller conveyor track. The deceleration values realized during the emergency stop of the roller conveyor are to be dimensioned in such a way that they can be traced by the mobile industrial robots of the production line without additional control technology.

In the in the 6 and 7 illustrated embodiment of a conveyor is a suspension conveyor 1' provided that the body carrier as in side view ( 7 ) C-shaped conveyor hanger 4 ' are formed. In the illustrated embodiment, the latter are for pendulum-safe guidance in a pair of guide profiles, eg double T-beams, which are laid parallel in the overhead area at a distance of the body width, supported and guided by the hanger side mounted support rollers, on both sides of the conveyor hanger two support rollers are provided , In the suspended conveyor track shown the conveyor hangers are passive, ie formed without self-propulsion. For uniform advancement of all conveyor hanger a production line is in accordance with 6 and 7 between the two guide profiles in the overhead area a drag chain conveyor 54 arranged. A driven with a conveying speed drag chain is guided in a slot-shaped hollow profile open on the underside by means of a plurality of guide members, wherein a driving pin protrudes from the underside of some of these guide members from the longitudinal slot. This can be in a driver provided on top of each of the conveyor hanger 55 engage, so that thereby the conveyor hanger in the forward as well as in the reverse direction is relentlessly coupled to the drag chain. Instead of a pair of individual adapter rails according to the embodiment the 6 and 7 a rigid adapter frame 5 ' fastened in the sill area of the body, which will be discussed again below.

The industrial robots 10 . 10 ' respectively. 10 '' have a robotic arm 11 on, at the wrist a adapted to the work operation to be performed robot tool 12 is appropriate. In the case of the exemplary embodiments assume auxiliary components 9 be installed in the body. These accessory parts are position-defined and accessible to the robot on a supply table 8th provided, which is arranged in the illustrated embodiment in the vicinity of the waiting position W.

The industrial robots 10 . 10 ' respectively. 10 '' are within the respective workstation parallel to the conveyor for the workpiece on a separate longitudinal guide, in the example two guide rails 17 respectively. 17 ' , between the waiting position W and the end position E back and forth movable. For this purpose, in the illustrated embodiments, the base part 14 . 14 ' . 14 '' of the industrial robot on a guided through the longitudinal guide and provided with a robot's own longitudinal drive subframe 15 . 16 respectively. 16 ' carried. At the robot 10 after the 1 to 6 . 8th . 9 is the base part 14 detachable with the subframe 15 connected, whereas the industrial robot 10 ' ( 11 ) the robot base part 14 ' a rigid and indissoluble unit with the subframe 16 forms; in the in the 12 and 13 illustrated industrial robot 10 '' is the base part 14 '' opposite the subframe 16 ' formed as a separate, frame-like component, however, the base part is supported during the work cycle 'not on the subframe, but on the ground (support surface 49 ' ). The subframe 15 respectively. 16 is in the first two embodiments of industrial robots 10 respectively. 10 ' by means of flange wheels on guide rails 17 traversable. In the third robot shown, for example 10 '' becomes the subframe 16 ' by means of both sides arranged V-shaped guide rollers 59 and a pair of corresponding guide rails 17 ' guided. The longitudinal drive of the subframe 15 respectively. 16 via a fixedly installed rack 19 , in which a Fahrschemelseitiges drive gear 74 intervenes. This is via a bridgeable slip clutch 18 drivable by a controllable drive motor. The subframe 16 ' is about drehangetrieben and, if necessary, on the ground (support surface 49 ' ) deflectable friction rollers 61 respectively. 61 ' drivable in the longitudinal direction. The complete control commands for the industrial robot 10 . 10 ' respectively. 10 '' be him from the in the control cabinet 13 supplied robotic control.

In the 1 Workstation shown in plan view includes next to the working distance between the points A (beginning) and E (end) 23 also one in the conveying direction 6 in front of it, between the points W (waiting) and A located acceleration section 7 , In addition, at the end of the working distance still has a delay line 7 ' can be provided within which the robot is released from the continuously moving workpiece and delayed to a stop (reversal point U). The total length of the workstation is thus composed of the length of the working distance 23 plus the length of the acceleration section 7 , the delay line 7 ' and a longitudinal width of the industrial robot 10 . 10 ' . 10 '' , The length of the working distance 23 in turn depends on the scope of the work to be performed by the robot and the conveying speed of the conveyor 1 . 1' , With the clock-independent, continuously progressing production, shorter and longer workstations can be arranged one behind the other in one and the same production line without this disturbing the production process in any way. This is a very significant advantage over the so-called clocked production.

In contrast, the clocked, automated Manufacturing all consecutive, to be performed by robots Work operations of a production line production each at standstill of the workpieces carried out. The installed workstations must all be exactly the same Have length, otherwise it will interfere would come in the production process. The clocked production of all workstations also forces it to the entire work process into individual, mutually simultaneous scope of work to subdivide, which does not always succeed and u.U. an increased station and investment required.

In a workstation ( 1 Movement synchronous work operation is performed during the joint pass of robots 10 . 10 ' . 10 '' and workpiece 3 through the mentioned working distance 23 passed through. Starting from one in front of the working distance, namely at the beginning of the workstation located in 1 dot-dashed waiting position W is the industrial robot when approaching the workpiece to the waiting position initially accelerated to conveying speed of the workpiece (acceleration phase); the approaching at the beginning of the acceleration phase body 3 is in 1 also shown in phantom. The length of the acceleration section 7 must be designed so that when reaching the starting point A of the working distance 23 Velocity equality and position match between robot and workpiece within narrow limits, ie position-identical synchronous operation can be brought about. In this state then the movable base part 14 . 14 ' . 14 '' of the industrial robot 10 . 10 ' . 10 '' mechanically coupled at least indirectly to the workpiece. In the illustrated embodiments, the base part via the coupling rods 20 . 20 ' . 29 . 31 or over the Koppeltu bus 34 with the adapter rail 5 or the adapter frame 5 ' rigidly connected. In this device for mechanically coupling the base part of the industrial robot with the workpiece or a rigidly connected to him workpiece carrier will be discussed in more detail below.

Starting from the starting point A of the working distance 23 , are brought about in the synchronous operation of robot and body and both are mechanically connected to each other, the work operation on the workpiece by the industrial robot is carried out automatically (working phase), wherein the industrial robot is moved synchronously with the workpiece. At the end E of the working distance 23 , ie after completion of the working operation, the base part of the industrial robot is released from the workpiece, the robot is delayed to a stop (delay distance 7 ' ) and the industrial robot from the reversal point U in rapid traverse back to the waiting position W (rapid return).

After approaching a body to the workstation or to the waiting position W of the industrial robot within the acceleration section 7 Not only synchronism between robot and workpiece, but also a position equality at point A to bring about control technology, are a number of separate, largely in the control cabinet 13 provided controllers. For continuous detection of the respective longitudinal position and the speed of the workpiece to be machined are sensors on the roller conveyor 1 installed, which is not shown in the figures. Furthermore, there is a speed controller which is fed by the position and / or speed signals of the workpiece and influences the robot's own longitudinal drive for the subframe. Not least, of course, there is a programmable controller for controlling the complete duty cycle of the industrial robot. The travel drive of the subframe 15 . 16 respectively. 16 ' represents, as it were, another degree of freedom of movement of the industrial robot, which is also integrated into the programmable robot controller, including the aforementioned separate control modules. The coupling of the industrial robot to the workpiece is also a further movement axis of the robot, which is included in the programmable robot control. The following functions or phases can be executed with the robot control:

• - Accelerate of the industrial robot during the Acceleration phase from the waiting position with sensory detected approach of the workpiece to the waiting position for conveying speed of the workpiece.
• - Mechanical Coupling the base part of the industrial robot to the workpiece or at one with the workpiece firmly connected component with achieved synchronization between the two at the starting point of the working distance.
• - Perform the Work operation on the workpiece during the joint passage through the working distance (working phase).
• - release the Industrial robot from the continuously moving workpiece at the end E of the working distance and delay until the stop at the reversing point U.
• - move back of the industrial robot in rapid traverse to the waiting position (rapid return) after completion of the work operation on the workpiece.
• - Possibly Picking up an accessory part in the robot tool in preparation for the next work cycle.

For proper and qualitatively demanding execution of the work on the part of the industrial robot on the workpiece no relative movements between the workpiece and industrial robots must occur due to inaccuracies in the guide rails for the movable industrial robot on the one hand and on leadership inaccuracies of the conveyor for the workpieces on the other. It is a significant advantage of the present invention that not only the longitudinal guide of the robot only low accuracy requirements, but also the guide accuracy of the conveyor for the workpiece must be low. The relatively inaccurate guidance of the industrial robot or its subframe by means of flange wheels or guide rollers 59 and rails 17 . 17 ' is just as adequate as a roller conveyor 1 or an overhead conveyor 1' for the workpiece.

In spite of such leadership inaccuracies to avoid relative movements between the workpiece and industrial robots during the working phase between the workpiece and industrial robots and to allow any conveyor system for transporting the workpieces within the manufacturing unrestricted zulas sen, the base part 14 . 14 ' . 14 '' of the industrial robot 10 . 10 ' . 10 '' during the working phase according to the invention for a rigid with respect to all six degrees of freedom with the workpiece 3 or - as in the illustrated embodiment - rigid with an immovably connected to the workpiece component, namely the adapter rail 5 or the adapter frame 5 ' coupled. On the other hand, the base part is directly or indirectly from the longitudinal guide 17 . 17 ' lifted and balanced, eg by means of an air spring bellows 40 , floating within a certain range of motion with respect to all six degrees of freedom of the movement. During the acceleration phase until coupling with the workpiece 3 as well as during the delay and during the rapid return, however, the base part 14 . 14 ' . 14 '' - indirectly or directly - from the longitudinal guide 17 not floating or stored carried.

In order to achieve this goal, the device is for mechanically coupling the base part 14 . 14 ' . 14 '' with the workpiece, ie with the body 3 or with the adapter rail rigidly connected to it 5 or adapter frame 5 ' designed so that all six degrees of freedom of movement between the workpiece 3 on the one hand and the base part 14 . 14 ' . 14 '' of the industrial robot 10 . 10 ' . 10 '' On the other hand, also with respect to small movements are canceled. At the same time with the rigid coupling of the base part 14 . 14 ' . 14 '' To the workpiece also from one workpiece to workpiece always consistent, mechanically induced by the coupling members relative position is brought about.

In so far agree the three basic variants of the invention ( 1 - 6 . 8th . 9 respectively. 11 respectively. 12 and 13 ) match. With regard to a further feature according to the invention, however, the two variants deviate from one another. In this respect, the basic part of the industrial robot is designed in accordance with one of the following alternative embodiments:

• - What in the 1 to 6 arrives at illustrated embodiments, so is the base part 14 of the industrial robot 10 detachable with its subframe 15 connected. In return, this is with a counterbalance, eg in the form of the underside mounted bellows 40 , provided base part 14 of the industrial robot 10 in the way of the subframe 15 of the industrial robot 10 liftable, that the base part 14 within a certain range of motion with respect to all six degrees of freedom of movement of the subframe 15 is held movably. The embodiments show a support on the flat and horizontal top - the support plate 49 - of the subframe. It would also be conceivable for weight balance instead of a suspended or oscillating arrangement of the decoupled from the subframe base part on a carried by the subframe, the base part in a wide arc spanning portal. In the case of the embodiments according to the 1 to 6 becomes the industrial robot 10 or its base part 14 indirectly from the longitudinal guide 17 lifted. The one of the guide rails 17 Guided subframe 15 remains on the guide rails throughout the work cycle. On the other hand, the basic part carried by the subframe during the working phase, and only during this time, is released from the subframe with respect to all directions and balancing the weight of the industrial robot eg by means of the air spring bellows 40 spatially movable with respect to the subframe. Only during the acceleration phase until coupling with the workpiece 3 as well as during the delay and during the fast return is the basic part 14 relentless with the subframe 15 connected.
• - According to the embodiment according to 11 can instead the base part 14 ' of the industrial robot 10 ' but also permanently rigid with the subframe 16 be connected or the base part itself as the on guide rails 17 Guided subframe 16 be educated. In this case, the subframe must be liftable in the manner of the guide rails that the subframe together with the base part 14 ' within a certain range of motion with respect to all six degrees of freedom of movement while balancing the total weight of the industrial robot 10 ' - supported or suspended on a fixed space frame - is movably supported.
• - In the embodiment of the 12 and 13 is the base part 14 '' of the industrial robot 10 '' with the subframe 16 ' about a guide 57 connected, the only vertical Relativverschiebungen, and due to end stops 58 even this only with a limited stroke allows. The subframe 16 ' is in the way of the guide rails 17 ' liftable or detachable from them, that the subframe 16 ' together with the base part 14 '' Within a certain range of motion with respect to all six degrees of freedom of movement movable relative to the guide rails 17 ' is supported by the opposite reason effective weight balance.

The inventive effect of spatially rigid and reproducible coupling of the weight balanced with the workpiece entrained industrial robot is that the base part of the industrial robot during the Working phase in a dimensional is always set constant relative position and during the Working phase no relative movement to the workpiece more performs. This results in the following advantages:

• - It can without further work also with high accuracy requirements by Industrial robots are carried out with continuously moving workpiece.
• - On the longitudinal guidance of the Industrial robots are made only low accuracy requirements.
• - Thereby can the workstations cheaper be designed.
• - On Sides of the workpiece can any conveyor systems be admitted, making the system very universally applicable is.
• - According to the invention can also precise to be performed Robot work for the first time in a continuous, i. non-synchronized Manufacturing be realized.
• - Thereby can the workstations have different lengths, i. with regard each to be performed Work operations are designed to be optimized.
• - Thereby can be within a complete Assembly line the number of required robot workstations kept minimal, i. the compulsion to divide the whole Work in simultaneous work cycles and in accordingly many Workstations no longer exist.

It should be discussed in more detail on different types of spatially rigid coupling of the base part of the industrial robot to the workpiece, which in the 2 to 6 are shown in five variants. These variants of the coupling are not only in the in the 2 to 6 shown industrial robots 10 , but also in the industrial robot 10 ' after 11 and the industrial robot 10 '' after the 12 and 13 used.

In four of the illustrated embodiments of the coupling of the base part ( 2 to 5 and 11 ) This is about a pair of lower tie rods 20 . 20 ' . 29 or 31 with the or the adapter rails 5 attached; the couplings according to 2 and 11 agree in principle. The lower tie rods are, as in the plan view 1 can be seen, stiffened by diagonal bars against each other and otherwise durable and rigid with the base part 14 . 14 ' of the industrial robot 10 . 10 ' connected. In a fifth embodiment of the coupling of the base part according to 6 this is done by means of a horizontally displaceable coupling tube 34 and a coupling plate rigidly to the adapter frame 5 ' coupled.

In the embodiments according to the 2 and 3 shown lower coupling rods are each in two parts with a rod-shaped, front ( 21 ) and a sleeve-shaped, rear coupling rod part 22 formed, which moves telescopically in the sense of an extension or shortening each other and which can be clamped immovable to each other in the extended end position. Completely analogue are the lower coupling rods 20 ' ( 11 ) respectively. 31 ( 5 ) of the embodiments according to the 11 respectively. 5 educated. By extending the upper and lower coupling rods in their respective end position, the coupled base part is brought into the prescribed relative position to the workpiece.

At the lower end of the front coupling rod part 21 is like 10 can be seen more clearly, a horizontally oriented sliding guide 51 for a carriage provided with a shift drive 51 attached, which - seen in plan view - perpendicular to the adapter rail 5 is oriented. The sled 51 can be moved back and forth on the sliding guide and rigidly clamped in the front end position on the sliding guide. On the carriage, a screwdriver motor is supported, the shaft journal in the form of a fixing screw 52 with a guide pin 53 is trained.

At the same synchronous operation of industrial robot and workpiece at the beginning A of the working distance 23 be the front coupling rod parts of the in 10 dash-dotted lines indicated, retracted position in the direction of the adapter rail 5 advanced. In this case, the fixing screw located in a position initially retracted, also indicated by dash-dot lines, arrives 52 equiaxial to a threaded hole in the adapter rail. The sled 51 is now pushed forward with the engine running, with the help of the guide pin 53 the fixing screw inserted into the threaded hole, screwed into it and finally tightened. Then the Schlit th 51 on the sliding guide 50 and the front ( 21 ) in the rear coupling rod part 22 clamped in the mechanically predetermined end position. Thus, the lower coupling rods are rigidly connected to the adapter rail and thus rigidly connected to the body and in so far brought about the desired relative position between the body and robot.

Of course, there are many other designs for rigid attachment of the lower end of the coupling rods with the adapter rail conceivable; the described embodiment provides just an example given opportunity. In all related solutions On the one hand, it is important that a tension- and pressure-resistant connection made quickly between coupling rod end and adapter rail and can be solved just as quickly again. On the other hand is important that by the tie rods a dimensionally accurate defined and with each work cycle same relative position between the base part of the robot and the workpiece is brought about.

Due to the tension and pressure-resistant connection between the lower end of the two stiffened against each other and rigidly attached to the base part of the industrial robot coupling rods 20 on the one hand and the adapter rail 5 On the other hand, already three out of six possible freedoms of a relative movement between the industrial robot and the workpiece are effectively canceled out. Namely, not only a horizontal transverse displacement, but also a horizontal longitudinal displacement of the base part relative to the body, ie a change in distance and a lead or lag the body relative to the industrial robot effectively prevented by the previously described coupling. Furthermore, thereby also a mutual pivoting about a vertical axis in the sense of a so-called. Yaw movement is excluded. In addition, other relative movements are difficult. Would it remain in the described, attacking the bottom of the body coupling, so would be in the context of a certain remaining bending elasticity of the coupling rod pair still a relative rolling motion and a pitching motion of the body over the. Industrial robot possible. Furthermore, in vertical accelerations, for example, due to Vibrations may change the vertical distance between the robot and the workpiece.

By the addition of another, attacking the top of the body coupling between base and body, however, the remaining three freedoms of relative movement are also canceled, with a cooperation with the already described coupling by the lower coupling rods is important here. The four in the 2 to 5 illustrated embodiments differ with respect to this additional coupling.

In the in the 2 and 3 Illustrated embodiments is an upper coupling arm 24 respectively. 27 at the base part 14 attached to the industrial robot, which is formed in the longitudinal direction and in the vertical direction in pushing and bending stiff and rigidly attached to the base part. The coupling boom 24 after 2 is at its front end with a transversely movable gripper 25 provided with respect to the clear cross section of its gripping jaw to the cross section of the center column 26 the body is adapted in the upper part of the center column. While at the time of the same position synchronous running at the end of the acceleration section, the ends of the lower coupling rods with the adapter rail 5 be connected in the manner already described, at the same time the first located in a retracted position, open gripper 25 towards the center column 26 extended and then closed, so that it encloses this clearance and form-fitting. Due to the effect of the upper coupling not only relative vertical displacements (changes in height) of the body against the industrial robot are effectively prevented in conjunction with the lower coupling, but also avoided pivoting about a horizontal axis in the longitudinal direction (rolling motions) and Horizontalverschwenkungen in the sense of a pitching motion.

At the in 3 shown, compared to the embodiment according to 2 only slightly different trained coupling is the upper coupling arm 27 with a movably attached to it suction pads 28 Provided. This can be created with its underside mounted suction cups on the body roof and holds after applying a vacuum, the roof securely. The stabilizing effect of the upper coupling after 3 is basically the same as the one after 2 , If the body - as in the final assembly of vehicles usual - should be painted, so you will cover the roof to protect the paint before expediently with a self-adhesive protective film.

According to the embodiment 4 another approach is taken for the complete coupling of the base part of the industrial robot to the workpiece. Although here is a lower pair of coupling rods 29 at the base part 14 attached, which are stiffened against each other in the horizontal direction and rigidly attached to the base part. However, the two coupling rods 29 this version horizontally and at the height of the adapter rails 5 the body attached to the base part and - seen in plan view - exactly perpendicular to the conveying direction 6 aligned. In the interior of the coupling rods is in each case an axially movable guided therein, rigid rod - hereinafter coupling blade 30 called - stored, which is provided with a displacement drive, by which it can be moved to at least the width of the body back and forth. Both adapter rails are provided with adapted to the cross section of the coupling blade, right and left congruently positioned passage openings through which the coupling blades can be inserted with little play through. In the interior of the coupling blades, a precaution is taken with which the coupling blades can be mechanically locked therein after the complete insertion into the passage opening of the adapter rails. This can for example be done by transversely extending in the coupling blades locking bolt, which can be actuated by an axially arranged in the interior of the coupling rods pull rod in the locking direction or in the unlocking sense.

By inserting the coupling tabs in the two right and left on the body mounted adapter rails 5 and by locking the coupling blades therein, all six degrees of freedom of movement between the industrial robot and the body can be canceled. Although to effectively prevent any relative rolling movements of the body relative to the industrial robot, the coupling blades must be made very rigid, which requires a certain height of the same and the adapter rails. In the same way must also lower, each a coupling sword leading coupling rod 29 be carried out very rigid and be highly resistant to bending attached to the base. In addition, the coupling rods and sliding in them coupling blades are very long. All this goes to a certain construction cost and construction weight, so on certain construction and investment costs. The considerable advantage of the arrangement 4 Compared to the other variants, however, is that the coupling of robot and workpiece exclusively in one movement of the working arm 11 not affect area, ie only takes place at the bottom of the workpiece. The working arm of the industrial robot is thus not impaired in its mobility, which is very high in terms of a universal applicability of industrial robots.

In a similar direction, the embodiment aims 5 , There is a coupling by means of a pair of lower coupling rods 31 provided, which are braced rigidly against each other and also rigid on the base part 14 of the industrial robot 10 are attached. The two coupling rods only access the one, the industrial robot returns lie ing adapter rail, in the context of 10 already described way. For complete, ie all six degrees of freedom of movement blocking coupling of base and body is in the embodiment after 5 a very large coupling boom 32 at the base part 14 of the industrial robot, which provides the range of motion of the working arm 11 spans and therefore does not affect its mobility. At the in 5 embodiment shown is a vertically movable suction gripper at the end of the coupling arm 33 attached, with which the coupling arm end can be fixed to the body roof. The coupling boom 32 must also be designed very rigid in all directions of load and be rigidly attached to the base part.

In 6 is another coupling between the base part 14 of the robot and the body 3 shown, which - similar to the coupling after 4 - Especially suitable for use in overhead conveyors appears because with her a complete, ie all six degrees of freedom of the movement reversing coupling without upper side coupling links is made. In this case, a rigid, accurately manufactured adapter frame 5 ' used, which extends over the entire width of the body and which - similar to the two individual adapter rails 5 - Is also attached to the stable and accurately manufactured body points over local sockets. In addition, the adapter frame extends over a certain height, so that robot side coupling elements can be coupled to the adapter frame with high bending stiffness laterally beyond this height. As a result, rolling and pitching movements and height changes of the body relative to the robot can be effectively avoided; On the upper side of the body attacking coupling links are unnecessary because of this.

Robot side is at the in 6 illustrated embodiment of the coupling, the base part 14 of the robot at the height of the adapter frame 5 ' provided with a horizontal guide, in which a coupling tube 34 is horizontally displaceable. The guide is rigid in itself and also rigid on the base part 14 connected. In dash-dotted lines, defined by mechanical stops end position of the coupling tube this can be clamped within the guide, so that it forms a rigid, rigid unit with the guide. On its front side is the coupling tube with a coupling plate 35 provided protrude horizontally from the two centering pins, which engage in corresponding sockets Adaptegestells. By a plurality of pivotable mounting claws, which are arranged at the edge of the coupling plate (not shown) and can engage behind a corresponding plate on the adapter frame, the coupling plate can be highly resilient and above all rigidly clamped to the adapter frame.

For completeness, it should be mentioned that the described types of couplings not only in the industrial robot 10 after the 1 to 6 but also in the industrial robot 10 ' after 11 or even the industrial robot 10 " after the 12 and 13 can be used.

The peculiarity of the industrial robot 10 after the 1 to 6 opposite the industrial robot 10 ' after 11 consists - as I said - in that the base part 14 from the subframe 15 can be solved in the workpiece-coupled state and worn by the subframe industrial robot can swim freely towards him. Successions are related to 9 closer to the detachable connection between the base part 14 and subframe 15 received.

The basically round base part 14 has in the illustrated embodiments, on the underside at least at the corners radially projecting, approximately square support plate 42 on. Like the floor plan after 1 can be seen, in each case a fixing hole in the corner region of the support plate 46 attached, in which a fixing bolt 43 the subframe engages position-locking.

Details of this releasable fixation are in 9 shown where the state of immovable fixation of the support plate 42 on the subframe 15 is shown in full lines. The fixing bolt 43 in the illustrated embodiment with a support shoulder 36 is fitted, engages in the precisely machined fixing hole 46 on. Due to the support shoulder of the hubbeweglich held and located in the upper end position fixing bolt the support plate is at a distance to the top 49 held the subframe, so that a space for accommodating the air spring bellows 40 and a dynamic air cushion 41 is created. The fixing bolt and the fixing hole are wide chamfered at the mutually facing end edges to facilitate axial sliding of bolt and bore. To lift off the support plate 42 from the support shoulder of the fixing bolt is inside the axially pierced fixing bolt 43 a through a clamping cylinder 45 axially movable clamping bolt 44 arranged. By a head 37 at the top end of the clamping bolt, larger in diameter than the fixing hole 46 is, the support plate can from the top of the support shoulder 36 of the fixing bolt are clamped. As a result, the support plate is securely held horizontally and vertically in a mechanically predetermined position.

In the workpiece-coupled state of the base part, the support plate 42 the weight balanced by an air bag 40 held base part without height change from the subframe 15 To solve and to allow them to swim freely within a certain range of motion, is the fixing bolt 43 through an annular piston 38 and a corresponding ring cylinder 39 from the vol Lines shown holding position down into a dot-dashed release position lowered. At the same time the clamping bolt 44 through the clamping cylinder 45 lifted in the likewise indicated by dash-dotted lines release position. After the shaft diameter of the clamping bolt 44 much smaller than the diameter of the fixing hole 46 is, and after in the release position the support shoulder 36 down and the clamping head 37 upwards from the support plate 42 have moved away, the support plate in the dissolved state in the context of these distances with respect to all six degrees of freedom of movement around the fixing position around freely floating in all directions. The preferably permanently in the air bag 40 and in the air cushion 41 Pending working pressure is set in each case so that the altitude of the base part in the decoupled state as closely as possible corresponds to the altitude in the rigidly coupled state, so that when decoupling occur virtually no changes in height. After completion of the working phase can be by underside of the annular piston 38 and top-loading the piston of the clamping cylinder 45 the fixing bolt 43 with support shoulder 36 and the head 37 of the clamping bolt 44 be brought back to the fixation position at short notice. Due to this configuration, the base part 14 in a very short time from the subframe 15 be solved and fixed again to him in the right place. This change, which must be made very quickly, must take place at the same time as the coupling of the base part to the workpiece or the release operation.

Before looking at details of the particular in 8th shown pneumatic counterbalance of the base part 14 will be discussed in more detail, beforehand for the sake of completeness also on a mechanical possibility for this purpose, namely pointed to a pendulum suspension of the base part. For this it would be necessary to hang the base part in a gantry carried by the subframe gimbal. For this purpose, the base part would have to be pivotally mounted in a horizontal ring, which includes the base part at a horizontal, passing through the center of gravity of the industrial robot pivot axis and this ring in turn are pivotally mounted in a bracket spanning the base part, the second pivot axis while the same height but to arrange at right angles to the first-mentioned pivot axis. Finally, the bracket could be suspended vertically above the intersection of the pivot axes on a steel cable, wherein the upper end of the steel cable in the aforementioned, supported by the subframe portal, which spans the industrial robot with a large distance, is attached. In order to allow not only a horizontal oscillation of the base part in the dissolved state, but also to enable a weight-balanced vertical floating of the base part, would have to be integrated into the suspension, for example in the steel cable mentioned, nor an elastic spring with a flat curve, although the But to carry the weight of the industrial robot can still height variations of the robot with only a slight change in force in the suspension allows.

In place of a pendulous suspension would be too still an elastic support of the base part over a horizontally movable ring conceivable that in the gimbal suspended Base part receives. This would have to instead of the above-mentioned bracket second horizontal ring be provided, the underside by a wreath of soft springs at the top of the subframe supported is. The compression springs are advantageously tapered at their ends pointed, so that they can be tilted in the horizontal direction, which facilitates the horizontal movement of the support ring. The sum the forces These compression springs must accommodate the weight of the industrial robot.

A structurally less complicated pneumatic holder for weight balance of the base part 14 on the subframe is in the drawings, especially in the 8th and 9 shown. There is between the bottom of the base part 14 and the top side support plate 49 of the subframe 15 an air bag 40 arranged, which is applied in the case of the floating support of the subframe released from the subframe with a finely tuned air pressure. At the height of the over the air connection 47 The air pressure supplied will be discussed in more detail below. To be able to float the base part in the horizontal direction without force on the support plate of the subframe is at the bottom of the air spring bellows 40 another dynamic air cushion 41 attached, that via the air connection 47 ' receives its compressed according to air pressure level and air volume finely tuned compressed air. The similar to an air bag trained air cushion 41 is stabilized on the underside with a stiffening ring, but has a large-area opening 48 on. The pressure in the air cushion is set so high that between the lower side bearing surface of the with the opening 48 provided stiffening ring and the support plate 49 of the subframe constantly forms a radially outward flowing air film. As a result, the frictional resistance in the contact surface against horizontal relative displacement is negligible.

In the same position synchronous operation of the industrial robot with the workpiece at point A, the base part is first coupled to all sides rigidly to the workpiece and only then the base part 14 from the subframe 15 solved. By extending the coupling rods on their defined by mechanical stops end position then the exact relative position between the base part and workpiece is brought about. However, these processes must be carried out very quickly and in a short time sequence. In a short transition period, the base part is ver rigid ver both with the subframe and with the workpiece prevented. The weight balance through the air bag 40 must be activated in good time before coupling the base part to the workpiece, so that the air pressure required to carry the industrial robot is already present in the air spring bellows. This air pressure can preferably remain permanently, ie also in the phases in which the base part is mechanically rigidly connected to the subframe. At the end of the work phase, where the base part is detached from the workpiece and connected to the subframe, it is just the opposite. During this change, the rigid connection between the base part and the subframe must first be restored before the connection to the workpiece can be released. Even with this transition, the base part is rigidly connected to both the subframe and the workpiece for a short time.

Although air spring bellows have a very low hysteresis, but not necessarily a very flat spring characteristic. In order to get at changes in height of the base part relative to the subframe during the dissolved state no increase or decrease in support force, but at all altitudes to compensate for the dead weight of the industrial robot as accurately as possible through the air bag, the air bag is fed a regulated air pressure, the air bag his Receives air pressure from the air pressure source forth via a pressure control valve. To be able to supply regulated air pressure, at least one of the coupling members 20 with a force measuring sensor 60 Provided. Normally, no or only a very small force acts on the coupling rods. However, if, for example, the body tends to raise the base by a small amount over a long period of time due to a rolling motion, the supporting force of the air spring bellows decreases, and the coupling links must absorb the deficit of supporting force. Therefore, the force measuring sensor is designed and attached to the coupling member that the force detected there represents a vertical force that tries to raise or depress the air spring-assisted base depending on the change in position of the body during the working phase. With the force measuring sensor 60 is a regulator for the air pressure in the bellows 40 coupled. The air pressure regulator acts as a function of the force measuring sensor 60 determined force on the mentioned pressure control valve such that at a workpiece in the depressing sense of the air spring bellows 40 acting force of the air pressure in the bellows is lowered and increased at a base part in the tendency of air bellows lifting force of the air pressure in the bellows. The aim is that in the coupling link 20 acting force remains below a certain threshold. This ensures that in all only slightly different heights of the base part relative to the support plate of the subframe, the dead weight of the industrial robot is largely balanced pneumatically and constantly.

During the working phase is the base part 14 of the industrial robot - as I said - from the subframe 15 solved and freely movable within certain, mechanically predetermined limits compared to the subframe. The driven next to the workpiece ago moving subframe has at this stage only the task of carrying the weight of the industrial robot, but not to lead him. It could happen that the range of motion between base and subframe due to speed differences between the workpiece and subframe in one or the other direction is exceeded. In order not to let it come in such a state to Verzwängungen in the two drives, it is provided that in the power flow to the drive gear 74 of the subframe, the already mentioned slip clutch 18 is arranged, which prevents such Verzwängungen due to the permitted slip between the input and output side. By a clutch slip, the driving force of the subframe is limited to an adjustable value.

On the other hand, during the acceleration phase, during the rapid return and in the event of an emergency stop, high drive or braking forces are to be transmitted via the drive gear 74 can be transmitted. Therefore, the slip clutch is designed such that it can be rigidly coupled through, that can be converted into a state in which a slip between the input and output side of the slip clutch 18 is prevented. For safe control of the acceleration phase and the rapid return, the robot's own longitudinal drive operates 73 therefore during the said phases positive or non-positive, ie non-slipping.

Suitable couplings of this type would be hydrodynamic Clutches or viscous couplings. In the latter type of coupling are alternately drive-side and output-side clutch plates arranged interlocking, which run in an oil-filled housing. The transferable in the slip state Torque can be determined by the distance between the drive-side and output-side clutch plates be specified. On the other hand, a viscous coupling as needed by powerful, axial compression of the clutch plates be rigidly coupled.

The robot's own longitudinal drive is from the end of the acceleration phase and during the entire working phase, ie in the workpiece 3 coupled state, on average with the speed of the conveyor 1 moved forward. Here, the at the conveyor 1 measured conveying speed as a target speed given a speed controller and the drive of the subframe of the industrial robot are impressed, the actual speed of the subframe on the drive gear 74 must be removed.

Although the subframe is therefore driven at a regulated speed which corresponds to the conveying speed, it is nevertheless possible during the measurement and control inaccuracies to cause small, longer-lasting speed differences between the workpiece and the subframe. Another cause of this could be the intentional slip in the slip clutch 18 his. Due to a longer-lasting speed difference between the workpiece and subframe, it may happen that the subframe in the context of limited relative mobility, the workpiece in the conveying direction "overtaken" or that it remains against the workpiece. This can lead to a contact of the clamping bolt 44 with the fixing hole 46 come. In such a contact state, the free mobility of the base part would be 14 opposite the subframe 15 In the longitudinal direction is limited and difficult in the vertical direction and in the transverse direction.

In order to avoid such a condition, the drive of the subframe can additionally be speed controlled in a second way, depending on the horizontal displacement state of the support plate 42 opposite the subframe. For this purpose is between the base part 14 of the industrial robot 10 and the subframe 15 a wayfinder 70 arranged (see 1 ), which during the working phase is horizontal, longitudinal 6 lying relative displacements between base part and subframe determined. This encoder measures the horizontal distance between each reference point on the support plate 42 and one in the longitudinal direction 6 aligned reference point on the subframe; namely, such a distance measurement is carried out simultaneously at least three mutually horizontally and vertically spaced locations. From these at least three distance values, an average distance is calculated in which any pivoting-related distance changes are eliminated.

The displacement sensor is equipped with a cruise control for the driving speed of the subframe 15 coupled. The speed controller in turn acts on a controllable drive motor of the subframe 15 on. Namely, their driving speed depending on the by the encoder 70 determined relative displacement between base part 14 and subframe 15 increased or decreased such that the relative displacement remains below a certain maximum value. As a result, a longer-lasting speed difference between the workpiece and subframe during the working phase, ie avoided during the dissolved state of the industrial robot. The clamping bolt 44 Thus, even with speed fluctuations of the conveyor always remains approximately centered within the fixing hole 46 stand.

During the working phase is the base part 14 of the industrial robot 10 - As I said - fully coupled to the workpiece and can swim freely compared to the subframe weight balanced on all sides. The reaction forces of the industrial robot must be absorbed by the coupling rods and coupling arms during this working phase. Such reaction forces can be caused by the work to be performed itself, for example, when a certain working resistance has to be overcome when joining assembly parts. By suitable design of the joining partners or the joining gaps and the robot tool, such, work-related reaction forces can be mastered. For example, in the sluggish joining of accessory parts, an anvil may be integrated on the robot tool, which directly adjoins the workpiece in the region of the installation location on the side lying opposite in the joining direction and is supported there. As a result, the reaction forces caused by joining forces can be dissipated into the workpiece with a short power flow.

In addition to these work-related reaction forces occur in the industrial robot also mass-based reaction forces that can not be avoided without further ado. The mass-related reaction forces can, in particular with rapid movements of the working arm 11 get very tall. In order to relieve the coupling links of all excessive mass reaction forces during the working phase of the industrial robot, it is provided that the robot and arm movements to be carried out quickly take place outside the workpiece-coupled state, ie only during standstill, during the rapid return or during the acceleration phase become.

Rapid robot and arm movements are necessary, for example, to bring the industrial robot and its working arm into the required starting position for the work to be performed before the actual work begins. When mounting an accessory part 9 in the workpiece, for example, provided on a table Zubauteil must first be included in the robot tool, which is performed solely for reasons of time with rapid robot movement. For the reasons mentioned above - relieving the coupling links and maintaining a precise coupling state - so a Zubauteil is most possible during a downtime of the industrial robot, ie taken at the end of the working phase or in the waiting position in the robot tool. Such operations could also take place during a travel movement of the industrial robot, in any case, they should be made only during those phases in which the base part of the industrial robot is firmly connected to the subframe and the coupling links are detached from the workpiece. This is the case during the acceleration phase and during the fast return.

Below is on the in 11 illustrated embodiment of the industrial robot 10 ' in detail, in which the base part 14 ' an indissoluble unit with the subframe 16 forms. In this example, the air bag 40 ' as well as the dynamic air cushion 41 ' at the bottom of the subframe 16 arranged. During the working phase of the industrial robot, these weight-compensating and friction-reducing components are supported on the bottom side between the two guide rails 17 arranged plate 49 ' from. Thus the industrial robot 10 ' together with the subframe 16 during the workpiece-coupled state within a certain range of motion can swim freely on all sides, the subframe must be by a certain amount vertically from the guide rails 17 be lifted off. Usually, the guide rails for robots in the head area are positively encompassed by rail claws, which prevent unintentional lifting of the subframe from the rails, for example in case of risk of tipping due to inertial forces. These rail claws would have to be designed in the present case as a movable pliers, which are opened to lift the subframe of the guide rails by an actuator. A bevel on the wheel flanges of the wheels and on the guide rails - this detail is in 11 shown enlarged below - not only ensures a horizontal range of motion with little lift off the rail, but also ensures that at the end of the working phase of the subframe can be properly regained.

According to the embodiment 11 So goes the industrial robot 10 ' in the transition into the working phase in a slightly raised position on. This must firstly in the design of the lower coupling rods 20 ' and the upper coupling arm 24 be taken into account. On the other hand, the increase of the industrial robot during the working phase also has an effect on the programming, ie it must be taken into account that the reference system of the industrial robot is slightly offset upwards during the working phase compared with the position of the reference system during the other phases of the work cycle. To lift the subframe 16 When loosening the longitudinal guide and to avoid the associated implications, instead of the flange wheels can be retracted by a corresponding amount up in the subframe, so that the altitude of the base part remains unchanged when loosening.

Incidentally, according to the embodiment 11 the industrial robot 10 ' as a whole, ie including subframe 16 during the working phase dragged along with the workpiece on the generally rigid coupling to the workpiece in the conveying direction. Thanks to the support of the subframe via a dynamic air cushion on the ground 49 ' However, the sliding resistance is negligible. The to tow the industrial robot 10 ' At constant and low speed conveyor required forces can be easily absorbed by the coupling links. A drive of the industrial robot in the conveying direction is not required during the working phase.

In the in the 12 and 13 illustrated embodiment of an industrial robot 10 '' is a frame-like subframe 16 ' provided, is the base part 14 '' of the robot surrounds. Both parts - base part and subframe - are due to a sliding guide 57 , which is arranged four times on the circumference of the frame-like subframe, exactly guided in the vertical direction to each other. Due to top and bottom end stops 58 However, the frame-like subframe can be moved only limited in the vertical direction relative to the base part. The reason for this displaceability in the vertical direction will be explained later. Here it should only be noted that the slide must be designed so that it excludes any other movement in the context of any game, so in particular does not allow tilting in the sense of a rolling motion.

At the parallel to the conveying direction extending frame legs of the frame-like subframe 16 ' are outside each two down-facing guide arms 67 attached, on the inside of each a pair of guide rollers 59 is held. The guide rollers are each V-shaped and arranged symmetrically to a horizontal line and correspond with a pair of correspondingly formed and arranged on the bottom side, prismatic guide rails 17 ' for the bottom-side guidance of the subframe 16 ' or the industrial robot 10 '' ,

To the subframe from the longitudinal guide 17 ' To be able to solve, the leadership roles are one in 12 left in full lines and right dash-dotted shown leadership position laterally outwardly displaceable by a certain stroke, so that they are in the in 12 arrive right in full line release position. The evasive stroke of the guide rollers when releasing the subframe from the guide 17 ' Although on the one hand is sufficiently large to give the subframe enough room to move during the work phase, on the other hand, the guide rollers for safety reasons are not completely outside the guide surfaces of the prismatic guide rails, so they at any, for whatever reason caused exceeding the range of motion, the base part at least approximately on track. The short evasive stroke of the guide rollers 59 from the guide to the release position and vice versa, if necessary, covered very quickly and thus the subframe 16 ' If necessary in the shortest possible time of the leadership 17 ' be solved or tied back to her.

In contrast to the industrial robots 10 and 10 ' has the base part 14 " of the robot 10 '' according to the 12 and 13 four bellows on the underside 40 '' on, which are each formed of two superposed Einzelbälgen. For better accommodation of the four arranged at the corners of a square Luftfederbälgen is on the underside of the basically round base part 14 '' a square intermediate plate 68 intended. With the interposition of another, uniform, stabilizing intermediate plate 69 also square in shape is equiaxial to each of the bellows each a dynamic air cushion 41 '' arranged, which is located on the bottom-side support plate between the guide rails 17 ' supports low friction. The base part 14 '' of the industrial robot 10 '' So it's not on the subframe 16 ' but similar to the case of the robot 10 ' ( 11 ) supported on the ground between the guides.

Unlike the robot 10 ' is the industrial robot 10 '' ( 12 . 13 ) but permanently, so also during the acceleration and the deceleration phase and during the Eilrücklaufes, bottom supported on the bellows and the air cushion. The working phase, on the one hand, does not therefore differ from the other phases, namely the acceleration and deceleration phases and the rapid return, on the other hand, with regard to the person who picks up the weight of the robot and derives it into the underground; in all phases this is done by the bellows and the air cushions. Normally, the robot weight is therefore always picked up pneumatically and into the support plate 49 ' derived. The subframe, normally relieved of robot weight, has during the phases in which the guide rollers 59 to the guide rails 17 ' are created, ie during the acceleration and the deceleration phase and during the rapid return the task, the base part 14 '' stable in position, ie to lead in vertical position, thanks to the vertical guide 57 small height variations of the base part relative to the subframe may occur without further ado. Such small height variations can occur regularly in the change made according to the invention of the base part of the subframe guide to the workpiece guide and vice versa. Therefore, the mentioned vertical guide 57 between base part 14 '' and subframe 16 ' been provided.

In an emergency, for example, in the case of a defect of one of the bellows or the air cushion, the robot weight can also be absorbed by the subframe carried by the guide rails and the applied guide rollers; in this case, the base part lowers 16 ' along the vertical guides 57 until the concerns of the upper attacks 58 on the vertical guide of the frame-like subframe from. The subframe and all its components must therefore be sufficiently stable in view of such an emergency.

Thus the industrial robot 10 '' During the phases with guide rollers applied on the rail side, that is, during the acceleration as well as the deceleration phase and during the fast return, it is also possible to move automatically in the longitudinal direction, the subframe is 16 ' provided with a drive. However, the drive in the illustrated embodiment does not take place over the guide rollers 59 which would have been possible.

In the present case, a single drive independent of the guide rollers is provided, one drive each for the working speed in the conveying direction 6 and another drive for the opposite direction, which drives the subframe at rapid traverse speed. These two drives are opposite to drive consoles 66 respectively. 66 ' in the area of the two transverse to the guide rails 17 ' lying frame legs of the frame-like subframe arranged. The effective during the acceleration and working phase work drive is in 12 in the middle and in 13 to recognize on the left; the completely analogue constructed rapid traverse drive is only in 13 recognizable or indicated on the right with few components, because it is partially covered by the guide rail.

At the bottom of the drive console is a rocker which carries the actual drive 63 mounted vertically pivotable, wherein the pivot axis is arranged very eccentric to the rocker, so that the opposite end of the rocker can be raised and lowered. This end is by a return spring 65 pulled into a raised position. Between the seesaw 63 and the console underside is in the region of the raised and lowered end a pressurizable compressed air bellows 64 respectively. 64 ' arranged, as needed, the rocker can be pressed against the force of the return spring down.

The attached to the rocker drive consists on the one hand of a pneumatically acted example drive motor 62 , which is arranged near the pivot bearing of the rocker. The drive also consists of a friction roller 61 . 61 ' , which is arranged in the region of the raised and lowered end of the rocker and the like via a transmission chain or the like. can be driven by the engine. By lowering the rocker or one of the friction rollers 61 . 61 ' this is provided the subframe by means of the guide rollers 59 in the guide rails 17 ' guided, pressed against the support plate and can thereby develop their driving force.

During the acceleration and working phases, the friction roller becomes 61 the operation by means of the air spring bellows 64 pressed against, whereas the friction roller 61 ' the rapid traverse is raised by a local return spring in an ineffective position; the corresponding air bag 64 ' is depressurized. In this state, the subframe becomes after accelerating at working speed in the conveying direction 6 driven. During the deceleration phase and the rapid return, it is the other way around, ie the working friction roller 61 is then raised and the rapid traction pulley 61 ' pneumatically lowered. Since the drive motors are turbochargers that can be pressurized, in principle turbines, these can also be used as brakes. Already during the deceleration phase of the industrial robot, ie within the deceleration distance 7 ' is the rapid traction roller 61 ' pressed and is during this time due to the mass of the robot to be delayed against its assigned drive direction of rotation set in rotation, whereby it develops a braking effect, which can be more or less high depending on the strength of the air supply to the turbo engine. If then the standstill of the subframe or the robot is reached, then the turbomotive friction roller drive goes without further ado and without interruption in the traction mode, so that the robot initially against the direction 6 accelerated and then driven at rapid traverse speed.

In the transition from the acceleration to the working phase of the industrial robot 10 '' That is, when the same position synchronous running between the robot and the workpiece is reached, the robot base part is first coupled by means not shown coupling members in a manner already described above to the workpiece and then the subframe 14 '' detached from the longitudinal guide, ie the guide rollers 59 are lifted off the guide rails. Due to the vertical guide occurs when releasing the subframe of the longitudinal guide no load change with respect to the recording of the robot weight instead, so that no change in height of the base part can take place here. When coupling the base part to the workpiece, the base part is retracted reproducible by means of the coupling members in a predetermined relative position to the workpiece. This may, as long as the subframe is not yet released from the longitudinal guide, temporarily come to a tolerable Verzwängung between base and workpiece or between base and subframe. So that during this short transition phase, these constraints at least partially solve and can not build up high voltages, is the already mentioned vertical guide 57 provided between the base part and subframe, which can compensate for the vertical component of any constraints by a vertical relative displacement between these parts is allowed. During the working phase, in which the subframe is released from the longitudinal guide, the subframe hangs functionless on the base part, wherein the vertical guide 57 is shifted in the end position, in which the upper stop 58 comes to effect.

On the other hand, the function of the subframe, the base part during the acceleration and deceleration phase as well as during the Eilrücklaufs to be able to safely lead despite a created by the vertical guide movement possibility, not affected. Once the end E of the working distance 23 is reached and the transition is to be introduced into the leadership of the robot through the subframe, first the leadership roles 59 to the above-mentioned transverse stroke to the guide rails 17 ' zurückgefahren, whereby they create themselves on their prismatic guide surfaces and thereby align the subframe heightwise to the guide rails and center. After the base part initially remains coupled to the workpiece during this transitional phase, until the subframe is completely and properly "slotted" onto the guide rails, it may again come to certain constraints, which, however, due to the mentioned vertical guidance at least partially compensate by a relative vertical lift between base and subframe is allowed. Subsequently, the coupling of the base part can be solved with the workpiece, so that any, temporarily remaining Verzwängungen completely solve. The robot can now be delayed and then moved back in rapid traverse to the starting point of the workstation.

1

Roller conveyor track

1'

Overhead conveyor ( 6 . 7 )

2

idlers

3

body

4

Krosserieträger for 1

4 '

C-shaped conveyor hanger ( 6 . 7 )

5

adapter rail

5 '

adapter frame

6

conveying direction

7

acceleration path

7 '

delay path

8th

Deployment Table

9

annex parts

10

Industrial robots ( 1 - 6 )

10 '

Industrial robots ( 11 )

10 ''

Industrial robots ( 12 . 13 )

11

working arm

12

robot tool

13

control cabinet

14

Base part ( 1 - 6 . 8th . 9 )

14 '

Base part ( 11 )

14 ''

Base part ( 12 . 13 )

15

Subframe ( 1 - 5 )

16

Subframe ( 11 )

16 '

Subframe ( 12 . 13 )

17

Guide rails for 15 . 16

17 '

Guide rails for 16 ' , ( 12 . 13 )

18

slip clutch (Bridged)

19

rack

20 20 '

 lower coupling rod

21

front Coupling rod part

22

rear Coupling rod part

23

working range

24

upper coupling arm ( 2 )

25

grab

26

Center column on 3

27

upper coupling arm ( 3 )

28

Suction pads

29

lower coupling rod ( 4 )

30

coupling sword

31

lower coupling rod ( 5 )

32

Coupling arm on 14 ( 5 )

33

Suction gripper ( 5 )

34

Koppeltubus

35

coupling plate

36

Support shoulder on 43

37

Head on 44

38

annular piston

39

ring cylinder

40

Air spring bellows ( 1 - 6 . 8th . 9 )

40 '

Air spring bellows ( 11 )

40 ''

Air spring bellows ( 12 . 13 )

41

dynamic air cushion ( 8th . 9 )

41 '

dynamic air cushion ( 11 )

41 ''

dynam. Air cushion ( 12 . 13 )

42

Support plate of 14

43

Bolt Fixing

44

clamping bolts

45

clamp cylinders

46

Fixing hole in 42

47 47 '

Air connections for 40 . 41

48

Opening at the bottom 41

49

Support plate for 40 . 41 on 15

49 '

Support plate for 40 ' . 41 ' on the ground

50

Sliding guide on 21

51

carriage

52

fixing screw

53

Guide pin on 52

54

Drag chain conveyor in 1' For 4 '

55

Driver 4 ' For 54

56

Guide rollers on 16 ' For 17 '

57

Vertical guide between 14 '' and 16 '

58

End stops on 57

59

Guide rollers on 16 '/ 67 For 17 '

60

Force measuring sensor on 20 . 20 '

61

friction roller, operation

61 '

friction roller, Rapid

62

Drive motor for 61

63

Rocker for 61 . 62

64 64 '

Pressing bellows for 61 . 61 '

65

Return spring for 63

66

Drive bracket, operation

66 '

Drive bracket, Rapid

67

Guide arm on 16 ' For 59

68

Intermediate plate on 14 ''

69

Intermediate plate between 40 '' u. 41 ''

70

Position sensor for longitudinal component ( 1 )

71-73

 unused

74

drive gear

A

Starting point of 23

e

Endpoint of 23

W

Waiting position, starting point of 7

U

Reversal position, endpoint of 7 '

Claims (13)

A method for performing a working operation on a continuously moving on a conveyor workpiece by a mitbewegenden with the workpiece industrial robot during the common run through a certain working distance, which industrial robot parallel to the conveyor for the workpiece on a separate longitudinal guide is movable, the industrial robot - starting from a waiting position located in front of the working distance - as the workpiece approaches the waiting position, it is accelerated to the conveying speed of the workpiece (acceleration phase), then mechanically coupled with its movable base part to the workpiece and from then on synchronized with the workpiece for performing the working operation ( Working phase), wherein further solved at the end of the working distance, the base part of the industrial robot from the workpiece and moves the industrial robot in rapid traverse back to the waiting position is (rapid return), characterized in that the base part ( 14 . 14 ' . 14 '' ) of the industrial robot ( 10 . 10 ' . 10 '' ) during the working phase on the one hand with respect to all six degrees of freedom of movement rigidly with the workpiece ( 3 ) or a rigidly connected to the workpiece component ( 5 . 5 ' ) coupled on the other hand indirectly or directly from the longitudinal guide ( 17 . 17 ' ) lifted or released and weight balanced (air bellows 40 ) is held floating within a certain range of motion with respect to all six degrees of freedom of the movement and that the base part ( 14 . 14 ' . 14 '' ) of the industrial robot ( 10 . 10 ' . 14 '' ) only during the acceleration phase until coupling with the workpiece ( 3 ), during the rapid return and during any breastfeeding times at the ends of the workstation, directly or indirectly from the longitudinal guide (FIG. 17 . 17 ' ) non-floating, ie, relentlessly guided or worn. A method according to claim 1, characterized in that for the indirect lifting of the industrial robot ( 10 ) of the longitudinal guide ( 17 ) of a mobile and of the longitudinal guide ( 17 ) guided subframe ( 15 ) supported base part ( 14 ) of the industrial robot ( 10 ) during the working phase of the subframe ( 15 ) and weight balanced with respect to the weight of the industrial robot (air bellows 40 ) and opposite the subframe ( 15 ) is carried spatially movable by him and that only during the Be acceleration phase until coupling with the workpiece ( 3 ) and during the Eilrücklaufes the base part ( 14 ) relentlessly with the subframe ( 15 ) is connected. A method according to claim 1 or 2, characterized in that when mounting a Zubauteiles ( 9 ) in the workpiece ( 3 ) as a working operation the Zubauteil ( 9 ) during a downtime of the industrial robot ( 10 . 10 ' . 10 '' ) or during the fast return or during the acceleration phase from a defined provisioning position (provisioning table 8th ) of the accessory part ( 9 ) from the industrial robot ( 10 . 10 ' . 10 '' ) is recorded. Method according to claim 1 or 2, characterized in that the working arm ( 11 ) of the industrial robot ( 10 . 10 ' . 10 '' ) as well as the working arm ( 11 ) carried robot tool ( 12 ) already during the acceleration phase into the position required for carrying out the working operation in relation to the workpiece ( 3 ) to be brought. Method according to claim 1 or 2, characterized in that the industrial robot ( 10 ) in all phases of a longitudinal cycle ( 6 ) by a robot's own longitudinal drive ( 19/74 ), wherein the robot's own longitudinal drive ( 19/74 ) during the working phase, ie in the coupled to the workpiece state with little effort permits slippage (slip clutch 18 ). Method according to claim 1 or 2, characterized in that the robot's own longitudinal drive ( 19/74 respectively. 61/62 ) of the industrial robot ( 10 . 10 ' . 10 '' ) towards the end of the acceleration phase and during the entire work phase, ie in the workpiece ( 3 ) coupled state, on average with the continuously measured speed of the conveyor ( 1 . 1' ) is driven as a target speed. Device for carrying out a working operation on a continuously moving on a conveyor workpiece by a mitbewegenden with the workpiece industrial robot during the common run through a certain working distance, with a parallel next to the conveyor for the workpiece on a separate longitudinal guide movable industrial robot whose base part on a through the longitudinal guide guided and provided with a robot's own longitudinal drive subframe is guided or supported, which industrial robot between a lying before the working distance waiting position on the one hand and the end of the working distance on the other hand back and forth, and with a device for mechanically coupling the base part of the industrial robot with the Workpiece or rigidly connected to it workpiece carrier is provided, in particular for carrying out the method according to claim 1, characterized in that the Device for mechanically coupling the base part ( 14 . 14 ' . 14 '' ) of the industrial robot ( 10 . 10 ' . 10 '' ) with the workpiece ( 3 ) or with a rigid with him ( 3 ) connected component ( 5 . 5 ' ) is formed such that the base part ( 14 . 14 ' . 14 '' ) with respect to all six degrees of freedom of movement rigidly with the workpiece ( 3 ) or the component ( 5 . 5 ' ), and that with a weight balance (air bellows 40 ) provided base part ( 14 . 14 ' . 14 '' ) of the industrial robot ( 10 . 10 ' . 10 '' ) is formed according to one of the following enumerated alternatives: a) the base part ( 14 ) of the industrial robot ( 10 ) is detachable with its subframe ( 15 ) and in the released state of the opposite of the subframe ( 15 ) effective weight compensation in such a way that the base part ( 14 ) within a certain range of motion with respect to all six degrees of freedom of movement relative to the subframe ( 15 ) is movable, b) the base part ( 14 ' ) of the industrial robot ( 10 ' ) is permanently rigid with the subframe ( 16 ) or even as the on guide rails ( 17 ) guided subframe and the subframe ( 16 ) is in the manner of the guide rails ( 17 ) or detachable from them, that the subframe ( 16 ) together with the base part ( 14 ' ) within a certain range of motion with respect to all six degrees of freedom of movement movable with respect to the guide rails ( 17 ) is supported by the weight compensation which is effective compared to the basic one, c) the base part ( 14 '' ) of the industrial robot ( 10 '' ) is with the subframe ( 16 ' ) via a ver only relative relative displacements with a limited stroke (end stops 58 ) permitting leadership ( 57 ) and the subframe ( 16 ' ) is in the manner of the guide rails ( 17 ' ) or detachable from them, that the subframe ( 16 ' ) together with the base part ( 14 '' ) within a certain range of motion with respect to all six degrees of freedom of movement movable with respect to the guide rails ( 17 ' ) is supported by the weight compensation which is effective in the opposite sense. Apparatus according to claim 7, characterized in that the weight balance of the base part ( 14 . 14 ' ) of the industrial robot ( 10 . 10 ' . 10 '' ) or the subframe ( 16 . 16 ' ) by at least one air spring bellows ( 40 . 40 ' . 40 '' ) is formed. Apparatus according to claim 8, characterized in that the underside of the bellows ( 40 . 40 ' . 40 '' ) by means of a dynamic air cushion ( 41 . 41 ' . 41 '' ) on a flat horizontal supporting surface ( 49 . 49 ' ) is supported horizontally movable. Apparatus according to claim 7, characterized net through a the base part ( 14 ) of the industrial robot ( 10 ) with the subframe ( 15 ) fixing fixing device, the at least three spaced, liftable fixing bolts ( 43 ) and a corresponding number of fixing holes ( 46 ) having. Apparatus according to claim 7, characterized in that in the power flow to the drive wheel ( 74 ) of the subframe ( 15 ) a slip clutch ( 18 ) is arranged, which is rigidly durchkuppelbar, that is in a state can be converted, in which a slip between the input and output side of the slip clutch ( 18 ) is prevented. Apparatus according to claim 7, characterized in that on the underside of the subframe ( 16 ' ) at least one friction roller ( 61 . 61 ' ) is mounted vertically movable, which can be pressed against the ground as needed or lifted from him. Apparatus according to claim 12, characterized in that two vertically movable friction rollers ( 61 . 61 ' ) on the underside of the subframe ( 16 ' ), which are optionally and alternatively usable, wherein the one friction roller ( 61 ) with working speed and the other ( 61 ' ) can be driven at rapid traverse speed.