System and Method for Placing an Object, Which Is to Be Processed, on a Production Apparatus in a Precise Position

Abstract

A system and method for placing an object, which is to be processed on a production apparatus in a precise position, is provided. The system includes at least one location-determining system for determining a relative location of an object in relation to a production apparatus and a positioning apparatus for positioning the object on the production apparatus. The positioning apparatus has a receiving apparatus for receiving and discharging the object, and a movable arm for moving the object from one location to another. The location-determining system has at least one location-detecting device to detect a relative location of the receiving apparatus in relation to the location-detecting device. The location-detecting device is configured to detect a relative location of the object in relation to the location-detecting device and also a relative location of the production apparatus in relation to the location-detecting device.

Claims

1. A system for placing an object, which is to be processed on a production apparatus in a precise location, comprising: at least one location-determining system to determine a relative location of an object, which is to be processed, in relation to a production apparatus; and a positioning apparatus to position the object on the production apparatus, where the positioning apparatus includes a receiving apparatus to receive and discharge the object; and a movable arm to move the object from a first location to a second location, where the location-determining system has at least one location-detecting device configured to detect a relative location of the receiving apparatus in relation to the location-detecting device, where the location-detecting device is configured to detect a relative location of the object in relation to the location-detecting device, wherein the location-detecting device is configured to detect a relative location of the production apparatus in relation to the location-detecting device.

2. The system according to claim 1, wherein the location-determining system has at least one first reference marking and at least one second reference marking, the first reference marking is arranged at the receiving apparatus and the second reference marking is arranged at the production apparatus, and the location-determining system is configured to determine a relative location of the first reference marking and the second reference marking in relation to the location-detecting device.

3. The system according to claim 2, wherein the location-determining system is configured to determine a relative location of the object, which is to be processed, in relation to the first reference marking.

4. The system according to claim 1, wherein the location-detecting device has an optical location-detecting apparatus.

5. The system according to claim 3, wherein the location-detecting device has an optical location-detecting apparatus.

6. The system according to claim 2, wherein at least one of the first reference marking and the second reference marking has at least one spherical reference body.

7. The system according to claim 5, wherein at least one of the first reference marking and the second reference marking has at least one spherical reference body.

8. The system according to claim 1, wherein the positioning apparatus is in the form of a robot.

9. The system according to claim 1, wherein the production apparatus has at least one pocket or at least one raised area for receiving a subregion of the object which is to be processed.

10. The system according to claim 1, wherein the production apparatus is in the form of a pressing tool.

11. A method for placing an object, which are to be processed on a production apparatus in a precise location, wherein the method comprises the acts of: arranging the object on a receiving apparatus of a positioning apparatus; determining a relative location of the object in relation to the receiving apparatus; determining a relative location of the receiving apparatus in relation to a location-detecting device by means of the location-detecting device; determining a relative location of the production apparatus in relation to the location-detecting device by means of the location-detecting device; determining a relative location of the object in relation to the production apparatus; and setting down the object on the production apparatus in the precise location by means of the positioning apparatus.

12. The method according to claim 11, wherein the relative location of the object in relation to the receiving apparatus is determined by the location-detecting device.

13. The method according to claim 11, wherein the act of determining the relative location of the object in relation to the receiving apparatus is conducted by means of a centering device arranged at the receiving apparatus.

14. The method according to claim 11, wherein the act of determining the relative location of the receiving apparatus in relation to the location-detecting device is conducted by detecting a reference marking arranged at the receiving apparatus.

15. The method according to claim 11, wherein the act of determining the relative location of the production apparatus in relation to the location-detecting device is conducted by detecting a reference marking arranged at the production apparatus.

16. The method according to claim 11, wherein the act of determining the relative location of the object in relation to the production apparatus is conducted by comparing the determined relative locations and calculating, based on the comparison, the relative location of the object in relation to the production apparatus.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG. 1 is a schematic side view of a system according to the invention; and

[0036] FIG. 2 is a flowchart of a method according to the invention.

DETAILED DESCRIPTION OF THE DRAWINGS

[0037] FIG. 1 schematically shows a side view of a system 1 according to the invention for placing an object 2, which is to be processed, on a production apparatus 3 in a precise location. The system 1 has a positioning apparatus 5 which is in the form of a robot with an arm 7 and a receiving apparatus 6 which is arranged at a lower end 11 of the arm 7. In this exemplary embodiment, the receiving apparatus 6 is in the form of a slotted flat gripper which is designed to grip the object 2 which is to be processed. The object 2, which is to be processed, is a semi-finished product which is in the form of a tailored blank.

[0038] The upper end 12 of the positioning apparatus 5 is arranged at a horizontally running rail 13, so that the positioning apparatus 5 can be moved horizontally along the rail 13. The rail 13 is arranged, for example, on a ceiling of a production hall or on a framework. In alternative embodiments, the rail 13 can also be arranged, for example, on the floor, on a wall or on a vehicle.

[0039] Furthermore, the system 1 for placing an object 2, which is to be processed, on a production apparatus 3 in a precise location has a location-determining system 4 including a location-detecting device 8, a first reference marking 9 and a second reference marking 10. The first reference marking 9 is arranged at the receiving apparatus 6, and the second reference marking 10 is arranged at the production apparatus 3. The location-detecting device 8 can be, e.g., an optical location-detecting device and designed to detect a relative location of the first reference marking 9, of the second reference marking 10 and also of the object 2, which is to be processed, relative to the location-detecting device 8. Regions which are detected by the location-detecting device 8 are symbolized as dashed lines in FIG. 1. In addition, the location-detecting device 8 can be designed to detect a large number of further regions.

[0040] In this exemplary embodiment, the production apparatus 3 is in the form of a lower part of a pressing tool of a press 14.

[0041] FIG. 2 schematically shows a flowchart of the individual steps of the method according to the invention. In the first method step 20, an object 2, which is to be processed, is arranged at a receiving apparatus 6 of a positioning apparatus 5. In the second method step 30, a relative location of the object 2, which is to be processed, in relation to the receiving apparatus 6 is determined. This is done, for example, by means of a centering device which is arranged at the receiving apparatus 6. In the third method step 40, a relative location of the receiving apparatus 6 in relation to a location-detecting device 8 is determined by means of the location-detecting device 8. This is done, for example, by detecting a first reference marking 9 which is arranged at the receiving apparatus 6, for example using optical means. In the fourth method step 50, a relative location of a production apparatus 3 in relation to the location-detecting device 8 is determined by means of the location-detecting device 8. This is done, for example, by detecting a second reference marking 10 which is arranged at the production apparatus 3, for example using optical means. In the fifth method step 60, a relative location of the object 2, which is to be processed, in relation to the production apparatus 3 is determined. This is performed, for example, by a computer unit which compares the determined relative locations with one another and calculates the relative location of the object 2, which is to be processed, in relation to the production apparatus 3 from said comparison. In the sixth method step 70, the object 2, which is to be processed, is set down on the production apparatus 3 in a precise location by means of the positioning apparatus 5. The location data, which is required for this purpose, relating to the object 2, which is to be processed, and also to the production apparatus 3 is provided by the location-determining system 4.

[0042] A method of this kind has the advantage that a production apparatus 3 can be arranged relative to the positioning apparatus 5 within relatively large tolerances without having a negative influence on the degree of process reliability of the system 1 as a result. Production costs can be saved and positioning tolerances can be reduced in this way.

[0043] In a development of the method according to the invention, the relative location of the object 2, which is to be processed, in relation to the receiving apparatus 6 is ascertained by the location-detecting device 8. Precise orientation of the object 2 in relation to the receiving apparatus 6 is therefore possible within relatively large tolerances since the system 1 is designed to compensate for such tolerances. This has the advantage that the degree of process reliability is further increased and production costs are further lowered.

LIST OF REFERENCE SYMBOLS

[0044] 1 System [0045] 2 Object which is to be processed [0046] 3 Production apparatus [0047] 4 Location-determining system [0048] 5 Positioning apparatus [0049] 6 Receiving apparatus [0050] 7 Arm [0051] 8 Location-detecting device [0052] 9 First reference marking [0053] 10 Second reference marking [0054] 11 Lower end [0055] 12 Upper end [0056] 13 Rail [0057] 14 Press [0058] 20 First method step [0059] 30 Second method step [0060] 40 Third method step [0061] 50 Fourth method step [0062] 60 Fifth method step [0063] 70 Sixth method step

[0064] The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.