ROBOT CELL FOR MACHINE TOOL OR ASSEMBLY MACHINE

Abstract

The invention relates to a robot cell (1) provided for use on machine tools and/or assembly machines. The robot cell (1) includes a handling device, e.g. an industrial robot (2). By means of the robot cell (1), a workpiece (4) to be processed on the machine tool or the assembly machine can be removed from an incoming transport container, pre-processed, orientated, inserted into the machine tool or assembly machine, removed from the machine tool or the assembly machine, measured and placed or stacked in an outgoing transport container. The robot cell (1) can be used on different machine tools or assembly machines. In order to facilitate operation of a robot cell (1) of this kind, the robot cell (1) can be used on the machine tool or the assembly machine without being linked or connected to the machine tool or the assembly machine, the robot cell (1) has an optics device (5), by means of which, in conjunction with reference markings on the machine tool or assembly machine, the robot cell (1) can be positioned in its operating position on the machine tool or the assembly machine, wherein by means of a control apparatus (6) and the handling device connected thereto or the industrial robot (2) connected thereto of the robot cell (1), operating elements on the machine tool or assembly machine can be contacted, operated and controlled.

Claims

1. A robot cell for use on machine tools and/or assembly machines, which has a manipulator, for example an industrial robot (2), and by which a workpiece (4) to be processed on the machine tool or assembly machine can be removed from an incoming transport container, pre-processed, oriented, inserted into the machine tool or the assembly machine, removed from the machine tool or assembly machine, measured, and placed or stacked in an outgoing transport container, and that can be used on different machine tools or assembly machines, characterized in that the robot cell (1) can be used without being linked and connected to the machine tool or assembly machine, that the robot cell (1) has an optics device (5) that, in conjunction with reference markings on the machine tool or assembly machine, can position the robot cell (1) in its operating position on the machine tool or assembly machine, and that a controller (6) and the manipulator connected thereto or the industrial robot (2) connected thereto of the robot cell (1) can contact, operate, and control operating elements on the machine tool or assembly machine.

2. The robot cell according to claim 1, the controller (6) of which can be connected, by a communication bus and an interface preferably configured as a standard interface, to a control on the machine tool or assembly machine.

3. The robot cell according to claim 1 or 2, the controller (6) of which is configured such that it can be used for automatically detecting, classifying and eliminating malfunctions of the machine tool or assembly machine.

4. The robot cell according to any one of claims 1 to 3, the controller (6) of which is capable of recognizing individual machine tools or assembly machines, machine tool types or assembly machine types on which the robot cell (1) has already been used.

5. The robot cell according to any one of claims 1 to 4, the controller (6) of which can be used to record, store, process and output error messages and data sets concerning the operating state of the machine tool or assembly machine.

6. The robot cell according to any one of claims 1 to 5 that can be set up by a mobile terminal.

7. The robot cell according to claim 6 that has a transmitter unit that can be used to transmit data sets, for example video streams, images, messages, etc., to the mobile terminal, wherein the mobile terminal can be used to intervene in the operation of the robot cell (1).

8. The robot cell according to any one of claims 1 to 7 that is configured to be capable of traveling on the ground by, for example, rollers (7).

9. The robot cell according to any one of claims 1 to 8, the manipulator (2) of which can be used to close and open workroom doors.

10. The robot cell according to any one of claims 1 to 9, the optics device (5) and controller (6) of which can be used to define a collision-free trajectory of the manipulator (2), for example to a workpiece clamping apparatus of the machine tool or assembly machine.

11. The robot cell according to any one of claims 1 to 10 that is configured as self-propelled.

12. The robot cell according to any one of claims 1 to 11 that has an unmachined parts storage unit for workpieces (4) to be processed on the machine tool or assembly machine, into which the workpieces (4) to be processed can be transferred from an automated, driverless incoming transport unit.

13. The robot cell according to claim 12, wherein workpieces (4) of different shapes and sizes can be temporarily stored in the unmachined parts storage unit thereof.

14. The robot cell according to any one of claims 1 to 13 that has a machined parts storage unit for workpieces that have been processed on the machine tool or assembly machine, from which the processed workpieces can be transferred into an automated, driverless outgoing transport unit.

15. The robot cell according to claim 14, wherein workpieces of different shapes and sizes can be temporarily stored in the machined parts storage unit thereof.

16. The robot cell according to any one of claims 12 to 15, the manipulator (2) of which can be used to manipulate workpieces (4) situated in any position in the unmachined and/or machined parts storage unit(s).

17. The robot cell according to any one of claims 1 to 16 that has an autonomous power supply.

18. The robot cell according to any one of claims 1 to 17 that has a compressed air supply.

19. The robot cell according to any one of claims 1 to 18 that has a measuring apparatus for the workpieces processed by the machine tool or assembly machine, by means of which the processed workpieces can be measured, the recorded measurement data can be compared to preset target values, and correction values resulting from the comparison between the measured and target values can be output to the control on the machine tool or on the assembly machine.

20. The robot cell according to any one of claims 1 to 19 that, by means of rollers (7) provided thereon or by suitable transport equipment, for example a pallet truck or forklift, can be approximately positioned on the machine tool or assembly machine and connected in the approximately positioned position to an external current and compressed air source.

21. The robot cell according to any one of claims 1 to 20, in which at least one workpiece clamping apparatus of the machine tool or assembly machine can be controlled by the controller (6) of the robot cell (1).

22. The robot cell according to any one of claims 1 to 21 that has vibration-detecting, acoustical and/or optical measuring and analysis apparatuses, by means of which vibrations and/or movements of the machine tool or assembly machine can be detected and analyzed and, in particular in the event of a malfunction, the controller of the machine tool or assembly machine can be accessed.

23. The robot cell according to claim 22, by means of the measuring and analysis apparatuses of which an environment of the robot cell (1) can be monitored for irregular conditions and, in the event that irregular conditions are detected, suitable measures can automatically be initiated.

24. The robot cell according to any one of claims 1 to 23 that has secondary processing modules, for example a deburring module (10) for deburring workpieces removed from the machine tool or assembly machine.

25. The robot cell according to any one of claims 1 to 24 that has quality assurance modules.

26. The robot cell according to any one of claims 1 to 25, having a housing (11) that is open on a side facing the machine tool or assembly machine.

27. The robot cell according to claim 26, the housing (11) of which has, on its first end face adjacent to the open side, a wall (12) that can be pivoted from its closed position into a position aligning with a side wall (13) of the housing (11) opposite the open side.

28. The robot cell according to claim 27, the wall (12) of which, which is pivotal on the first end face of the housing (11), has a protective bar (14) on its inside surface that can be moved between a rest position, in which it contacts the inside surface of the wall (12), and an operating position, in which it projects, preferably roughly perpendicularly, from the inside surface of the wall (12).

29. The robot cell according to any one of claims 26 to 28, the housing (11) of which has, on its second end face adjacent to the open side, a wall (15) that can be pivoted from its closed position into a position aligning with the side wall (13) of the housing (11) opposite the open side.

30. The robot cell according to claim 29, the wall (15) of which, which is pivotal on the second end face of the housing (11), has a protective bar (16) on its inside surface that can be pivoted between a rest position, in which it contacts the inside surface of the wall (15), and an operating position, in which it protrudes, preferably roughly perpendicularly, from the inside surface of the wall (15).

31. The robot cell according to any one of claims 26 to 30, the manipulator or industrial robot (2) of which is mounted on a suspension (18) that is in turn mounted on two vertical beams (19) that are on the two side ends of the side wall (13) of the housing (11).

32. The robot cell according to claim 31, in which control cabinets (20) and the controller (6) of the robot cell (1) are above the manipulator or industrial robot (2) mounted on the suspension (18).

33. The robot cell according to any one of claims 27 to 32, in which an area scanner (24) is provided in the distal (relative to the housing (11) in the open position) end region on each wall (12, 15), by means of which a safety zone bordered by the respective walls (12, 15) can be scanned and, in the event that foreign bodies enter the safety zone, a trigger signal can be output to the controller (6) of the robot cell (1) in order to slow or stop the movement of the manipulator or industrial robot (2).

34. The robot cell according to any one of claims 27 to 33, in which each wall (12, 15) has operating and/or signaling elements that can initiate routine operating processes, for example stop, start, loading of the unmachined parts storage unit, etc.

35. The robot cell according to any one of claims 27 to 34, the walls (12, 15) of which can be locked in their closed position on the housing (11) or on a frame of the robot cell (1), for example for the purpose of transporting the robot cell (1).

36. The robot cell according to any one of claims 27 to 35, in which at least one handle, for example a bow-type handle that can be used to push and pull the robot cell (1), is formed on the outside surfaces of each wall (12, 15).

37. The robot cell according to any one of claims 27 to 36, the housing (11) of which can be closed on its open side by a cover or the like, for example when transporting the robot cell (1).

Description

[0041] Shown are:

[0042] FIG. 1 a schematic view of an embodiment of a robot cell according to the invention, from the side of the robot cell facing a machine tool or an assembly machine;

[0043] FIG. 2 a perspective view of the embodiment of the robot cell according to the invention shown in FIG. 1 in a partially open position; and

[0044] FIG. 3 a perspective view of the embodiment of the robot cell according to the invention shown in FIGS. 1 and 2 in a fully open position.

[0045] An embodiment of a robot cell 1 according to the invention, which is described below in more detail with reference to FIGS. 1 to 3, is intended for use on machine tools or assembly machines that are not shown in the figures.

[0046] Associated with the robot cell 1 is a manipulator that is configured as an industrial robot 2 in the embodiment illustrated in FIGS. 1 to 3. The industrial robot 2 can be used to remove a workpiece that is supplied in an incoming transport container or workpiece support 3 of the robot cell 1 and that is to be processed on the machine tool not shown in the drawing or on the assembly machine not shown in the figures, from the incoming transport container or workpiece support 3.

[0047] It is furthermore possible for the industrial robot 2 to pre-process and orient this workpiece 4 removed from the workpiece support 3 before the industrial robot 2 inserts it into the machine tool or assembly machine.

[0048] After the workpiece 4 has been processed in the machine tool or assembly machine, the industrial robot 2 can remove the processed product from the machine tool or the assembly machine. The industrial robot 2 measures the workpiece 4 and then places or stacks it in an outgoing transport container after the measurement.

[0049] The robot cell 1 can be used on various machine tools or on various assembly machines. Different workpieces 4 can be processed by the robot cell 1.

[0050] To use the robot cell 1 on the corresponding machine tool or corresponding assembly machine, it is not necessary for the robot cell 1 to be linked or connected to the machine tool or assembly machine.

[0051] In order to enable such an interaction with the machine tool or assembly machine, the robot cell 1 is equipped with an optics device 5 that can be used to position the robot cell 1 on the machine tool or assembly machine, wherein the optics device 5 works in conjunction with reference markings formed on the machine tool or assembly machine in order to position the robot cell 1.

[0052] Accordingly, the robot cell 1 can be positioned in its operating position on the machine tool or assembly machine by the optics device 5. A controller 6 of the robot cell 1 and the industrial robot 2 can be used to contact, operate and control operating elements of the machine tool or assembly machine.

[0053] In the illustrated embodiment, the controller 6 of the robot cell 1 has a communication bus and a standard interface, to which the controls on the machine tool or assembly machine (not illustrated in the figures) can be connected.

[0054] The controller 6 of the robot cell 1 can be used for automatically detecting, classifying and eliminating any malfunctions of the machine tool or assembly machine. The controller 6 can recognize individual machine tools or assembly machines, machine tool types or assembly machine types after contacting the same, provided that the robot cell 1 has already been used on the respective machine tools, the respective assembly machines, the respective machine tool types or the respective assembly machine types. The control device can be used to record, store, process and output error messages and data sets concerning the operating status of the corresponding machine tool or the corresponding assembly machine on which the robot cell 1 is arranged.

[0055] In the embodiment illustrated in the figures, the robot cell 1 is configured in such a way that it can be set up with the aid of a mobile terminal that is not shown in the figures.

[0056] To this end, the robot cell 1 has a transmitter unit that transmits data sets in the form of video streams, images, etc. and messages to the mobile terminal. The mobile terminal can be used to intervene in the operation of the robot cell 1.

[0057] In the case of the embodiment shown in FIGS. 1 to 3, the robot cell 1 has rollers 7 on its bottom surface and can thus travel on the ground. The industrial robot 2 of the robot cell 1 can be used to open doors or the like located at or on the way to the place of use.

[0058] The optics device 5 can be used to record and scan the environment of the robot cell 1 such that obtained data in the optics device 5 can be transmitted to the controller and recorded and processed therein in order to define a collision-free trajectory for the industrial robot 2 of the robot cell 1 to the machine tool or assembly machine such that the industrial robot 2 can transfer a workpiece 4 to, for example a workpiece clamping device of the machine tool or assembly machine.

[0059] A drive device that is not shown in any detail in the figures, can be associated with the robot cell 1. The robot cell 1 is self-propelled by this drive device and the rollers 7.

[0060] The robot cell 1 can be equipped with an unmachined parts storage unit, wherein workpieces to be processed on the machine tool or assembly machine can be stored in this unmachined parts storage unit. An automated, driverless incoming transport unit can be used to transfer these workpieces into the unmachined parts storage unit. Workpieces of different shapes and sizes can be temporarily stored in the unmachined parts storage unit.

[0061] Obviously, the robot cell 1 can also be equipped with a machined parts storage unit, in which workpieces that have been processed on the machine tool or assembly machine can be arranged. The processed workpieces can then be transferred from this machined parts storage unit into an automated, driverless outgoing transport unit. This machined parts storage unit of the robot cell 1 is also suitable for temporarily storing workpieces of different shapes and sizes.

[0062] The industrial robot 2 of the robot cell 1 is able to manipulate the workpieces regardless of how they are oriented in the unmachined or machined parts storage unit.

[0063] The robot cell 1 can have an autonomous power supply that can supply electrical energy to the industrial robot 2 and, for example the drive unit described above. Furthermore, an electrical connector 8 can be used to connect the robot cell 1 to an external power supply. A pneumatic connector 9 can be used to connect the robot cell 1 to an external compressed air supply.

[0064] The controller 6 of the robot cell 1 is connected to a measuring device on the robot cell, which is used to measure the workpieces that were processed on the machine tool or assembly machine and returned to the robot cell 1. The measurement data thus obtained are compared to predetermined target values for the processed workpieces. Correction values that are generated from the comparison between the recorded measurement values and the target values, can be output to the controls on the machine tool or assembly machine by the controller 6 of the robot cell.

[0065] The robot cell 1 can be approximately positioned in the region of the machine tool or assembly machine by its drive unit and the rollers driven thereby, or alternatively by, for example a forklift. In this approximately positioned position, the robot cell 1 can be hooked up to an external power source or to an external compressed air source by the electrical connector 8 or the pneumatic connector 9, respectively.

[0066] In the case of the embodiment, the controller 6 of the robot cell 1 is embodied such that it can be used to control at least one workpiece clamping device (not illustrated in the figures) of the machine tool or assembly machine.

[0067] In the illustrated embodiment, vibration-detecting, acoustical and optical measuring and analysis apparatuses are associated with the controller 6 of the robot cell 1. These measuring and analysis apparatuses can be used for detecting and analyzing vibrations and movements of the machine tool or assembly machine. The controller 6 on the robot cell can be used to access the controller of the machine tool or assembly machine, in particular in the event of a malfunction. Furthermore, the measuring and analysis apparatus of the controller 6 of the robot cell 1 can be used to monitor an environment of the robot cell 1 for irregular conditions. When such irregular conditions are detected in the environment of the robot cell 1, suitable measures for eliminating the irregularities can be automatically initiated by the controller 6 of the robot cell 1.

[0068] In the embodiment illustrated in FIGS. 1 to 3, the robot cell 1 has a secondary machining module in the form of a deburring module 10 that can be used for deburring workpieces that have been removed from the machine tool or assembly machine and delivered to this deburring module 10 of the robot cell 1.

[0069] The robot cell 1 as illustrated in FIGS. 1 to 3 can also have quality assurance modules that can monitor the quality of the workpieces received by the machine tool or assembly machine.

[0070] As can be discerned from studying FIGS. 1 to 3 together, the robot cell 1 has a housing 11 that in the case of the embodiment shown in FIGS. 1 to 3 is open on the side of the robot cell 1 with which the robot cell 1 faces the machine tool or assembly machine. On its first end face adjacent to this open side, the housing 11 has a wall 12 that can be pivoted from its closed position shown in FIG. 1 into an open position shown in FIG. 2, in which this wall 12 aligns with the side wall 13 of the housing 11 of the robot cell 1 that is opposite the open side of the housing 11 of the robot cell 1. A protective bar 14 is provided on the inside of the wall 12.

[0071] In the closed position of the wall 12, this protective bar 14 lies on the inside surface of the wall 12. When the wall 12 assumes the pivoted position shown in FIG. 2, in which the wall 12 aligns with the side wall 13 of the housing 11 of the robot cell 1, the protective bar 14 can be moved from the position shown in FIG. 2, in which it is in contact with the inside surface of the wall 12 and which is its rest position, into an operating position, in which the protective bar 14 projects roughly perpendicularly from the inside surface of the wall 12. A safety zone that is formed by the protective bar 14 in its operating position and the machine tool or assembly machine, can thus be provided next to the robot cell 1.

[0072] As can be discerned in particular from FIG. 3, in the embodiment described with reference to FIGS. 1 to 3 the housing 11 of the robot cell 1 also has a wall 15 on its other, second end face adjacent to the open side of the housing 11, which wall is mounted pivotally on the housing 11 or on the side wall 13 of the housing 11. This wall 15 can also be pivoted from its closed position shown in FIGS. 1 and 2 into its open position shown in FIG. 3. Like the wall 12 on the other end face of the housing 11, the wall 15 in its open position aligns with the side wall 13 opposite the open side of the housing 11.

[0073] On its inside or inside surface, the wall 15 likewise has a protective bar 16 that can be pivoted between the rest position shown in FIGS. 2 and 3, in which it contacts the inside or inside surface of the wall 15, and an operating position, in which it projects roughly perpendicularly from the inside of the wall 15.

[0074] The two walls 12, 15 in their open positions, in which they align with the side wall 13 of the housing 11 of the robot cell 1, the two protective bars 14, 16 in their operating positions, in which they project perpendicularly from the insides or inside surfaces of the walls 12, 15, and the machine tool or assembly machine, on which the robot cell 1 is located, thus create a safety zone on both sides of the robot cell 1 that is not readily accessible for personnel, etc.

[0075] As can be discerned in particular from FIG. 3, in the open position of the walls 12, 15 a relatively barrier-free work zone is created for the industrial robot 2 of the robot cell 1 because continuous beams, wall parts, or the like are not present on the open side of the robot cell 1 that faces the machine tool or assembly machine. Vertical members 17 at the two corners of the open front side of the robot cell 1 end roughly above the vertical area of the robot cell 1, in which the workpiece supports 3 are arranged in the illustrated embodiment. To a large extent, the industrial robot 2 is thus able to move freely above the area occupied by the workpiece supports 3.

[0076] In the illustrated embodiment, the deburring module 10, into which workpieces 4 can be introduced by the industrial robot 2, is installed in the area of the wall 12 on the first end face of the housing 11 of the robot cell 1.

[0077] The industrial robot 2 is in turn mounted on a suspension 18. In the case of the embodiment of the robot cell 1 shown in FIGS. 1 to 3, the suspension 18 is in turn mounted on two vertical beams 19 that are seated on the rear corners of the robot cell 1 on the side wall 13. Support or reinforcement members are provided at the junction between the suspension 18 and the vertical beams 19.

[0078] In the embodiment of the robot cell 1 described with reference to FIGS. 1 to 3, the controller 6 of the robot cell 1, including components directly associated therewith, and control cabinets 20 of the robot cell 1 are above the industrial robot 2 on or beside the suspension 18.

[0079] In the illustrated embodiment, the industrial robot 2 of the robot cell 1 is designed as a 6-axis robot. Plug connection means 21 for diverse peripheral devices can be associated with the robot cell 1, wherein these plug connection means can be mounted on the vertical beams 19.

[0080] In the illustrated embodiment, the vertical beams 19 at the open front side of the housing 11 of the robot cell 1 are connected at their top ends by cross beams 22 to the vertical beams 19 in the area of the side wall 13 and thus virtually form a basic frame of the robot cell 1, in the area of which the workpiece supports 3 are arranged. The optics device 5 of the robot cell 1 is on the top side of the (in FIG. 3) left cross beam 22.

[0081] Also associated with the robot cell 1 illustrated in FIGS. 1 to 3 is a blowoff station 23 that is mounted on the side wall 13 of the housing 11 of the robot cell 1 that is opposite the open side of the robot cell.

[0082] On the bottom corners of the free edges of the two walls 12, 15, provision is made of area scanners 24 that can be used to monitor the area next to the actual robot cell 1. The delimited safety zone associated with the respective walls 12, 15 is thus scanned. In the event that the area scanner 24 detects the entry of a foreign body or the like in this safety zone, the area scanner 24 outputs a trigger signal to the controller 6 attached thereto of the robot cell 1, in response to which the controller 6 then slows or stops the operation of the industrial robot 2 of the robot cell 1.

[0083] The walls 12, 15 of the housing 11 of the robot cell can have operating and/or signaling elements in order to initiate routine operating processes of the robot cell 1, for example stop of the operation thereof, start of the operation thereof, loading of the unmachined parts storage unit, etc.

[0084] In order to protect the equipment of the robot cell 1 housed in the interior of the robot cell 1, in particular during the transport of the robot cell 1, the walls 12, 15 can be locked in their closed positions on the housing 11 or frame of the robot cell 1.

[0085] At least one handle that in particular can be configured as a bow-type handle and that can be used for pushing and pulling the robot cell 1, can be provided on the outside surfaces of the walls 12, 15.

[0086] Where required, for example during transport, a cover or the like can be used to close the open side of the housing 11 of the robot cell 1.