Method and device for construction of a workpiece-related workpiece gripping device for press automation

Abstract

A method and a device are provided for construction of a workpiece-related workpiece gripping device for press automation, the workpiece-related workpiece gripping device having workpiece-specific components fastened to a support. The respective precise positions and orientations of the workpiece-specific components to be fastened to the support are reproduced by a motion automaton, in particular a robot.

Claims

1. A method for construction of a workpiece-related workpiece gripping device for press automation, comprising the acts of: locating a support of the workpiece-related workpiece gripping device at a predefined location in a predefined orientation relative to an automatic handling device; obtaining, using a control device, data identifying positions and orientations of respective ones of a plurality of workpiece-specific components to be installed on the support during construction of the workpiece-related workpiece gripping device; and controlling, using the control device, the automatic handling device separate from the support to construct the workpiece-related workpiece gripping device by positioning, orienting and installing the respective ones of plurality of workpiece-specific components on the support in respective positions and orientations identified in the position and orientation data of the respective ones of the plurality of workpiece-specific components obtained in the obtaining act.

2. The method according to claim 1, wherein in the controlling act, the automatic handling device is controlled by the control device to move each of the plurality of workpiece-specific components individually into the respective positions and orientations of the respective ones of the plurality of workpiece-specific components on the support.

3. The method according to claim 1, wherein the positions and orientations data for the workpiece-specific components are obtained by the control device in an automated manner from a CAD data set for a workpiece to be gripped by the workpiece gripping device.

4. The method according to claim 3, further comprising the act of: determining using the control device an order of installation of each of the plurality of workpiece-specific components on the support in an automated manner, wherein the order of installation is implemented by the control device in the automatic handling device controlling act.

5. The method according to claim 4, further comprising the acts of: determining using the control device a position in space of the support which takes into account movements of the automatic handling device during the positioning, orienting and installing of the plurality of workpiece-specific components on the support in the automatic handling device controlling act; and positioning, in an automated manner controlled by the control device, the support in the determined position in space.

Description

BRIEF DESCRIPTION OF THE DRAWING

(1) FIG. 1 is a schematic view of a device according to and embodiment of the invention for implementing the method according to an embodiment of the invention.

DETAILED DESCRIPTION OF THE DRAWING

(2) The device 100 illustrated in FIG. 1 for the construction of a workpiece-related workpiece gripping device 200 for the press automation comprises an automatic handling device in the form of an articulated-arm industrial robot 110 and a changeable or adjustable holding or gripping device 130, by which the support 210 of the workpiece gripping device 200 to be constructed can be held in a location and position in space defined with respect to the robot 110. The position in space taken up by the support 210 is an optimized position in space, as explained above.

(3) Using the robot 110, the workpiece-specific components to be fastened to the support 210 are individually moved into their exact position and orientation and can then be manually fastened to the support 210 by an employee. These workpiece-specific components are, for example, vacuum suction devices (vacuum grippers), pneumatic clamps, magnetic grippers, bucket lifts, fork lifts (undergripping lifts), sensors (for example, for detecting the receiving of a workpiece) and/or the like.

(4) The workpiece-specific components are fastened individually in an ideal succession determined beforehand to the multipart support 210. In the illustrated example, after the lower vacuum suction device 221 was fastened to the support 210 in the precise position and orientation, the robot 110 will move to the next position upon the pressing of a button and, along the way, will pick up the vacuum suction device 222 to be installed next (or another component to be installed next) and will automatically move the latter into the correct installation position and location (as illustrated). For this purpose, a holder 115 is arranged on the robotic arm of the robot 110. The holder 115 permits a direct fastening of the held component 222 to the support 210 without any depositing or shifting. The orientation of the component 222 to be fastened is illustrated by the dash-dotted line A. Analogously, additional workpiece-specific components can be fastened to the support 210 in an exact position and orientation.

(5) As an alternative to the preceding approach, it may be provided that, using the robot 110, only the exact positions and orientations of the workpiece-specific components to be fastened to the support are indicated, the respective component then being manually mounted and aligned. In this case, the robot 110 operates as a quasi template.

(6) The workpiece to be gripped by the illustrated workpiece gripping device 200 to be constructed, in particular, is a sheet metal workpiece or a sheet-metal-type workpiece, as explained above.

(7) Using the computer device 300, control data for the robot 110 can be generated in an automated manner from the CAD data of the workpiece to be gripped by the workpiece gripping device 200 to be constructed (or as required several workpieces to be gripped). As an alternative or in addition, CAD data of a press tool can also be used which is to be operated by the workpiece gripping device 200 to be constructed. This takes place particularly by suitable software. The control data generated by the computer device 300 in an automated manner are forwarded to the control device 120 of the robot 110, which generates control commands therefrom and carries out a corresponding controlling of the robot 110.

(8) 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.

LIST OF REFERENCE SYMBOLS

(9) Method and Device for Construction of a Workpiece-Related Workpiece Gripping Device for Press Automation 100 Device 110 Robot (Automatic Handling Device) 115 Holder (Sensor) 120 Control Device 130 Holding Device 200 Workpiece Gripping Device 210 Support 221 Workpiece-Specific Component (Vacuum Suction Device) 222 Workpiece-Specific Component (Vacuum Suction Device) 300 Computer Device A Orientation CAD CAD Data FIG. 1