DEVICE FOR HANDLING OBJECTS

Abstract

A positioning apparatus for a handling robot, wherein the positioning apparatus is designed to keep the handling robot in an idle position in a first state of the positioning apparatus, and to keep the handling robot in an active position in a second state, wherein, in the idle position, the handling robot is arranged below an object to be handled. The invention further relates to a device for handling objects, comprising a conveying apparatus for moving the objects to be handled and a positioning apparatus.

Claims

1. A positioning device for a handling robot, comprising: a first state of a positioning device and a second state of the positioning device, wherein the positioning device is set up to, in the first state of the positioning device, hold a handling robot in a rest position and, in the second state of the positioning device, hold the handling robot in an active position, wherein the handling robot, in the rest position, is disposed beneath an object to be treated.

2. The positioning device as claimed in claim 1, wherein the handling robot, in the active position, is at least partially above the lowest point of the object to be treated.

3. The positioning device as claimed in claim 1, wherein the positioning device has a mechanical connection facility for a handling robot, and/or the handling robot is a multi-axis robot.

4. The positioning device as claimed in claim 3, wherein the position of the mechanical connection facility in the rest position differs from the position of the mechanical connection facility in the active position.

5. The positioning device as claimed in claim 1 wherein the positioning device is set up such that the changeover from the rest position into the active position is realized by means of a rotational movement and/or a translational movement.

6. The positioning device as claimed in claim 1 wherein the handling robot, in the rest position, is protected by the positioning device.

7. An apparatus for treating objects, comprising: a conveying device for moving objects to be treated and a positioning device as claimed in claim 1.

8. (canceled)

9. The apparatus as claimed in claim 7, wherein the positioning device is disposed on, and/or within a space containing, the conveying device.

10. The apparatus as claimed in claim 7, wherein the positioning device is set up to be jointly conveyed with the object to be treated, beneath the conveying device, by means of an own additional horizontal axis.

11. The apparatus as claimed in claim 7, wherein the apparatus for treating objects has at least one multi-axis robot, which in particular has a coating device.

12. The apparatus as claimed in claim 11, wherein the handling robot, in the rest position, is found outside a range of movement of the at least one multi-axis robot.

13. The apparatus as claimed in claim 11, comprising a control device, which is set up such that, while the handling robot is in the active position, a vehicle body, with open doors, tailgate and/or front hood, is painted from inside, and/or with closed doors, tailgate and/or front hood, is painted from outside, by the at least one multi-axis robot bearing a coating device.

14. The apparatus as claimed in claim 11, comprising a control device, which is set up in such a way, in dependence on the state of the positioning device and/or the position of the at least one handling robot, to set the at least one multi-axis robot, by the control device of the apparatus, such that its parameters enable a spray jet form appropriate to the state of the positioning device.

15. An apparatus for treating objects, comprising: a conveying device for moving objects to be treated and a positioning device as claimed in claim 4.

16. The apparatus as claimed in claim 15, wherein a straight connecting line between the mechanical connection facility in the rest position and the mechanical connection facility in the active position has an angle to the motional direction of the object to be treated within a range from 30 to 150.

17. The apparatus as claimed in claim 15, wherein a straight connecting line between the mechanical connection facility in the rest position and the mechanical connection facility in the active position has an angle to the motional direction of the object to be treated within a range from 45 to 135.

18. The apparatus as claimed in claim 15, wherein a straight connecting line between the mechanical connection facility in the rest position and the mechanical connection facility in the active position has an angle to the motional direction of the object to be treated within a range from 60 to 120.

19. The apparatus as claimed in claim 15, wherein a straight connecting line between the mechanical connection facility in the rest position and the mechanical connection facility in the active position has an angle to the motional direction of the object to be treated of 90.

Description

[0027] The invention will now be explained in greater detail with reference to the figures, wherein:

[0028] FIG. 1 shows a top view of a painting booth according to the prior art;

[0029] FIG. 2 shows a sectional view of the painting booth of FIG. 1;

[0030] FIG. 3 shows a top view of a first inventive embodiment of a positioning device, without multi-axis robots which bear a coating device;

[0031] FIG. 4 shows a top view of a second inventive embodiment of a positioning device, without multi-axis robots which bear a coating device;

[0032] FIG. 5 shows a top view of a third inventive embodiment of a positioning device, without multi-axis robots which bear a coating device;

[0033] FIG. 6 shows a top view of a fourth inventive embodiment of a positioning device, without multi-axis robots which bear a coating device;

[0034] FIG. 7 shows a top view of a painting booth according to the invention, comprising positioning devices, found in the active position, according to FIG. 3;

[0035] FIG. 8 shows a sectional view of the painting booth of FIG. 7;

[0036] FIG. 9 shows a top view of FIG. 7, with the positioning devices in the rest position; and

[0037] FIG. 10 shows a sectional view of the painting booth of FIG. 9.

[0038] In FIG. 3, four positioning devices 10, 11, 12, 13 according to a first embodiment are shown in a top view. The positioning devices 10-13 are integrated into the space of a conveying device 14. The conveying device 14 is set up to move objects to be treated, such as, for example, vehicle bodies, along a conveying axis Z through a treatment space, such as, for example, a painting booth 15. The painting booth 15 is shown merely schematically and in a selected detail and has along the conveying axis Z walls 16, 17. The additional representation of multi-axis robots for coating tasks has been dispensed with for the sake of clarity.

[0039] The painting booth is also bounded in the direction of conveyance Z by walls (not shown here) comprising locks for the objects to be treated. FIG. 3 shows a painting booth, in which both the firstly occurring internal painting and the subsequently following external painting of the object, in particular the vehicle body, is possible. Thus the multi-axis robots (not shown) bear a coating device, which is suitable for use both for the internal coating and for the external coating.

[0040] The adaptation of the spray jet of the coating device, as well as further parameters such as paint quantity, guidance air or high tension, are preset by a central control unit (not shown) of the painting booth. This also presets the parameters for the positioning device. The state of the positioning device and the position of the handling robot must fit the parameters for the corresponding painting.

[0041] There are preferably two positioning devices 10, 12 on one side of the conveying device 14 and two positioning devices 11, 13 on the other side of the conveying device 14. The positioning devices 10-13 are designed according to the basic principle of a drawer, and open and close along a movement axis Y. The movement axis Y is substantially perpendicular to the conveying axis Z. Other angles, apart from a 90 angle, between movement axis Y and the conveying axis Z are of course possible, as long as the movement along the movement axis Y enables a distancing from the conveying axis Z. The positioning devices 10, 11 disposed further forward along the conveying axis Z are shown in an active position, the positioning devices 12, 13 disposed further back along the conveying axis Z are shown in a rest position. During a painting operation, all positioning devices 10-13 of a painting booth are generally in the same state, i.e. either in the rest position or in the active position. The state shown in FIG. 3 can occur, for instance, during a changeover from internal to external painting.

[0042] The individual positioning devices 10-13 are substantially of identical construction. In the following, only the positioning device 10 is therefore described in detail, though the description applies analogously also to the other positioning devices 11-13. The positioning device 10 has two displacement devices 102, 104. The displacement devices 102, 104 can be motor-driven, for instance electromotively, or pneumatically or hydraulically driven. The displacement devices 102, 104 are supported beneath the conveying device 14 on mounting points 106, 108. The displacement devices 102, 104 are mechanically coupled with a platform 110. The platform 110 can be of planar construction, constructed as a frame structure, or otherwise suitably constructed. Upon an actuation of the displacement devices 102, 104, the platform 110 is moved along the movement axis Y out from beneath the conveying device 14. In this first end position denoted as the active position, the positioning device 10 is shown. In a second end position denoted as the rest position, the positioning device 12, for instance, is shown.

[0043] The platform 110 bears a handling robot 120. For this purpose, a mechanical connection facility (not presented in detail) is provided on the platform 110. In the present embodiment, the handling robot 120 is constructed as a door-opening robot. The handling robot 120 can also be constituted by a hood-opening or tailgate-opening robot.

[0044] During the positioning operation into the active position, or at the end of the positioning operation, the handling robot 120 for its part assumes an active setting, in which it can perform its intended function. In order to be moved by the positioning device into the rest position, the handling robot 120 for its part assumes during or before the positioning operation a rest setting. In the case of the positioning device 10, the handling robot 120 is shown in its active setting, while, in the case of the positioning device 12, the handling robot 120 is in the rest setting. If the positioning device 10, as shown for instance, in the case of the positioning device 12, is in its rest position, a cover 112 placed on the platform 110 protects the behind-situated handling robot 120 from overspray generated during the painting operation.

[0045] As can likewise be seen on the basis of the positioning devices 12, 13 found in the rest position, the respective positioning device 12, 13 is located fully beneath and/or fully within a region A swept over by the object to be treated, which region is identified in the figures by a dashed line.

[0046] FIG. 4 shows in a top view a second embodiment of a positioning device. For same or comparable 20 features, the same reference symbols are used in the following. Unlike the positioning devices 10-13 of FIG. 3, in FIG. 4 the positioning devices 10-13 are not disposed beneath the conveying device 14 and within the region A swept over by the object to be treated, but instead, in their rest position, as is shown in the case of the positioning devices 12, 13, are located at least partially in the walls 16, 17. Here too, a complete disappearance of the positioning devices 13 in the walls 16, 17 would be possible. Since, however, the range of movement of a multi-axis robot which moves in the painting booth 15 and bears a coating device is located close to the object to be treated, a complete disappearance of the positioning devices 10-13 is not absolutely necessary.

[0047] In the event that the multi-axis robot (not shown), bearing the coating device, can be moved, however, on an additional horizontal axis parallel to the object to be treated, then the positioning device described in FIG. 4 should be accommodated beneath this additional horizontal axis.

[0048] FIG. 5 shows in a top view a third embodiment of a positioning device. In the painting booth 15 are once again arranged four positioning devices 20, 21, 22, 23. Unlike the first embodiment of FIG. 3, the positioning devices 20-23, in the rest position, are accommodated in the floor of the painting booth 15. The positioning devices 22, 23 arranged at the bottom in FIG. 5 are shown in this rest position, the positioning devices 20, 21 arranged at the top in FIG. 5 are shown in the active position.

[0049] The positioning devices 20-23 are pivotable about an axis X. The axis X is arranged parallel to the conveying axis Z. However, this is not a necessary precondition. Any other arrangement at any chosen angle to the conveying axis Z is possible. The positioning devices 20-23 are substantially of identical construction. For this reason, in the following, only the positioning device per se is explained on the basis of the representations of the positioning devices 20, 22. Each of the positioning devices 20-23 has a handling robot 120, which, in the active position (represented on the basis of the positioning devices 20, 21), is movable into an active setting and, in the rest position (represented on the basis of the positioning devices 20, 23), is movable into a rest or parking setting. In the rest setting in the floor, the positioning device 20, 21 is fully removed from the painting booth 15 and is protected with a cover against the substances, such as, for instance, overspray, found in the painting booth. The cover 212 can at the same time be traversed, or the positioning devices 20-23 form no interference contour in the painting booth, so that a multi-axis robot moving in the painting booth 15 and bearing a coating device suffers no restrictions in terms of its range of movement.

[0050] In the representation of the positioning device 22, the cover 212 is diagrammatically partially removed, so that it is evident that the handling robot 120, in the rest position, assumes a rest setting. The handling robot 120 is disposed on a platform 210. In a cross section perpendicular to the floor of the painting booth 15, the platform 210 can have an L-shape, but it can also be configured as a simple plate.

[0051] Alternatively, the handling robot 120 can be disposed beneath or behind a movable flap in the floor or the wall of the painting booth. The flap, which in the active position of the handling robot is tilted away or pushed away and gives the handling robot its full freedom of movement and which in the rest position conceals the handling robot 120, is the simplest embodiment of the positioning device. This example is not shown in the figures.

[0052] FIG. 6 shows in a top view a fourth embodiment of a positioning device. The positioning devices 30-33 shown in FIG. 6 are substantially structurally identical, except for a mirror-image arrangement. The positioning devices 30-33 have a pivotable platform 310. The platform 310 is articulately attached at one end, beneath the region A swept over by the object to be treated, to a joint 311 fastened, for instance, to the floor of the painting booth 15. That end of the platform 310 which lies opposite the joint 311 bears a handling robot 120. A guide 313, which, if need be, can be equipped with bearings, guides the pivot motion of the platform 310. The force application required for the movement of the positioning device 30 can be realized either in the region of the joint 311 or, for instance, in the region of the guide 313. In the rest position shown in the positioning devices 32, 33, the platform 110, together with handling robot 120, is located within the region A swept over by the object to be treated. Only the guide 313 juts out of the region A. However, the guide can be designed, for instance, such that it has the same level as the surrounding floor of the painting booth and thus can be traversed, for instance, without the presence of a sill.

[0053] FIGS. 7-10 show top views and sectional views of an inventive embodiment of an apparatus for treating objects, which in the present example is configured as a painting booth 15 comprising a single painting station 18. At the painting station 18 are provided four multi-axis robots 3. The multi-axis robots 3 can be configured, for instance, as robots having seven motional axes, in total, so that the individual multi-axis robot 3 can move automatically relative to the fixed object to be treated. By means of a conveying device 14, the objects to be treated, in the present example vehicle bodies 2, are conveyed along a direction of conveyance Z in the stop-and-go process to the painting station 18 and, after the painting operation, onward out of the painting booth 15. The painting station 18 is a combined internal/external painting station. A repositioning of the handling robots from internal to external painting, or vice versa, is conducted by positioning devices so rapidly that the overall cycle time of the painting booth 15 can be increased.

[0054] Furthermore, as a result of this amalgamation of the internal paint booth with the external paint booth, up to four multi-axis robots with associated coating devices are omitted. As a result, the painting line can be built shorter in total. Above all some of the supply lines are thus omitted, however, inclusive of the air supply into the painting booth and the overspray cleaning system beneath the painting booth.

[0055] In the painting station 18, four positioning devices 10-13, as they have already been explained in detail with reference to FIG. 3, are provided on the conveying device 14 and beneath a region A which is covered by a vehicle body 2.

[0056] In FIGS. 7 and 8, the positioning devices 10-13 are in the active position. The handling robots 120 have assumed their active setting. More specifically, the handling robots 120, which in this embodiment are configured as door-opening robots, hold the respective door of the vehicle body 2 in the open setting. Further similarly designed handling robots can also be provided for a hood opening or tailgate opening. Depending on the design of the door/hood/tailgate opening mechanism, it can also be provided that the handling robot 120 is not required to hold the door/hood/tailgate open. In this case, the positioning device 10-13 can proceed after the opening operation into a rest position, in order thus to give the multi-axis robots 3 a maximum possible freedom of movement. In the present illustrative embodiment, as shown in FIGS. 7 and 8, the vehicle body 2 is initially painted internally, so as then to be painted externally. This is represented in FIGS. 9 and 10.

[0057] FIGS. 9 and 10 show a top view and a sectional view of a situation in which the positioning devices 10-13 are in their respective rest position. This is assumed when the handling robots 120 assigned to the positioning devices 10-13 are momentarily not required, and/or the space otherwise occupied by the positioning devices 10-13 is required, for instance, for a movement of the multi-axis robots 3. In the embodiment which is represented here, this is the case when the changeover is made from an internal painting to an external painting. For the external painting, the body apertures, such as doors or hood/tailgate, should as far as possible be closed. This closing operation is performed by the handling robots 120. After this, the handling robots 120 proceed into their rest setting and the positioning devices 10-11 move into the rest position and thereby give the multi-axis robots 3 a maximum possible space.