HANDLING APPARATUS FOR A ROBOT DEVICE, ASSEMBLY STATION WITH THE HANDLING APPARATUS AND METHOD FOR ASSEMBLING A VEHICLE PANE ON A BODY SECTION USING THE HANDLING APPARATUS

Abstract

A robot handling apparatus is disclosed for assembling a vehicle pane on a body section of a vehicle body in an assembly station. The handling apparatus includes an interface for coupling the handling apparatus to the robot device, and a holding device for holding the vehicle pane in a pane plane. The holding device is moveable in a first translational degree of freedom along XR-linear axis of the handling apparatus in an XR-direction relative to the interface and parallel to the pane plane. The holding device is also moveable in a second translational degree of freedom along the Y-linear axis of the handling apparatus in a Y-direction relative to the interface and parallel to the pane plane.

Claims

1-15. (canceled)

16. A handling apparatus for a robot device configured to assemble a vehicle pane on a body section of a vehicle body in an assembly station, the handling apparatus comprising: an interface configured to couple the handling apparatus to the robot device; a holding device configured to hold the vehicle pane in a pane plane, wherein the holding device is moveable: (a) in a first translational degree of freedom along the XR-linear axis of the handling apparatus in an XR-direction relative to the interface and parallel to the pane plane; and (b) in a second translational degree of freedom along the Y-linear axis of the handling apparatus in a Y-direction relative to the interface and parallel to the pane plane.

17. The handling apparatus according to claim 16, wherein the holding device is arranged on the XR-linear axis and moveable thereby.

18. The handling apparatus according to claim 16, wherein the holding device is moveable in a rotational degree of freedom about the Y-linear axis in a Yrot-direction.

19. The handling apparatus according to claim 18, wherein the XR-linear axis stands in a kinematic chain with at least one of the Y-linear axis and the Y-linear axis of rotation (12).

20. The handling apparatus according to claim 16, wherein the holding device comprises an X-linear axis.

21. The handling apparatus according to claim 20, wherein the holding device is moveable in a third translational degree of freedom along the X-linear axis in an X-direction relative to the interface.

22. The handling apparatus according to claim 20, wherein the Y-linear axis is connected to the X-linear axis in a kinematic chain.

23. The handling apparatus according to claim 20, wherein the holding device is moveable in a rotational degree of freedom about the Y-linear axis in a Yrot-direction and the Y-linear axis is connected to the X-linear axis in a kinematic chain.

24. The handling apparatus according to claim 20, wherein the Y-linear axis in a top view from above on the handling apparatus runs perpendicularly to the X-linear axis.

25. The handling apparatus according to claim 20, wherein XR-linear axis runs as a function of a degree of rotation about the Y-linear axis angularly to the X-linear axis.

26. The handling apparatus according to claim 20, wherein XR-linear axis runs as a function of a degree of rotation about the Y-linear axis equi-directionally to the X-linear axis.

27. The handling apparatus according to claim 20, wherein the X-linear axis comprises a first displacement pair including a first guide rail and a first carriage that is displaceable on the guide rail.

28. The handling apparatus according to claim 27, wherein the X-linear axis comprises a second displacement pair including a second guide rail and a second carriage that is displaceable on the second guide rail.

29. The handling apparatus according to claim 28, wherein the X-linear axis comprises a third displacement pair including a third guide rail and a third carriage that is displaceable on the third guide rail.

30. An assembly station comprising the handling apparatus according to claim 16 and a robot device coupled to the interface.

31. The assembly station according to claim 30, further comprising a production line for a vehicle body, wherein the X-linear axis of the handling apparatus runs parallel to a longitudinal axis of the vehicle body on the production line and the Y-linear axis runs parallel to a transverse axis of the vehicle body on the production line.

32. The assembly station according to claim 31, wherein the assembly station further comprises a provisioning position configured for gripping the vehicle pane with the handling apparatus, an assembly position configured for of the vehicle pane onto the vehicle body by the worker, a safety zone between the provisioning position and the assembly position configured for a worker, and a monitoring device configured to monitor the safety zone.

33. A method for assembling a vehicle pane on a body section of a vehicle body in an assembly station comprising: coupling an interface on a handling apparatus to a robot device; holding a vehicle pane in a pane plane with a holding device; moving the holding device in a first translational degree of freedom along the XR-linear axis in an XR-direction relative to the interface and parallel to a pane plane with a first displacement pair; and moving the holding device in a second translational degree of freedom along a Y-linear axis relative to the interface and parallel to a pane plane with a second displacement pair.

34. The method according to claim 33 further comprising rotating the holding device in a first rotational degree of freedom about the Y-linear axis.

35. The method according to claim 33, further comprising: accepting the vehicle pane with the handling apparatus in a provisioning position; activating the handling apparatus when a worker enters a safety zone is a secure state; and positioning the vehicle pane with the handling apparatus in an assembly position assembly by the worker when in the secure state.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present disclosure will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements.

[0035] FIG. 1 shows a handling apparatus for a robot device for assembling a vehicle pane on a body section of a vehicle body in an assembly station;

[0036] FIG. 2 is a top view from above of an assembly station, wherein the handling apparatus is arranged in a provisioning position; and

[0037] FIG. 3 is the assembly station from FIG. 2, wherein the handling apparatus is arranged in an assembling position.

DETAILED DESCRIPTION

[0038] The following detailed description is merely exemplary in nature and is not intended to limit the invention or the application and uses of the invention. Furthermore, there is no intention to be bound by any theory presented in the preceding background or the following detailed description.

[0039] FIG. 1 shows a handling apparatus 1 for a robot device 2 (FIGS. 2-3) for assembling a vehicle pane 17 on a body section 4 of a vehicle body 5 (FIGS. 2-3) in an assembly station 6 (FIGS. 2-3).

[0040] The handling apparatus 1 includes an interface 7, via which it can be coupled to the robot device 2 and is transferrable into a coupled state (K). The vehicle body 5 is designed as a body of a passenger car. The body section 4 is arranged in a windshield region of the vehicle body 5. Alternatively, the body section 4 can also be arranged in a rear window region of the vehicle body 5. The vehicle body 5 is arranged on a production line 15 (FIG. 2) of the assembly station 6, in particular on a transport and/or conveyor belt and is moved by the same in a movement direction X.

[0041] The handling apparatus 1 includes a holding device 8 with at least one gripper device 3. The at least one gripper device 3 is designed as at least one suction cup. The vehicle pane 17 can thus be gripped and held by the gripper device 3 by generating a vacuum. In the held state, the vehicle pane 17 forms a pane plane E.

[0042] The handling apparatus 1 includes an XR-linear axis 9. The XR-linear axis 9 includes a first displacement pair with a first guide rail (not shown) and a first carriage 10. The carriage 10 is displaceable on the first guide rail along the XR-linear axis 9 in a first translational degree of freedom in an XR-direction (XR).

[0043] The holding device 8 is arranged on the first carriage 10 and because of this moveable in the XR-direction (XR) relative to the interface 7 and parallel to the pane plane E.

[0044] The handling apparatus 1 includes a Y-linear axis 11 which is designed as a Y-linear axis of rotation 12. In particular, the Y-linear axis of rotation 12 is designed as a shaft which can rotate in a Y.sub.rot-direction. The Y-linear axis 11 runs equi-directionally to a transverse extent of the vehicle body 5.

[0045] The Y-linear axis 11 includes a second guide pair with a second guide rail and a second carriage 13. The second carriage 13 is displaceable on the second guide rail along the Y-linear axis 11 in a second translational degree of freedom in a Y-direction (Y).

[0046] The XR-linear axis 9 is arranged in a kinematic chain with the Y-linear axis 11 and/or with the Y-linear axis of rotation 12. In particular, the first guide rail is connected to the second carriage 13 of the Y-linear axis and displaceable with the same in the Y-direction. Because of this, the holding device 8 which is arranged on the first carriage 10 of the XR-linear axis 9 is moveable relative to the interface 7 and parallel to the pane plane E in the Y-direction.

[0047] Furthermore, the first guide rail and/or the XR-linear axis 9 is rotatably coupled to the Y-linear axis of rotation 12, so that the first guide rail and/or the XR-linear axis 9 is rotatable about the Y-linear axis of rotation 12. Simultaneously, the holding device 8 is rotatable about the YR-linear axis of rotation 12 in the Y.sub.rot-direction ( Y.sub.rot). Because of this, the vehicle pane can be adapted to various required installation angles for different vehicle body types, in particular positioned and aligned accordingly. Because of this, the assembly of the vehicle pane rendered more flexible. Expensive retooling times can thus be avoided.

[0048] The handling apparatus 1 includes an X-linear axis 14 with a third displacement pair, which includes a third guide rail and a third carriage 15. The third carriage 15 is displaceable on the third guide rail in a third translational degree of freedom in an X-direction (X). The X-direction runs equi-directionally to a longitudinal direction L of the vehicle body 5.

[0049] The Y-linear axis 11 and/or the Y-linear axis of rotation 12 are arranged with the X-linear axis 14 in a kinematic chain. In particular, the second guide rail is connected to the third carriage 15 of the X-linear axis 14 and displaceable with the same in the X-direction (X). Because of this, the holding device 8 can also be moved relative to the interface 7 in the X-direction (X). In particular within the scope of flow production this is advantageous since movements or trailing distances during a stop in the production line can be offset through the movement in the X-direction.

[0050] The handling apparatus 1 includes at least one weigh regulation device 21, which is configured for example as at least one cylinder. For example, a counterweight to the weight of the vehicle pane 17 is generated by the weight regulation device 21.

[0051] FIGS. 2 and 3 show a top view from above of the assembly station 6. The assembly station 6 includes the handling apparatus 1, the vehicle pane 17, the robot device 2, the vehicle body 5 and the production line 16.

[0052] The assembly station 6 includes a provisioning position (B) and an assembly position (M). In the provisioning position (B), the vehicle pane 17 to be assembled is provided for gripping by the handling apparatus 1. In the assembly position (M), the handling apparatus 1 holds the vehicle pane 17 for pre- and/or final assembly by the worker on the body section 4.

[0053] Between the provisioning section (B) and the assembly position (M), a safety zone 18 is arranged. The assembly station 6 includes a monitoring device 19 for monitoring the safety zone 18 and a control device 20 for activating the robot device 2.

[0054] The robot device 2 is designed as an articulated arm and/or joint arm robot. As articulated and/or joint arm robot, the robot device 2 can perform pivot and/or rotation movements within at least two degrees of freedom.

[0055] The handling apparatus 1 as a tool is coupled to the robot device 2. In particular, the handling apparatus 1 is arranged on the robot device 2, wherein the robot device 2 can carry the handling apparatus 1 along with it.

[0056] According to FIG. 2, the robot device 2 moves the handling apparatus 1 to the provisioning position (B), in which the handling apparatus 1 grips the vehicle pane 17. Following this, the robot device 2 conveys the handling apparatus 1 with the vehicle pane 17 through safety zone 18 to the assembly position (M), as shown in FIG. 3. It is possible that between the provisioning position (B) and the assembly position (M) a gluing station (K) is intermediate-connected, on which an adhesive is applied on the vehicle pane 17 for gluing to the body section 4 later on.

[0057] In the assembly position (M) according to FIG. 3, the handling apparatus 1 is positioned by the robot device 2 so that the vehicle pane 17 is maximally spaced 40 millimeters, in particular maximally 30 millimeters from the body section 4. A worker uses the handling apparatus 1 in order to pre- and/or final-position and optionally additionally fine-adjust the vehicle pane 17 on the body section 4.

[0058] To this end, the worker moves the handling apparatus 1 to the body section 4 and places the vehicle pane 17, if applicable with the help of at least one gauge or at least one spacer, onto the body section 4. The at least one weight control device 21 (FIG. 1) serves as counterweight to the weight of the vehicle pane 17 and therefore facilitates moving and guiding the handling apparatus 1 by the worker. Accordingly, the worker has to expend less force during the assembly.

[0059] Because of the fact that the holding device 8 (FIG. 1) according to the description in FIG. 1 is moveable in up to 4 degrees of freedom, the final assembly, in particular fine adjustment of the vehicle pane 17 on the body section 4 by the worker can take place. An automated assembly by the robot device 2 and expensive vision systems required for this purpose can be advantageously omitted.

[0060] The robot device 2 can be set by the control device 20 from an active state into a secured state. In the active state, the robot device 2 can move in the safety zone 18 and convey the handling apparatus 1 from the provisioning position (B) to the assembly position (M). In the secured state, the robot device 2 is reduced in its movement speed. In particular, the speed is adapted to a line speed of the production line 16. Here, the robot device 2 jointly with the handling apparatus 1 and the gripped vehicle pane 17 steadily moves on in the movement direction (V) and does not stop in the process. A speed, in particular clocking of the provision of the vehicle body 5 on the production line 16 and of the vehicle pane 17 by the handling apparatus 1 arranged on the robot device 2 is matched to one another. Alternatively it is possible that the robot device 2 in the secured state is set incapable of movement. This is the case in particular when the production line 16 stops at the body section 4 for the final assembly of the vehicle pane 17.

[0061] When the worker approaches the safety zone 18 and/or when the worker enters the safety zone 18, this is detected by the monitoring device 19 as a consequence of which the control device 20 sets the robot device 2 into the secured state. Because of this, the worker is protected from colliding with the robot device 2. The robot device 2 is then also set in the secured state in particular when the handling apparatus 1 with the vehicle pane 17 is arranged in the assembly position (M).

[0062] While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the invention in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing an exemplary embodiment, it being understood that various changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the invention as set forth in the appended claims and their legal equivalents.