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A method and an assembly unit for performing assembling operations

A technology of end effectors and assembly lines, applied in transportation and packaging, general control systems, instruments, etc.

Pending Publication Date: 2022-01-28
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, some of the parts to be assembled on the car body require great care as all parts are already painted and any friction will cause defects such as scratches on the paint or dents on the outer surface : It is therefore desirable to avoid or reduce the risk of unwanted physical contact between the components to be assembled and the parts in order to prevent any such damage to the components and / or parts

Method used

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  • A method and an assembly unit for performing assembling operations
  • A method and an assembly unit for performing assembling operations
  • A method and an assembly unit for performing assembling operations

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0078] figure 1 An assembly line 110 (in this example a final automotive assembly line) is shown schematically and not to scale, wherein a transport system 130 advances parts (in this example vehicle bodies 120 ) past assembly cells 150 in an advancing direction.

[0079] Assembly cell 150 includes an industrial robot 160, which may include a controller and a plurality of programmable axes (i.e., rotational degrees of freedom and / or linear degrees of freedom) between the robot base and the robot wrist, each axis having a function defined by the robot. An associated drive element (such as a motor) controlled by a controller. The configuration of the industrial robot is known and no details are shown in the drawings.

[0080] The robot 160 may be provided with an end effector 161 attached to the robot wrist for performing some manipulation, eg grippers, tools, supports for holding parts to be assembled, etc. The robot base may be attached to the floor, or may be mounted on a r...

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PUM

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Abstract

A method and an assembly unit for performing assembling operations. A method is disclosed, comprising: providing a part having a target at which an assembly operation is to be performed by an industrial robot; determining the target position, by controlling the end effector of the robot to approach the target, detecting a contact between a location utensil attached to the end effector and the target and controlling the end effector of the robot at least by force control until the location utensil reaches a predetermined position relative to the target, and determining the target position as indicated by the absolute position of the location utensil when the location utensil is in said predetermined position relative to the target; registering the target position; and controlling the end effector of the robot to perform the assembly operation at the registered target position. An assembly unit is also disclosed.

Description

technical field [0001] The present disclosure relates to a method and an assembly unit for performing an assembly operation on a part having a target for performing the assembly operation. An assembly line having such an assembly unit is also disclosed, for example a final assembly line for automobiles. Background technique [0002] Automotive production lines used to manufacture car bodies typically include final assembly lines where human operators and / or robots operate to assemble components such as seats, doors, windshields, wheels, steering, etc. On the vehicle bodies advancing along the assembly line by suitable transport means such as chain conveyors, overhead conveyors, AGVs (Automated Guided Vehicles), etc. [0003] Assembly robots used in such assembly lines may typically be industrial robots provided with end effectors carrying tools for performing operations and / or carrying parts (e.g., wheels, doors, etc.) to This part is attached to the vehicle body. The rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D65/02B62D65/06B62D65/14B62D65/18
CPCB62D65/024B62D65/028B62D65/06B62D65/14B62D65/18G05B2219/36048B25J9/1633B25J9/1697B25J9/1687G05B19/401B25J9/1664B25J9/1684B25J13/082B25J13/089
Inventor J·弗莱雷J·比达尔·里巴斯S·罗德里格斯·穆尼奥
Owner ABB (SCHWEIZ) AG