Processing method and processing device

Abstract

A processing device (5) is provided for automobile body parts (2). The device (5) includes a multiaxial conveying robot (6) on which at least one support or carrier (7) is disposed. The at least one support (7) is provided with one or several multiaxial processing units, preferably small robots (10). The small robots (10) support different tools and can be controlled individually.

Description

CROSS REFERENCE TO RELATED APPLICATIONS [0001] This application is a United States National Phase application of International Application PCT / EP2004 / 003836 of Apr. 17, 2004 that claims the benefit of priority of German Application 203 06 257.4 filed Apr. 10, 2003, the entire contents of each application are incorporated herein by reference.FIELD OF THE INVENTION [0002] The present invention pertains to a machining method and a machining device for components, especially motor vehicle body parts. BACKGROUND OF THE INVENTION [0003] Such machining devices are known from practice, e.g., as welding robots. They comprise a multiaxial transport means in the form of an articulated arm robot and a tool, e.g., a welding tool. Furthermore, it is known from practice in the case of machining stations for body parts, especially so-called geo stations or framing stations for tacking the body parts, that stationary or mobile lateral clamping frames, which may be equipped with a plurality of clampi...

AI Technical Summary

Benefits of technology

[0009] The multirobot has the advantage that each machining unit with its tool, which may optionally be replaceable, is mobile and able to function independently and is freely programmable. As a result, many different functions can be carried out by the multirobot or the machining units thereof independently from one another. Moreover, this has the advantage that only a single clamping device, which requires only a different programming in case of a changeover to another type, is needed for all the vehicle bodies to be manufactured.

[0010] The multiaxial machining units arranged at the multirobot can have a very large working range thanks to their freely selectable multiaxial nature. A correspondingly adapted shape of the carrier is also helpful for this. The use of small robots, preferably in the form of small articulated arm robots with six or more axes, is especially advantageous here, especially because standard components can be used for this embodiment of the machining devices. All the kinematic requirements can be satisfied even for a changeover to components of another type due to the highly flexible multiaxial nature with six or more axes, e.g., a seventh telescopic axis for the robot hand. Not even a change of location on the carrier is necessary in case of the small robots as according to the invention. A change in location and re-assembly on the carrier can be carried out as an alternative in case of simpler machining units.

[0011] Furthermore, it is possible to equip a machining station, e.g., a geo station or a framing station, with one or more of these multirobots, which offers special advantages for the accessibility of the body parts. The clamping effort on the outside of the body parts can be reduced due to an inside clamping technique, which improves and facilitates the accessibility of the body to other machining or processing devices, e.g., welding robots or the like. Moreover, welding processes or other joining processes can be carried out on the inside of the body more easily and with better quality due to the multiaxial small robots. The multirobot can place the carrier with the small robots in a suitable manner in the interior space of the body. The small robots also have improved accessibility to hidden or hard-to-reach areas of components located on the inside, which are hardly accessible for a welding robot or the like that is arranged on the outside. The outside dimensions of the carrier and the small robots can be reduced such that they can be fed through openings in the component or in the body and placed in the interior space.

Problems solved by technology

Moreover, the accessibility of the components for external welding robots or the like is limited.

Clamping body parts on the inside is not possible.

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