System for performing a job process on a workpiece and method of operating the system

Abstract

The invention relates to a system (100) for carrying out a work process on workpieces (1) and the like, which system has a work plane (10) on which a first transport unit (12) is arranged, which can be moved independently of one another by electromagnetic drives, which first transport unit is designed to take workpieces (1) and the like from a first conveyor (21), to then transport the workpieces and the like to different process stations (25, 26) in order to carry out a work process on the workpieces (1) and the like, and finally to hand over the workpieces (1) and the like to a second conveyor (22) after the work process has been carried out, wherein the process stations (25, 26) comprise at least one dosing device (28), which has a liftable dosing element (29), in particular a dosing needle (30), for dispensing a medium (M) to the workpieces (1).

Description

Technical Field

[0001] This invention relates to a system for performing work processes on workpieces, etc., wherein, advantageously, the position of a measuring device, more precisely its measuring needle, is determined relative to the working surface of the system. The invention also relates to a method for performing this position determination. Background Technology

[0002] A system for performing a work process on a workpiece, etc., is known from the applicant's patent document DE 10 2014 214 696 A1. The known system is used to fill a container by means of a dispensing device, wherein the container is removed from the area of ​​a first conveying device by means of a first transport unit driven by an electromagnetic actuator, which is movable independently of itself. After the container is removed, it is transported to the dispensing device by the first transport unit, and after a certain amount of medium is dispensed, it is transferred from the first transport unit to a second conveying device.

[0003] For example, when modifying a dispensing device for dispensing media, when establishing a new system or modifying a system, or after performing a certain number of dispensing processes, it is necessary or meaningful, especially when dispensing the media to the component to form a sealing profile, to check whether the dispensing device, or more precisely the dispensing needle, has the desired target position relative to the working surface, so that, for example, when dispensing the media to the component that is conveyed to the dispensing device on the first transport unit and moves there relative to the dispensing device, the sealing profile can be maintained with the required accuracy. Summary of the Invention

[0004] The system according to the invention for performing operations on workpieces, etc., has the advantage that it can determine the position of the measuring needle above the working surface in a particularly convenient and accurate manner.

[0005] The idea behind this invention is to determine the height of the dispensing needle above the working surface or the horizontal position of the dispensing needle relative to the working surface by bringing the dispensing needle into contact with a height reference surface, or by dispensing the medium to a target position on the target reference surface.

[0006] Therefore, in the context of the above explanation, for a system according to the invention for performing a work process on a workpiece, etc., it is specified that, in order to detect the vertical distance of a dispensing element or similar element relative to the work surface, there exists a contact detector for identifying contact between the dispensing element or similar element and a height reference surface in a lowered position, the height reference surface being arranged below the dispensing element or similar element on a first or second transport unit movable by an electromagnetic actuator; and / or, in order to detect the horizontal position of the dispensing element relative to the work surface, there exists a position identifier for identifying the medium dispensed by the dispensing element onto a target reference surface arranged on a second transport unit movable by an electromagnetic actuator.

[0007] Advantageous improvements to the system according to the invention for performing work processes on workpieces, etc. are listed below.

[0008] Regarding the precise positioning of the first transport unit and / or the second transport unit on the working surface below the dispensing device, it is stipulated that there is a system control device, which is designed at least indirectly to detect the horizontal position of the first transport unit and / or the second transport unit on the working surface.

[0009] To identify contact between the height reference surface and the dispensing element or similar element, a preferred design of the system specifies that the contact detector is designed to detect, at least indirectly, changes in the height of the height reference surface relative to the working surface. The background for this is that the height reference surface, positioned below the dispensing device by means of a first or second transport unit, experiences a force or impulse upon contact with the dispensing element or similar element. This force or impulse acts against the electromagnetic force acting as a lifting force on the first or second transport unit, which causes the first or second transport unit to float above the working surface or be positioned at a predetermined distance from the working surface.

[0010] There are several feasible solutions for forming the height reference surface. Therefore, in a first variant, it is conceivable that the height reference surface is the surface of the workpiece or similar component arranged on the first transport unit facing the dispensing element or similar component. In other words, this means that knowing the geometry or height of the first transport unit, the distance of the first transport unit above the working surface, and the geometry or height of the workpiece or similar component when in contact with the dispensing element or similar component, the height of the dispensing element or similar component above the working surface at the moment of contact can be determined.

[0011] In an alternative design to the proposed scheme, it may be specified that the height reference surface is formed at the reference element arranged on the second transport unit.

[0012] In a preferred improvement of the proposed solution, the contact detector is designed to detect changes in a setpoint to achieve a predetermined distance between the first or second transport unit and the work surface. This means that through indirect contact with the first or second transport unit via a metering element or similar element, the first or second transport unit is compressed towards the work surface, or more precisely, receives an impulse towards the work surface. However, in response to this, the current flowing through the magnetic coil or a similar setpoint is typically increased to set the desired target distance between the first or second transport unit and the work surface. This change in current intensity or setpoint can be used to determine the presence of contact with the metering element or similar element.

[0013] To detect the horizontal position of the dispensing element, it is advantageous that the target reference surface has a marking portion, and the position of the dispensed medium on the target reference surface relative to the marking portion can be detected by a position identifier designed as an optical device. This utilizes the idea that, for example, by using the geometry of a crosshair or similar pattern as a marking portion or target position for dispensing the medium onto the target reference surface, and subsequently optically examining the distance of the dispensed amount of medium to the marking portion, or more precisely, the crosshair, the horizontal position of the dispensing element during medium dispensing can be determined.

[0014] An improvement to the aforementioned scheme specifies that the optical device includes at least one camera for capturing images or other device for identifying position, and that the optical device is used at a process station during the system's production operation. Typically, the optical device is responsible for checking during the production process whether the medium distributed to components, etc., is distributed in a predetermined position. Therefore, by using a target reference surface, for determining the horizontal position of the dispensing element, there is no need for an additional image-capturing device that increases the system's technical cost; instead, a device used in the production process can be employed.

[0015] Alternatively, the target reference surface can be designed as a touch-sensitive measuring surface. Therefore, in this case, it is not necessarily necessary to detect the reaction force acting on the second transport unit upon contact with the dispensing element, but rather to detect contact or proximity events at the touch-sensitive measuring surface. This design also has the advantage that the measuring surface is designed to detect not only contact with the dispensing element but also its horizontal position relative to the measuring surface upon contact. Therefore, this sensitive measuring surface can be used to detect both the vertical and horizontal positions of the dispensing element.

[0016] Furthermore, the present invention also includes a method for identifying the position of a dispensing element or similar element relative to a working surface in a system constructed according to the embodiment of the invention as described above, the method comprising at least the following steps:

[0017] First, a height reference surface is positioned below the dispensing element or similar element. Then, the dispensing element or similar element is lowered until it contacts the height reference surface, and this contact is detected. Finally, upon contact with the height reference surface, the distance of the dispensing element or similar element relative to the working surface is determined based on the known heights of the first and second transport units and the distance between the first and second transport units above the working surface.

[0018] Alternatively or additionally, the method may include at least the following steps:

[0019] First, the target reference surface is positioned below the dispensing element, and preferably the dispensing element is lowered to a height slightly above the target reference surface. Then, the dispensing element dispenses the medium onto the target reference surface. Finally, a position identifier determines the position of the dispensed medium relative to a marking on the target reference surface. Attached Figure Description

[0020] Other advantages, features and details of the invention will become apparent from the following description of preferred embodiments of the invention and from the accompanying drawings.

[0021] Figure 1 A simplified illustration shows a system for performing work processes on workpieces, etc.

[0022] Figure 2 and Figure 3 The following are shown respectively according to Figure 1 A simplified side view of the system's dispensing device area, showing how different elements determine the height of the dispensing needle.

[0023] Figure 4 It shows the corresponding Figure 2 A simplified side view of the diagram, in which a target reference plane is used to distribute the medium, and

[0024] Figure 5 It shows that according to Figure 4 A top view of the target reference plane. Detailed Implementation

[0025] In the accompanying drawings, the same elements or elements with the same function are given the same reference numerals.

[0026] Figure 1 A system 100 for performing a work process on a workpiece 1, etc., is shown in a very simplified manner. The workpiece 1 may be, for example, a housing component, etc., in which a paste-like medium is provided by means of the system 100 in a local, more precisely defined area of ​​the housing component, for example, for sealing or other purposes.

[0027] System 100 includes a horizontally arranged work surface 10, on which a plurality of first transport units 12 (so-called movers) are located. Each first transport unit 12 can be individually controlled by a control device 120, wherein the first transport unit 12 is arranged to move freely on the work surface 10. For this purpose, an electromagnetic actuator (not shown in detail) is used, which enables the first transport unit 12 to execute any of the first transport paths 16 to 18.

[0028] As an example, the first transport unit 12 is used to transport workpieces such as 1 in the area of ​​the work surface 10. Workpieces such as 1 are transported to the system 100 from the side of the work surface 10 by means of a first conveying device 21 (shown only symbolically), which is preferably designed as a linear conveyor, such as a chain conveyor or belt conveyor. After the work process is performed in the area of ​​the system 100, the (processed) workpieces such as 1 are transported away from the work surface 10, or more precisely, the area of ​​the system 100, by means of a second conveying device 22 (also shown only symbolically), which is arranged on the side of the work surface 10 opposite to the first conveying device 21. Preferably, the second conveying device 22 is also designed as a linear conveyor.

[0029] Using a gripping device (not shown) or a similar device, the workpiece 1 can be removed from the first conveying device 21 and placed on the first transport unit 12. Similarly, a gripping device (not shown) or similar device is used to remove the workpiece 1 from the first transport unit 12 after the work process is completed and transport it to the second conveying device 22.

[0030] To execute the work process via system 100, the system has, for example, two first process stations 25 and two second process stations 26 in the area of ​​and above the work surface 10. The first process stations 25, arranged laterally side-by-side, are designed as so-called dispensing stations, each having a dispensing device 28 fixedly positioned in the plane of the work surface 10, correspondingly having a dispensing needle 30 arranged to move vertically and vertically perpendicular to the plane of the work surface 10, which serves as a dispensing element 29 for dispensing liquid or paste-like media M. The second process stations 26 are, for example, inspection devices in the form of cameras or similar optical devices 32, used to monitor the work process performed by the first process stations 25 or to control its proper execution.

[0031] Correspondingly on the sides of process stations 25 and 26, the work surface 10 has a first preparation area 34 and a second preparation area 36, ​​respectively indicated by dashed boundaries, in which the first transport unit 12 can be arranged. Furthermore, the preparation areas 34, 36, exemplarily rectangular, particularly in the waiting areas 37, 38, are used to accommodate at least one second transport unit 40 or to park the second transport unit there. The drive of the second transport unit 40 is designed similarly to that of the first transport unit 12, meaning that the second transport unit 40 can also follow any path on the work surface 10 via an electromagnetic actuator. For this purpose, it is controlled accordingly by the control device 120 of the system 100. The second transport unit 40 has a fork-shaped receiving portion 31 to form a standardized interface 35.

[0032] In addition, according to Figure 1 As can be seen, an area 39 is arranged on the long side of the working surface 10, in which, for example, a calibration device 45, two weighing devices 47 or similar devices are arranged, which are used to perform so-called supporting processes, especially in conjunction with the second transport unit 40.

[0033] In order to ensure that the medium M is distributed to the workpiece 1, etc. by the dispensing needle 30 of the dispensing device 28 during normal operation of the system 100, for example to form a sealing profile at the location where it is set, it is necessary to know the correct position of the dispensing needle 30 with respect to its distance from the working surface 10 and with respect to its horizontal position relative to the working surface 10.

[0034] To explain this, system 100 has an adjustment device 110, which is designed to allow the first transport unit 12 and the second transport unit 40 to float or move a defined (small) distance a above the work surface 10. Figure 2 The regulating device 110, for example, detects the current intensity or other set value that must be induced in a coil (not shown) to ensure the desired distance a of the transport units 12, 40 above the working surface 10.

[0035] In addition, system 100 has a position identifier P, which works at least indirectly with the control device 120 for transport units 12, 40.

[0036] Additionally, it should be mentioned that the regulating device 110 and the control device 120 are defined as functional units, and are not necessarily separate physical units. More precisely, the regulating device 110 and the control device 120 are generally components of a control device that also includes other functions of the system 100.

[0037] The position detector P is used to detect the horizontal position or coordinates of the transport units 12, 40 in the area of ​​the work surface 10. The position detector P is needed for this reason only, so that the electromagnetic drive can be operated accordingly by the control device 120 to enable the transport units 12, 40 to follow the transport paths 16 to 18 or to travel to the desired position below the process stations 25, 26.

[0038] according to Figure 2 The method for detecting the vertical distance A or vertical position of the measuring needle 30 above the working surface 10 using the first transport unit 12 and the workpiece 1 located on the first transport unit 12, etc., is explained in more detail below. Specifically, according to... Figure 2 It can be seen that workpiece 1, etc., has, for example, a flat upper side 42 on the side facing the measuring needle 30, which forms a height reference surface 43. Furthermore, Figure 2 It is also shown that the dispensing needle 30, which is arranged to be raised and lowered in the direction of the double arrow 44, has been moved from the raised position (not shown) to the lowered position, where the dispensing needle 30 contacts the height reference surface 43.

[0039] Importantly, when the measuring needle 30 contacts the height reference surface 43 at the workpiece 1, an additional force F or impulse is generated on the first transport unit 12. This force or impulse must be compensated by means of the adjustment device 110, which serves as a contact detector, for example, due to the need to increase the current intensity or to change the set value.

[0040] Therefore, knowing the (target) distance a from the first transport unit 12 to the working surface 10, the height b of the first transport unit 12, and the height c of the workpiece 1, etc., in the area of ​​the height reference surface 43, the (absolute) position and distance A of the measuring needle 30 above the working surface 10 can be determined. Since the vertical adjustment stroke of the measuring needle 30 can be detected by means of the internal device at the measuring device 28 as is known, the desired height position of the measuring needle 30 can be adjusted during the production operation of the system 10 with the distance A known.

[0041] Figure 3 As shown, instead of the first transport unit 12 on which the workpiece 1 is arranged, a second transport unit 40 can also be used to form a height reference surface 43. This second transport unit carries, for example, a plate-shaped reference element 44 in the area of ​​its receiving portion 31 or interface 35, and the height reference surface 43 is formed on the upper side of the reference element. Therefore, knowing the distance a of the second transport unit 40 and the height h of the reference surface 44, the distance A of the measuring needle 30 above the working surface at the moment of contact with the reference surface 44 can also be obtained.

[0042] exist Figure 4 and Figure 5The method for determining the horizontal position of the dispensing needle 30 in the area of ​​the working surface 10 is explained as follows: The second transport unit 40 and a reference element 46 forming a flat surface are positioned below the dispensing needle 30. The reference element 46 has a target reference surface 48 on the side facing the dispensing needle 30. The target reference surface 48 also has a marking portion 50, for example, in the form of a crosshair 52, which is based on... Figure 5 It is positioned centrally on the target reference plane 48.

[0043] When dispensing a (small amount) of medium M, the dispensing needle 30 is adjusted from an elevated position to a lowered position, wherein the dispensing needle tip of the dispensing needle 30 is preferably positioned at a very small distance above the target reference surface 48. The amount of medium M is then dispensed. Figure 5 As shown, medium M is dispensed onto target reference surface 48 in the upper right quadrant of crosshair 52. During the dispensing of medium M onto target reference surface 48, the horizontal position of the second transport unit 40, and more specifically, the target reference surface 48, relative to the work surface 10, has been detected by position identifier P. Subsequently, the second transport unit 40 is driven into the area of ​​the second process station 26 so that the position of medium M on target reference surface 48 can be detected there by means of optical device 32, which serves as a position identifier. For this purpose, device 32 has suitable software. Therefore, knowing the position of target reference surface 48 at the moment of dispensing medium M, the horizontal position of dispensing needle 30 relative to work surface 10 can be determined.

[0044] Additionally, it should be explained that the target reference surface 48 can also optionally be designed as a touch-sensitive surface 54, as is known for, for example, a so-called touchscreen. This touch-sensitive surface 54 can be used to determine the (vertical) height of the dispensing needle 30 relative to the working surface 10 when the dispensing needle 30 is lowered onto the surface 54, and also to identify the horizontal position of the dispensing needle 30. In this case, the dispensing medium M is not required.

[0045] The system 100 described herein can be changed or modified in various ways without departing from the spirit of the invention. In particular, it is mentioned that, instead of the dispensing element 29, other height-adjustable elements of the system 100 can also be used to determine the height of the element relative to the working surface 10 when in contact with the height reference surface 43.

Claims

1. A system (100) for performing a work process on a workpiece (1), the system having a work surface (10) on which first transport units (12) are arranged, which can be moved independently of each other by electromagnetic actuators, the first transport units being designed to take the workpiece (1) from a first conveying device (21), then transport the workpiece to different process stations to perform the work process on the workpiece (1), and finally transfer the workpiece (1) to a second conveying device (22) after the work process has been performed, wherein, The process station includes at least one dispensing device (28) having a lifting dispensing element (29) for dispensing the medium (M) to the workpiece (1). Its features are, To detect the vertical distance (A) of the dispensing element (29) relative to the working surface (10), a contact detector (110) is provided. The contact detector is used to identify the contact between the dispensing element (29) and a height reference surface (43) in the lowered position. The height reference surface is arranged below the dispensing element (29) on a first transport unit (12) or a second transport unit (40) that can be moved by an electromagnetic actuator. And / or, In order to detect the horizontal position of the dispensing element (29) relative to the working surface (10), there is a position identifier (32) for identifying the medium (M) dispensed by the dispensing element (29) to a target reference surface (48) arranged on a second transport unit (40) that can be moved by an electromagnetic actuator.

2. The system according to claim 1, Its features are, A control device (120) is present, which is designed at least indirectly to detect the horizontal position of the first transport unit (12) and / or the second transport unit (40) on the work surface (10).

3. The system according to claim 1, Its features are, The contact detector (110) is designed to detect, at least indirectly, the height change of the height reference surface (43) relative to the working surface (10).

4. The system according to claim 2, Its features are, The contact detector (110) is designed to detect, at least indirectly, the height change of the height reference surface (43) relative to the working surface (10).

5. The system according to any one of claims 1 to 4, Its features are, The height reference surface (43) is the surface (42) of the workpiece (1) arranged on the first transport unit (12) facing the dispensing element (29).

6. The system according to any one of claims 1 to 4, Its features are, The height reference surface (43) is formed at the reference element (44) arranged on the second transport unit (40).

7. The system according to any one of claims 3 to 4, Its features are, The contact detector (110) is designed to detect changes in a set value to achieve a predetermined distance (a) above the work surface (10) for the first transport unit (12) or the second transport unit (40).

8. The system according to any one of claims 1 to 4, Its features are, The target reference surface (48) has a marking part (50), and the position of the distributed medium (M) on the target reference surface (48) relative to the marking part (50) can be detected by a position recognizer (32) designed as an optical device.

9. The system according to claim 8, Its features are, The optical device includes at least one camera for capturing images or other device for determining position, and the optical device is a process station used in the production operation of the system (100).

10. The system according to any one of claims 1 to 4, Its features are, The target reference surface (48) is designed as a touch-sensitive measurement surface (54).

11. The system according to any one of claims 1 to 4, Its features are, The dispensing element (29) is a dispensing needle (30).

12. A method for identifying the position of a height-adjustable dispensing element (29) relative to a working surface (10) in a system (100) designed according to any one of claims 1 to 11, the method comprising at least the following steps: - Position the height reference surface (43) below the dispensing element (29), - Lower the dispensing element (29) until it contacts the height reference surface (43), and detect this contact. - When in contact with the height reference surface (43), the distance of the dispensing element (29) is determined based on the distance (A) of the height reference surface (43) relative to the working surface (10) calculated according to the known heights (b, c) of the first transport unit (12) and the second transport unit (40) and the distance (a) between the first transport unit (12) and the second transport unit (40) above the working surface (10). and / or Position the target reference surface (48) below the dispensing element (29), and lower the dispensing element (29) to a height slightly above the target reference surface (48). - The medium (M) is distributed onto the target reference surface (48) via the dispensing element (29). - The position of the distributed medium (M) relative to the mark (50) on the target reference surface (48) is determined by the position identifier (32).

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