Mobile industrial robot cell

Abstract

Characteristic part of the claims: 1.1 Mobile industrial robot cell characterized by the fact that the object contains the following components: a. 6-axis industrial robot (ref. 1) + gripper with quick coupling (FIGURE 1-8) b. Mobile base (ref. 2, FIGURES 1-8) c. Protective enclosure (ref. 3, FIGURE 4,8) with / without drawer system (ref. 5, FIGURE 6,12) d. Docking station protective enclosure (ref. 8,9, cf. FIGURE 9,10) e. Socket system (ref. 10, FIGURE 11) f. Security CPU g. Total CE h. Interface development for injection molding and turning machines 1.2 Mobile industrial robot cell according to claim 1.1 Characterized by the extension of a position detection camera (6) for the detection of components (FIGURE 8) 1.3 Mobile industrial robot cell according to claim 1.2 Characterized by the extension of a vibratory separator for the singulation of components 1.4 Mobile industrial robot cell according to claim 1.1 Characterized by the extension by an intermediate layer magazine (No. 7, FIGURE 7)

Description

[0001] The invention is a mobile industrial robot cell for (a) use on injection moulding and turning machines (b) for clearing belt buffers in plastic injection moulding plants and (c) for use in downstream processes such as testing, sorting, assembly work, etc. 2. Known state of the art and defects:

[0002] There are essentially two types of robot systems on the market. a. Conventional industrial robots are generally stationary and can only be operated in CE-compliant safety cells. Connection to industrial automation systems such as injection molding machines or automatic lathes is possible. Stationary, stand-alone solutions for assembly, testing, or packaging processes are also possible. The major drawbacks of these systems are the high procurement costs and the lack of flexibility of conventional automation cells. As a result, many industrial processes cannot be automated using conventional industrial robots because the flexibility is insufficient due to short product lead times or batch sizes. b. Cobot - Collaborative robots can also be operated without CE-compliant safety cells. These robot systems are also available as mobile solutions. The major disadvantage of cobot systems is, on the one hand, the intended task itself. Because of the use of gripping technology, for example, insertion into joining devices or into industrial automation such as injection molding machines and automatic lathes, a new risk assessment must be prepared for each application. The general operating permit often expires without a safety cell, even for cobot solutions. On the other hand, cobot systems that operate freely in the room or in proximity to personnel must reduce their performance to such an extent that the cycle times are no longer sufficient to operate economically, especially in the area of ​​injection molding machines and lathes. 3. Technical problem:

[0003] From a technical point of view, the market, i.e. operators of injection molding machines and turning machines, are looking for solutions that can be used directly on the machines or can also perform other tasks.

[0004] The ever-increasing staff shortages on shifts (vacancies, unplanned absences due to illness, etc.) are leading to increasing difficulties in maintaining productivity. Processes with high staff commitment and relatively short order lead times are migrating or are no longer feasible in German industry.

[0005] Flexibility is particularly important for this problem, as many orders are often not sufficient to fully utilize the injection molding and turning machines and thus also the article-specific automation solutions. 4. Solution approach:

[0006] With the solution described in the title, we cover exactly the requirements that meet the needs of operators of injection molding and turning machines: The core of the concept is a safety and interface solution that enables the use of a cell at various points in the operator's standard processes. For this purpose, we developed a mobile robot cell based on an industrial robot, which can be coupled on at least one side with a socket connector for connection to various points that have the corresponding counterpart. All other sides of the system are equipped with a protective enclosure or, alternatively, proximity switches.

[0007] The developed standard modules, such as an integrated EM67 interface for injection molding machines, and the resulting standard programs are included in the cell.

[0008] This means that the system is suitable for inserting and removing components from injection molding machines and turning machines, for example.

[0009] At the same time, the system has the option of being connected to the end of a conveyor buffer, for example, to perform packaging tasks. Furthermore, the system can be docked to any manual workstation to perform inspection, assembly, and sorting tasks, for example.

[0010] The prerequisite for operating the cell is that the corresponding workstations are closed in accordance with CE regulations after docking. This development was also carried out by us. 5. Explanation of the execution:

[0011] The structure of the invention Mobile Industrial Robot Cell is characterized by the fact that the following components are included: a. 6-axis industrial robot and gripper with quick-change coupling b. Mobile base c. Protective enclosure with / without drawer system d. Docking station protective enclosure e. Socket system f. Security CPU g. Total CE h. Interface development for injection molding and turning machines i. With / without position detection camera j. With / without vibrating separator k. With / without interleaf magazine a. : Industrial robots and grippers with quick-change coupling

[0012] The core of the cell is an industrial robot. The concept can be implemented with models from various manufacturers, including KUKA, FANUC, Fruitcore Robotics, and Motoman.

[0013] The detailed selection of the industrial robot depends on the customer's specifications. For quick changes of item-specific components (gripper fingers or suction cups). Automatic coupling of the mechanical, electrical, and pneumatic feed for the gripping hand. b. Mobile base:

[0014] The system has a mobile base frame ( Fig. 1-8, Ref. 2). The mobile base frame and the cell above it can be customized in shape and size to meet the individual customer's requirements.

[0015] The base frame provides space for the control system, the safety CPU and other components such as air compressors. c / d / f. Protective enclosure with or without

[0016] Drawer system / docking station / security CPU: The protective cage and the safety CPU used (manufacturer: e.g. SICK, SCHUNK, ...) are designed so that they can be flexibly docked at various locations. The protective circuit is closed via a permanently installed counterpart at the place of use ( Fig. 9, Fig. 10 Ref. 9,10).

[0017] The protective cage is usually closed on the three remaining sides, but alternatively light grids, light curtains or proximity switches can be used if this meets the requirements.

[0018] Additionally, it is possible to implement multiple drawers or safety doors. Drawers for feeding KLTs of various sizes or feeding raw parts onto dies are fully integrated in terms of safety technology ( Fig. 6, Fig. 12 Ref. 5). e. Socket system:

[0019] Mechanically as described. Quick couplings are provided at the corresponding coupling points for electrical, pneumatic (optional) and signal transmission to keep setup times very short ( Fig. 11, Ref. 10). g. Total - CE:

[0020] The mobile industrial robot cell in the described configuration can be used in accordance with the applicable standards and safety regulations at the various locations equipped with docking stations. h. Interface development to machines:

[0021] Interfaces to injection molding machines and turning machines are included (e.g. Euromap 67, Euromap 73,..). i. Camera system for position detection:

[0022] Optionally, the mobile industrial robot cell can be implemented. A camera system (manufacturer e.g., Keyence, Schunk, or SICK) for detecting the positional orientation of the components can be implemented optionally depending on requirements.

[0023] It is installed either at the end head of the robot, on a boom above the belt buffer or on the cell above the small load carriers or the vibrating conveyor. j. Vibration conveyor:

[0024] Can be optionally implemented in the mobile industrial robot cell. (Manufacturers: e.g., Varioshaker, Flexbowl). Filled with bulk material from the outside via a pre-bunker / bunker belt. k. Interlayer magazine:

[0025] Optionally implementable in the mobile industrial robot cell. Intermediate layers are often required when filling KLTs. Various intermediate layers made of paper, cardboard, or plastic can be manually refilled from the outside. The sizes of the intermediate layers are easily mechanically adjustable ( Fig. 7, Ref. 7). 6. Advantages:

[0026] The mobile industrial robot cell can be used in various workplaces with the performance of an industrial robot.

[0027] The investment is therefore no longer spread across a single order / task, but can be allocated across multiple activities, similar to labor costs in the production facilities. This very feature enables customers to invest in the system and improve their competitiveness.

[0028] Production employees now only need to feed raw parts into the system or remove finished parts / containers; the system takes over the time-consuming tasks. This helps increase productivity, reduce costs, and smooth out unplanned downtime.

[0029] As a by-product, the complaint rate is reduced, since in practice parts are often confused by employees (e.g. left / right). List of reference symbols (ref.) 1 industrial robot 2 Mobile Base 3 Protective cage 4 Position vibrating conveyor or drawers 5 drawer system 6 Camera 7 Interlayer magazine 8 Docking station mechanical 9 Electric docking station 10 socket system Figure names Fig. 1: Mobile industrial robot cell, variant 1, front view Fig. 2: Mobile industrial robot cell, variant 1, top view Fig. 3: Mobile industrial robot cell, variant 1, side view Fig. 4: Mobile industrial robot cell, variant 1, overall view 3D Fig. 5: Mobile industrial robot cell, variant 2, front view Fig. 6: Mobile industrial robot cell, variant 2, top view Fig. 7: Mobile industrial robot cell, variant 2, side view Fig. 8: Mobile industrial robot cell, variant 2, overall view 3D Fig. 9: Docking station protective housing mechanical, illustration cannot be shown otherwise Fig. 10: Docking station protective housing electrical, illustration cannot be shown otherwise Fig. 11: Docking station sockets power / air / signals, illustration cannot be shown differently Fig. 12: Drawer system with locking mechanism, acknowledgement button and emergency stop, illustration cannot be shown differently

Claims

[1] Characteristic part of the claims: 1.1 Mobile industrial robot cell Characterized by that the object contains the following components: a. 6-axis industrial robot (ref.1) + gripper with quick coupling ( Fig. 1-8) b. Mobile Base (ref. 2, Fig. 1-8) c. Protective enclosure (ref. 3, Fig. 4, Fig. 8) with / without drawer system (ref. 5, Fig. 6, Fig. 12) d. Docking station protective housing (ref. 8,9, cf. Fig. 9, Fig. 10) e. Socket system (ref. 10, Fig. 11) f. Security CPU g. Total CE h. Interface development for injection molding and turning machines 1.2 Mobile industrial robot cell according to claim 1.1 Characterized by the extension of a position detection camera (6) for the detection of components ( Fig. 8) 1.3 Mobile industrial robot cell according to claim 1.2 Characterized bythe extension of a vibration separator for separating components 1.4 Mobile industrial robot cell according to claim 1.1 Characterized by the extension of an intermediate layer magazine (ref. 7, Fig. 7)

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