An assembly system for producing a sub-element, a method of producing a sub-element, and the use of such method
Patent Information
- Application Number
- PCT/EP2026/053851
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-02-26
- Filing Date
- 2026-02-12
- Publication Date
- 2026-09-03
Smart Images
Figure EP2026053851_03092026_PF_FP_ABST
Abstract
Description
[0001] AN ASSEMBLY SYSTEM FOR PRODUCING A SUB-ELEMENT, A METHOD OF PRODUCING A SUB-ELEMENT, AND THE USE OF SUCH METHOD
[0002] Technical field
[0003] The present invention refers to assembly system for producing a subelement comprising at least two members, a method of producing a sub-element comprising at least two members and the use of such method.
[0004] Technical background
[0005] It is well known in the art to provide prefabricated housing parts or modules manufactured in a factory and then to transport these to a construction site where the parts or modules are assembled. Examples of such modules include frame walls and trusses. In the example of a frame wall, this comprises a framework made from one or multiple members, such as studs, noggings, lintels, a top plate and a bottom plate, that are connected to create a framework. Open space formed between the members are later provided with additional components such as insulation materials, pipes for necessities such as electricity, plumbing and heating. The framework is then covered with boards and a protective or decorative surface layer is applied.
[0006] There is hence a need for factory production lines to have a high degree of flexibility. This is solved by producing so called sub-elements, where a sub-element comprises two or more mutually joined members. The overall design of the subelement varies depending on its intended position in a prefabricated module, the overall design of the prefabricated module, the intended market, and not at least individual client's requirements. A sub-element typically comprises a combination of studs, noggings, lintels, top and bottom plates and even boards. To allow a high degree of flexibility in the production line, the sub-elements can be manufactured in a first production line and then supplied to another production line depending on the workflow in the factory and depending on which sub-element to be produced at a certain time.
[0007] There is accordingly a constant strive to design such production lines to be as versatile and fast as possible to thereby maintain a high degree of flexibility, provide a high throughput while still maintaining a high degree of quality in terms of tolerances.
[0008]
[0009] One object of the present invention is to provide a system that allows an automated handling and positioning of members that are to be included in and form part of a sub-element.
[0010] Yet another object is to provide a system that can be used in a high-speed production system for manufacturing of sub-elements that are to be used in prefabricated frame walls.
[0011] These and other objects are solved by an assembly system for manufacturing a sub-element comprising at least two members, the assembly system comprising: a robot, a worktable and an assembling tool comprising at least one gripper, said assembling tool being configured to be operated by the robot, wherein
[0012] the worktable comprises a tabletop;
[0013] a frame supporting said tabletop; and
[0014] at least one fastening arrangement arranged underneath the tabletop; wherein
[0015] the assembling tool, when operated by the robot, is configured to arrange a member on top of the tabletop by using the at least one gripper; and
[0016] wherein the at least one fastening arrangement is configured to removably arrange a fixing element from an underside of the tabletop into the member thereby removably fixating the member to the top of the tabletop.
[0017] Accordingly, an assembly system is provided where a member that is arranged on the tabletop can be removably fixated to the tabletop from below by means of a fastening arrangement that is arranged underneath the tabletop. The fixation is preferably made while the gripper holds the member. The grip between the gripper and the member is preferably released only after the member has been fixated to the tabletop.
[0018] This means that the position of a first member that is positioned by means of the assembling tool to the tabletop will be maintained throughout the whole assembly process. The thus fixated first member can accordingly be used as a physically fixed, spatial reference when arranging and joining additional members, directly or indirectly to the first member. The member will, due to its fixation, be prevented from being displaced not only by sliding but also from tilting. Further, the assembling tool can be used to firmly hold the member in position when fixating the member to the tabletop by means of the fastening arrangement. The fastening arrangement may in one embodiment be a screwdriver. Since the at least one fastening arrangement is arranged underneath the tabletop and is configured to removably arrange a fixing element from an underside of the tabletop, the tabletopcan be provided as a smooth working surface with no projecting fixation members such as fingers, clamps or the like. Hence, the tabletop can according to the invention be seen as a blank canvas allowing a full freedom regarding where additional members may be arranged. This allows a very high freedom when using one and the same worktable for building different sub-frames.
[0019] Additionally, since the fixation is made from below the tabletop, there is no need for the assembling tool to support any separate fixation tool and change its grip or spatial orientation for fixating the member. This saves weight of the assembling tool, and it saves time during the assembly.
[0020] Accordingly, and in summary, the invention provides an assembly system that ensures a high precision and hence a high-qualitative sub-element. Also, the invention provides an assembly system that allows a very high flexibility when used in a production line where different types of sub-elements are to be manufactured.
[0021] It goes without saying that the assembly system may comprise more than one robot and more than one worktable.
[0022] The at least one fastening arrangement may be supported on a lower side of the tabletop. The fastening arrangement will thereby move along with the tabletop in the event the tabletop should be of a type that is movable in view of its supporting frame. The fastening arrangement may alternatively be supported by the frame.
[0023] A plurality of fastening arrangements may be positioned in a straight-linear pattern under the tabletop, thereby allowing for multiple fixation points of a member that is positioned on top of, i.e., on the opposite side of the tabletop.
[0024] Alternatively, an array of fastening arrangements may be arranged under the tabletop where the fastening arrangements are arranged in a pattern that can be seen as rows and columns. The skilled person realizes that the fastening arrangements may be removably supported to the tabletop.
[0025] The tabletop preferably comprises a pattern of through-going holes or slots that allow the fixing element to extend from the lower side of the tabletop and into the member to be fixated. Hence, the through-going holes or slots are axially aligned with the axial extension of the fixing elements.
[0026] The fixing element may be supported by the fastening arrangement, and the fixing element may be configured to removably engage the member by a rotating operation of the fastening arrangement, thereby forcing the fixing element to engage and disengage the member by a rotating action.
[0027] The fixing element may be a screw. The screw can be supported by a chuck of the fastening arrangement. The fastening arrangement may be a screwdriver. Theskilled person realizes that the fixing element alternatively may be supported by the underside of the tabletop and that the fastening arrangement may be configured to be moved into and out of engagement with the fixing element.
[0028] The fastening arrangement may be arranged to operate in a direction substantially perpendicular to a general plane of the tabletop. Accordingly, in the event of a horizontally extending tabletop, the fastening arrangement may be configured to operate in the vertical direction.
[0029] The tabletop may be arranged on top of the frame, and the assembly system may further comprise a sliding mechanism allowing the tabletop to be slidingly displaced in at least one lateral direction in view of the frame.
[0030] The slidingly displaced tabletop allows for multiple benefits. They include, providing improved working range of a robot arm supporting the assembling tool. Further benefits include reduction of risks related to members unintentionally coming in contact with each other, or other machinery, robots or a robot stand. A displaceable tabletop further allows a robot to access more angles when gripping a member by means of the gripper. It also allows for additional angles to fasten members by means of the assembling tool.
[0031] The assembly system may comprise at least two fastening arrangements. This allows for a more precise fixation avoiding potential displacement of the first member. By using two or more fixation points, the member will be prevented from being rotated. It goes without saying that the at least two fastening arrangements may be configured to be operated independently of each other.
[0032] The assembly system may comprise a ruler arrangement, the ruler arrangement being movable across the tabletop from a first edge of the tabletop towards an opposing, second edge of the tabletop.
[0033] The ruler arrangement allows for a firm support when arranging a member on the tabletop. Especially, the ruler arrangement may be used when positioning a last member to a sub-element that is to be produced. For example, the ruler arrangement may be used to align the position of a new member with already positioned members before fixating the new member. This is useful since wood members are all unique although they have been cut to the same length. The ruler arrangement can also be used as a pusher to adjust the relative longitudinal position between the gripper and a gripped member. It can also be used to push a member to be in abutment with already positioned members. Aligning and / or pushing may be specifically useful when positioning the last member to a sub-element.
[0034] The ruler arrangement together with the first positioned member that is fixed to the tabletop may be used as an angle hook. When a new member isarranged in abutment with one or more already positioned and mutually joined members, the ruler arrangement can be used to correctly align both the new member but also the already positioned and mutually joined members so that an orthogonal sub-element structure is ensured before joining the last member.
[0035] Another use of the ruler arrangement is to push-off a completed subelement from the tabletop.
[0036] The ruler may be provided with a brush and / or one or more nozzles that are connected to a supply of pressurized air. This allows removal of waste or debris from the tabletop.
[0037] The assembling tool may comprise a first gripper and a second gripper, where the first gripper comprises two fingers being configured to allow a member to be pinched there between, and further allowing the thus pinched member to be lifted; the second gripper comprises two fingers being configured to allow a member to be pinched there between, and further allowing the thus pinched member to be lifted; and wherein the first and the second grippers are movable towards each other to allow a member to be gripped between the two grippers, and the member to be lifted by means of the first and second grippers.
[0038] By providing the assembling tool with two or more grippers, a versatile tool is provided where one or more members can be gripped, lifted and pushed in many different orientations. The assembling tool is configured to be spatially oriented by operating the robot.
[0039] The assembling tool may comprise a fixation tool. Non-limiting examples of a fixation tool includes a nailer or a screwdriver. The nailer may be a pneumatic nailer. The skilled person realizes that the assembling tool may comprise more than one fixation tool. The fixation tool is preferably suspended to be pivotable at least 90 degrees. The fixation tool is preferably arranged in view of the gripper(s) so that the fixation of a member may be made while being gripped by a gripper.
[0040] The fixation tool is preferably connected to the assembling tool by means of a quick connector. This allows for a rapid change between different fixation tools to enable an empty or faulty fixation tool to be exchanged and replaced by a new, fully loaded fixation tool.
[0041] A member receiving gap may be formed on the assembling tool between a head of the fixation tool and the at least one gripper. The receiving gap allows for insertion of a member that has already been positioned on the tabletop into the gap between the tool head and a gripped member. The thus newly positioned member can be joined with the already positioned member while being gripped, but without any need for changing grip.The assembling tool may comprise a pusher, said pusher being configured to operate perpendicularly to the pinching direction of the first gripper and / or the second gripper. The pusher may be configured to be used to push an already gripped member downwardly towards the tabletop before joining it with an already positioned member. The pusher is preferably used to apply a pressure across two members to arrange these in level with each other. The pusher may be used to improve the overall quality of the sub-element since any crowning / longitudinal irregularity, or the like of the member may be compensated.
[0042] The assembling tool may comprise a vacuum lifter. The vacuum lifter may be provided with one of more suction cups. The vacuum lifter allows a supplementary way of picking and positioning a member onto the tabletop. One and the same fixation tool may be used to fixate a member, no matter of it is gripped by one or both of the grippers or by the vacuum lifter. This may be accomplished by turning the fixation tool 90 degrees.
[0043] According to another aspect, a method of producing a sub-element comprising at least two members is provided. The method comprises gripping, by using a gripper in an assembling tool, a first member and positioning the first member on top of a tabletop; and removably fixating the first member to the tabletop by removably arranging at least one fixing element from the underside of the tabletop into the first member.
[0044] The system and its functionality discussed above is directly applicable to the method, and to avoid undue repetition, reference is made to that discussion.
[0045] In summary, by removably fixating the first member to the tabletop by removably arranging at least one fixing element from the underside of the tabletop into the first member, the first member is fixated with very high precision to the tabletop in its originally intended position, i.e., the position determined by the program code of the robot. The fixation is preferably made while the gripper holds the first member. The grip between the gripper and the first member is preferably released only after the first member has been fixated to the tabletop. The thus fixated first member can accordingly be used as a physically fixed spatial reference when arranging and joining additional members, directly or indirectly to the first member. The first member will by the fixation be prevented from being displaced by sliding but also from tilting. The fixation is made by a fastening arrangement. The fastening arrangement is arranged underneath the worktable and preferably in the lower side of the tabletop. The fastening arrangement may in one embodiment be a screwdriver.Since the fixing element is arranged from an underside of the tabletop, the upper side of the tabletop can be provided as a smooth working surface with no projecting fixation members such as fingers, clamps or the like. Hence, the tabletop can be seen as a blank canvas allowing a full freedom of where additional members may be arranged. This allows a very high freedom when building a sub-frame.
[0046] Additionally, since the fixation is made from below the tabletop, there is no need for the assembling tool to support any separate fixation tool and to change its grip or spatial orientation for fixating the first member.
[0047] Accordingly, and in summary, the invention provides a method that ensures a high precision and hence the manufacturing of a high-qualitative sub-element. Also, the invention provides a method that allows a very high flexibility when used in a production line where different types of sub-elements are to be manufactured.
[0048] The method may further comprise gripping, by using a gripper of the assembling tool, a second member and positioning the second member into abutment with the first removably fixated first member; and fixating, by using a fixation tool supported by the assembling tool, the second member to the first member while maintaining the grip of the second member.
[0049] Since the first member is fixated with a very high accuracy in its originally intended position, also the subsequent, second member will be positioned and joined to the first member with high accuracy. Also, since the second member is joined to the first member while maintaining the grip of the second member, the risk of the second member being displaced, or even tilting, before being joined is reduced. Also, since no re-gripping is required, time is saved.
[0050] The method may further comprise releasing the grip of the second member and gripping, by using a gripper of the assembling tool, a third member and positioning the third member into abutment with the first and / or the second member; and fixating, by using the fixation tool supported by the assembling tool, the third member to the first and / or the second member while maintaining the grip of the third member.
[0051] Since the first member is fixated with a very high accuracy in its originally intended position, also subsequent members, no matter if it is a third or any additional member, will be positioned and joined to the first member, either directly or indirectly, with high accuracy.
[0052] The method may further comprise pushing a member towards the tabletop by using a pusher supported by the assembling tool while fixating the pushed member to a previously mounted member. The pusher may be operated to act, not only against the gripped member, but also against the member to which the grippedmember is to be joined. This allows for a precise positioning before fixation even with members that are not completely uniform, such as wood. This method enables the possibility to use members that are slightly bent or crooked. This allows for more optimal use of materials creating less waste of raw materials thus both saving money and reducing environmental impact. The pusher may by way of example be an electrically or pneumatically operated piston.
[0053] The method may further comprise releasing the engagement between the at least one fixing element and the first member; and removing the thus formed subelement containing the at least two mutually fixated members from the tabletop.
[0054] The releasing may be made by operating the at least one fastening arrangement in its reversed operation direction, whereby the at least one fixing element will be retracted from the first member. The sub-element can thereby be removed from the tabletop to allow a new sub-element to be manufactured. The sub-element can be removed from the tabletop by using for example a robot or a ruler arrangement pushing the sub-element off the table.
[0055] The sub-element may be removed from the tabletop by moving a ruler arrangement across the tabletop from a first edge of the tabletop towards an opposing second edge of the tabletop.
[0056] This allows for the sub-element to be removed in a controlled and precise manner. Furthermore, the speed of this process can be adjusted to both ensure rapid production but also to make sure that the material and sub-element is not damaged during the removal, thus ensuring the quality and structural integrity of the sub-element.
[0057] The ruler may be provided with a brush and / or one or more nozzles that are connected to a source of pressurized air. This allows removal of waste or debris from the tabletop.
[0058] According to another aspect, the invention refers to the use of the method according to any of claims 11-16 for the manufacturing of a sub-element comprising at least two members. The method, the system and its functionality has been extensively discussed above, and those arguments are directly applicable to the method, and to avoid undue repetition, reference is made to that discussion.
[0059] According to yet another aspect, the invention refers to a worktable to be used in the assembly system of claim 1, the worktable comprising: a tabletop; a frame supporting said tabletop; and at least one fastening arrangement arranged underneath the tabletop; wherein the at least one fastening arrangement is configured to removably arrange a fixing element from an underside of the tabletop into a member that has been arranged on top of the tabletop, thereby allowing themember to be removably fixated to the tabletop. The method, the system and its functionality has been extensively discussed above, and those arguments are directly applicable to the worktable on its own. To avoid undue repetition, reference is made to that discussion.
[0060] Accordingly, a worktable is provided that allows an easy fixation of a first member to a tabletop, which position can be maintained throughout remaining operations in an assembly process. The thus fixated first member can accordingly be used as a physically fixed, spatial reference when arranging and joining additional members, directly or indirectly to the first member. The member will, due to its fixation, be prevented from being displaced not only by sliding but also from tilting.
[0061] The fastening arrangement may in one embodiment be a screwdriver. Since the at least one fastening arrangement is arranged underneath the tabletop and is configured to removably arrange a fixing element from an underside of the tabletop, the tabletop can be provided as a smooth working surface with no projecting fixation members such as fingers, clamps or the like. Hence, the tabletop can according to the invention be seen as a blank canvas allowing a full freedom regarding where additional members may be arranged.
[0062] The at least one fastening arrangement may be supported on a lower side of the tabletop. The fastening arrangement will thereby move along with the tabletop in the event the tabletop should be of a type that is movable in view of its supporting frame.
[0063] A plurality of fastening arrangements may be positioned in a straight-linear pattern under the tabletop, thereby allowing for multiple fixation points of a member that is positioned on top of the tabletop. Alternatively, an array of fastening arrangements may be arranged under the tabletop where the fastening arrangements are arranged in a pattern that can be seen as rows and columns.
[0064] The at least one fastening arrangement may be removably supported to the tabletop.
[0065] The tabletop may comprise a pattern of through-going holes or slots that allow the fixing element to extend from the lower side of the tabletop and into the member to be fixated. The through-going holes or slots may be axially aligned with the axial extension of the fixing elements.
[0066] The fixing element may be supported by the fastening arrangement, and the fixing element may be configured to removably engage the member by a rotating operation of the fastening arrangement, thereby forcing the fixing element to engage and disengage the member by a rotating action.The fixing element may be a screw. The screw can be supported by a chuck of the fastening arrangement. The fastening arrangement may be a screwdriver. The skilled person realizes that the fixing element alternatively may be supported by the underside of the tabletop and that the fastening arrangement may be configured to be moved into and out of engagement with the fixing element.
[0067] The fastening arrangement may be arranged to operate in a direction substantially perpendicular to a general plane of the tabletop.
[0068] The tabletop may be arranged on top of the frame, and the worktable may further comprise a sliding mechanism allowing the tabletop to be slidingly displaced in at least one lateral direction in view of the frame.
[0069] The worktable may comprise at least two fastening arrangements. The at least two fastening arrangements may be configured to be operated independently of each other.
[0070] The worktable may comprise a ruler arrangement, the ruler arrangement being movable across the tabletop from a first edge of the tabletop towards an opposing, second edge of the tabletop.
[0071] The ruler may be provided with a brush and / or one or more nozzles that are connected to a supply of pressurized air.
[0072] According to still another aspect, an assembling tool to be used in the assembly system of claim 1 is provided, the assembling tool comprising a first gripper and a second gripper; the first gripper comprising two fingers being configured to allow a member to be pinched there between, and further allowing the thus pinched member to be lifted; the second gripper comprising two fingers being configured to allow a member to be pinched therebetween, and further allowing the thus pinched member to be lifted; and wherein the first and the second grippers are movable towards each other to allow a member to be gripped between the two grippers, and the member to be lifted by means of the first, and second grippers.
[0073] The method, the system and its functionality has been extensively discussed above, and those arguments are directly applicable to the assembling tool. To avoid undue repetition, reference is made to that discussion.
[0074] Further objects and advantages of the present invention will be obvious to a person skilled in the art reading the detailed description given below describing different embodiments.Brief
[0075]
[0076] of the
[0077]
[0078] The invention will be described in detail with reference to the schematic drawings.
[0079] Figs, la, lb, lc and Id disclose highly schematically, four different, nonlimiting, embodiments of sub-elements.
[0080] Fig. 2 discloses highly schematically a non-limiting example of a frame wall that is composed by a plurality of sub-elements.
[0081] Fig. 3 discloses a schematic top view of an assembling system.
[0082] Fig. 4 is a perspective view of one embodiment of a worktable.
[0083] Fig. 5 is a partial view of the underside of the worktable.
[0084] Fig. 6 discloses one embodiment of a fastening arrangement.
[0085] Fig. 7 is a partial view disclosing the fastening arrangement when connected to the underside of the tabletop.
[0086] Fig. 8 discloses, highly schematically the engagement between a fixing element and a first member.
[0087] Fig. 9 discloses a first perspective view of the assembling tool.
[0088] Fig. 10 discloses a second perspective view of the assembling tool.
[0089] Fig.11a discloses a first step of gripping a second member.
[0090] Fig. lib discloses highly schematically how the second member is joined to the first member.
[0091] Fig. 11c discloses highly schematically a second member being joined to a first member.
[0092] Fig.12a discloses a first step of gripping a member.
[0093] Fig.12b schematically how a pusher may operate during the joining of the member to another previously mounted member.
[0094] Fig. 13a discloses how a member is gripped by a vacuum lifter.
[0095] Fig. 13b discloses how a member can be joined to a previously mounted member.
[0096] Fig. 14 illustrates, highly schematically the functionality of the ruler arrangement.
[0097] Fig. 15 is a flow chart disclosing the method according to the invention of producing a sub-element.
[0098] Detailed
[0099]
[0100] In the following, the present invention will be described. To facilitate the overall description, the generic term "member" will be used. The term "member" should, unless nothing else is given, be understood as being one or more of a stud, anogging, a lintel, a top plate, a bottom plate or even a board. The skilled person understands that the members can be joined to each other in a non-limiting number of orientations, such as side by side in a parallel fashion, perpendicular to each other, or with any other angle to each other. The members can be arranged side by side directly on the tabletop or one on top of the other.
[0101] The members can be made of wood, a composite material, metal or even a combination of two or more different materials.
[0102] In the following description a number of terms will be used. Unless nothing else is said, the terms are to be understood as follows:
[0103] The term "stud" is to be understood as a piece forming a pillar in a frame wall. The stud typically has a vertical extension in a finished wall.
[0104] The term "nogging" is to be understood as a piece fixed between two studs in a frame wall to strengthen the frame wall. The nogging is typically perpendicularly fixed to a stud by one or more nails. The nogging thereby typically has a horizontal extension in a finished wall.
[0105] The terms "top plate" and "bottom plate" are to be understood as a piece fixed to a stud in a frame wall. The top and bottom plates are typically perpendicularly fixed to at least one stud by one or more nails. The top plate is typically placed at the top of the wall frame whereas the bottom plate is typically placed at the bottom of the wall frame.
[0106] Starting with Figs, la-ld four, non-limiting examples, of sub-elements that are configured to be used in a prefabricated frame wall are disclosed.
[0107] Fig. la discloses a sub-element 1 comprising two studs 2, each having a longitudinal extension. The two studs 2 are arranged in parallel and are abutting each other. The studs are joined to each other by means of one or more fixing elements, such as nails or screws.
[0108] Fig. lb discloses a sub-element 1 comprising three studs 2, each having a longitudinal extension. The three studs 2 are arranged in parallel and are abutting each other.
[0109] Fig. lc discloses a sub-element 1 comprising two pairs of studs, each pair comprising two studs 2. The two pairs are interconnected by a nogging 3 having an extension perpendicular to the studs 2. A short stud 2a is connected to the nogging 3 in parallel with the studs 2.
[0110] Fig. Id discloses a sub-element 1 comprising two parallel studs 2 that are interconnected by two noggings 3, each having an extension perpendicular to the studs 2. Two short studs 2a are connected to the noggings 3.Now turning to Fig. 2, a complete frame wall 4 including the sub-elements 1 described in Figs, la-ld is disclosed. The sub-elements 1 are interconnected by a top plate 5 and a bottom plate 6 that extend along the free ends of the studs 2. The thus formed frame wall 4 has been supplemented with additional studs 2. The studs are distributed along the longitudinal extension of the frame wall according to standardized centrum-centrum distances between the studs.
[0111] The sub-elements are fixated to each other by using non-disclosed fixing elements such as nails or screws.
[0112] Now turning to Fig. 3, a schematic top view of one embodiment of the assembly system 10 according to the invention is disclosed. The assembly system 10 is configured to allow an automized handling, picking, positioning, and joining of members during forming of a sub-element (omitted).
[0113] The assembly system 10 comprises a worktable 100 and an assembling tool 200. The assembling tool 200 is configured to be operated by a robot 300. A robot as such is well known in the art and is not further described. Although the assembly system 10 is disclosed with one robot and with one worktable, it is to be understood that the assembly system may comprise more than one robot and more than one worktable.
[0114] The assembly system 10 is disclosed as being combined with a supply system 400. The supply system 400 is exemplified as a rack 401 on which members are stored before being picked by the assembling tool 200. The supply system 400 may be of any type, depending on the overall logistic flow in the factory. As a non-limiting example, the supply system 400 may be a rack 401, a bench, a pallet or a conveyor belt.
[0115] The assembly system 10 may be combined with a non-disclosed transport system configured to receive manufactured sub-elements. The transport system may be of any type, depending on the overall logistic flow in the factory. As a nonlimiting example, the transport system may be a rack, a pallet or a conveyor belt.
[0116] The main purpose of the assembling tool 200 is, as will be elaborated below, to pick members from the supply system 400, arrange them on the worktable 100 in a desired pattern and join the members to each other.
[0117] The main purpose of the worktable 100 is, as will be elaborated below, to provide a support for the members during the manufacturing of a sub-element. Also, the purpose of the worktable 100 is, as will be elaborated below, to fixate a first member to the worktable during the manufacturing of a sub-element.
[0118] The assembly system 10 with its moving parts may be connected to an Electrical Control Unit, ECU, which as such is well known for the skilled person withinthe automatization industry. The ECU may be part of the control system of one or more robots. One of these robots may be the robot 300 that is configured to support and operate the assembling tool 200.
[0119] Now turning to Fig. 4, a perspective view of one embodiment of the worktable 100 is disclosed. The worktable 100 comprises a tabletop 101, a frame 102 supporting said tabletop 101, and at least one fastening arrangement arranged underneath the tabletop 101. The fastening arrangement is omitted in Fig. 4 but can be seen in Fig. 5.
[0120] Further the worktable 100 comprises an optional sliding mechanism 106. The sliding mechanism 106 enables the tabletop 101 to be slidingly displaced in at least one lateral direction in view of the frame 102, see arrow A. This can be facilitated by for example one or more linear guides and bearings connected to a motor. However, a person skilled in the art realizes that the displacement can be achieved in a number of different ways with remained functionality.
[0121] The worktable 100 is preferably positioned relative to a robot stand 301 of the robot 300, see Fig. 3, such that a robot arm 302 may access substantially the full area of the tabletop 101. This access can be facilitated by means of the sliding mechanism of the worktable 100. This allows for the robot arm 302 that supports the assembling tool 200 to freely position and access a member on the tabletop 101. It also facilitates angling of the assembling tool 200 to thereby allow all features, such as grippers and fixation tools, to be used in a desired angle without undue tilting of the assembling tool 200.
[0122] Now turning to Fig. 4 anew. The worktable 100 comprises a ruler arrangement 500. The ruler arrangement 500 is slidingly displaceable along the surface of the tabletop 101. In this embodiment the ruler arrangement 500 is configured to be displaced in a direction that is perpendicular to the sliding direction of the tabletop 101, see arrow B. The displacement of the ruler arrangement 500 can for example be done using a belt, cogwheel, and pulley arrangement. However, a person skilled in the art realizes that the displacement can be achieved in a number of different ways with remained functionality.
[0123] The upper surface of the tabletop 101, i.e., the surface on top of which the members are configured to be arranged, is flat. There are no parts projecting away from the upper surface. This means that the members can be positioned on top of the tabletop 101 in any desired position.
[0124] The tabletop 101 is provided with a plurality of through-going holes 103. Although the tabletop 101 comprises a plurality of holes 103, it is in its most simple embodiment sufficient with one hole only. The one or more holes 103 are alignedwith a respective fastening arrangement as will be described below. The skilled person realizes that the holes may be replace by one or more slots.
[0125] Now turning to Fig. 5, a perspective view from below of the tabletop 101 is disclosed. The figure discloses two fastening arrangements 104 that are arranged on a lower side of the tabletop 101 aligned with a respective through-going hole 103 (seen in Figs. 4 and 7) in the tabletop 101. By arranging the fastening arrangements 104 on the lower side of the tabletop 101, the fastening arrangements 104 will move along with the tabletop 101 in the event the tabletop 101 should be slidable. The one or more fastening arrangements 104 are preferably arranged along and adjacent one edge of the worktable 100. The fastening arrangements 104 may be supported by the tabletop 101 or by the frame 102 of the worktable 100.
[0126] A plurality of fastening arrangements 104, i.e., more than two, may be positioned in a straight-linear pattern under the tabletop 101 allowing for multiple fixation points for a member, as will be further described below. Alternatively, an array of fastening arrangements 104 may be arranged under the tabletop 101.
[0127] However, a person skilled in the arts realizes that the fastening arrangement 104 could be placed at any position underneath the worktable or angled in other angles.
[0128] Now turning to Figs. 6 and 7. Fig. 6 is a perspective view of one embodiment of the fastening arrangement 104 supporting a fixing element 105. Fig. 7 is a perspective view from above of the tabletop 101. A first member 7 is configured to be arranged on top of the tabletop 101 in a position above a through-going hole 103 in the tabletop 101 and be removably fixated to the tabletop 101 by means of the fixing element 105. The first member is omitted in Fig. 7 to facilitate understanding.
[0129] The fastening arrangement 104 is embodied as a motor driven screwdriver that via chuck 111 supports a fixing element 105 in the form of a screw. The screw is, depending on the operation direction of the motor, configured to be either forced into engagement with, or out of engagement with a first member that has been arranged on top of the tabletop 101 as will be described below. The engagement / disengagement between the fixing element 105 and the first member is accordingly provided by a rotational operation of the fixing element 105.
[0130] The fastening arrangement 104 is connected to a sub-bracket 108 that is slidingly supported on a straight-linear rail 112 of a main bracket 110. The main bracket 110 is in turn configured to be mounted to the frame 102 of the worktable 100. The fastening arrangement 104 will thereby move along with tabletop if this should be moved.
[0131] The main bracket 110 supports a pusher 113 having a piston 114. The pusher 113 may by way of example be pneumatically operated. The pusher 113 isconfigured to operate the piston 114 in a reciprocating manner to allow the piston to engage the sub-bracket 108 and thereby push the fastening arrangement 104 to move along the rail 112 towards the underside of the tabletop 101. The motor 115 of the fastening arrangement 104 is configured to be operated simultaneously. When doing so, the fixing element 105 formed as a screw will removably, via the hole 103, engage the underside of a first member that has been arranged on the tabletop 101. When reversing the pusher 113 and reversing the operation direction of the motor 115, the fixing element 105 will disengage its engagement with the member and the fastening arrangement 104 will slide back along the rail 112.
[0132] Accordingly, the fastening arrangement is configured to removably fixate a first member to the tabletop 101.
[0133] The fixation of the first member 7a to the tabletop 101 is highly schematically illustrated in Fig. 8, which discloses one example of a first member 7a that is positioned on a tabletop 101 with a fixing element 105 that is removably screwed, via the hole 103 in the tabletop 101, into the first member 7a from underneath the tabletop 101.
[0134] This allows for the first member 7a to be fixed to the tabletop 101 and ensures that the first member 7a remains in the same position, thus helping the orientation of further added members. This means that the position of a first member that is positioned by means of the assembling tool 200 onto the tabletop 101 will be maintained in a fixed position throughout the whole assembly process. Thus, the fixated first member 7a can accordingly be used as a physically fixed, spatial reference when arranging and joining additional members, directly or indirectly to the first member 7a. The fixed first member 7a will be prevented from being displaced by sliding and from tilting. Added members will accordingly automatically be correctly aligned with each other.
[0135] The fastening arrangement 104 is preferably arranged to operate in a direction substantially perpendicular to a general plane of the tabletop 101.
[0136] Accordingly, in the event of a horizontal tabletop, the fastening arrangement 104 may be configured to operate in the vertical direction.
[0137] The at least one fastening arrangement 104 is preferably positioned nearby one edge of the tabletop 101. However, a person skilled in the art realizes that the fastening arrangement(s) 104 with remained functionality may be arranged at any position underneath the table.
[0138] The fixation of the first member 7a is preferably made while the first member 7a is held by one or more grippers of the assembling tool 200. The grip between theone or more grippers and the first member is preferably released only after the first member has been fixated to the tabletop 101.
[0139] The number of fastening arrangements 104 may be altered with remained function. The embodiment of Fig. 5 discloses the use of two fastening arrangements 104. By using two fastening arrangements 104 and hence two fixation points, the first member 7a will be prevented from rotating in view of the tabletop 101.
[0140] By removably arranging a fixing element 105 from an underside of the tabletop 101, the tabletop 101 can be provided as a smooth working surface with no projecting fixation members such as fingers, clamps or the like. Hence, the tabletop 101 can be seen as a blank canvas allowing full freedom of where additional members may be arranged. This allows a very high freedom when building a subframe. Furthermore, it allows for a variety of different sub-elements to be built without making any physical adaptions of the tabletop 101, but instead only giving new instructions to the assembly system 10.
[0141] Now turning to Fig. 9, a perspective view of one embodiment of the assembling tool 200 is disclosed. The assembling tool 200 comprises a frame structure 240 that supports a number of tools that will better be described below, and also a connecting portion 250 that allows the assembling tool 200 to be connected to a robot (omitted in Figs 9 and 10). The skilled person realizes that the design of the frame structure 240 can be made in a number of ways within the scope of the invention. Also, the connecting portion is designed to be compatible with a complementary tool connector (not shown) of a robot. Hence, the design of the frame structure can be made in a number of ways within the scope of the invention.
[0142] The disclosed embodiment of the assembling tool 200 comprises two grippers, in the following denoted as first gripper 201 and second gripper 202. The skilled person realizes that the assembling tool 200 may comprise one gripper only or more than two grippers.
[0143] Each gripper 201;202 comprises two fingers 203 configured to pinch a member in a first direction, see arrow C. The first gripper 201 and the second gripper 202 are mutually aligned, whereby their operation can be coordinated to grip one and the same member at two mutually displaced positions along the longitudinal extension of the member. Hence, the two grippers 201,202 can together grip and lift one and the same member by a pinching action. In this embodiment, each finger 203 has a gripping surface 205 configured to come into contact with the member to grip. The skilled person realizes that the gripping surfaces 205 may be designed in a number of ways with remained functionality.Further the first gripper 201 is movable towards the second gripper 202, see arrow D to thereby allow a member to be pinched between outer, opposing surfaces 208 of the first 201 and second gripper 202 respectively. Hence, the first 201 and the second grippers 202 allows a member to be pinched between the first gripper 201 and the second gripper 202.
[0144] The first gripper 201 is in the illustrated embodiment designed to be moved towards the second gripper 202 along two opposing rails 209. The second gripper 202 may be stationary. Alternatively, both the first 201 and the second grippers 202 may be movable towards each other. In yet another embodiment, the first and the second grippers 201, 202 may be moved together in one and the same direction along the rail 209. The latter may be useful when moving a member that has been gripped by both grippers 201, 202 into engagement with an already mounted member. This is exemplified in Fig. lib. In yet another embodiment, not disclosed, the second gripper 202 may be movable towards a stationary first gripper 201 along the rail 209.
[0145] By moving the first 201 and second grippers 202 towards each other, a member is allowed to be lifted by means of a pinching action between the outer opposing surfaces 208 of the first gripper 201 and second gripper 202. This allows a member to be gripped in a direction that is perpendicular to the direction that will result if instead gripping a member by using the two fingers 203 of the first 201 and / or the second gripper 202.
[0146] The fingers 203 of the first gripper 201 may be suspended to allow the fingers 203 to be displaced along their longitudinal extensions, see arrow E. The suspension may be provided for by each finger 203 being supported by a pneumatic cylinder 206, best seen in Fig. 10. The cylinders 206 allow the fingers 203 to be lifted when not used. It is also possible to control the pressure inside the pneumatic cylinders so that the fingers 203 will be elastically suspended. Hence, pneumatic cylinder may be operated either as a linear lifter, or as a spring. The use of the latter will be described below with reference to Figs. 12a and 12b.
[0147] No matter how the member is gripped, the gripped member is configured to be lifted / lowered by operating the robot arm (omitted in Fig. 9) that is configured to support the assembling tool 200.
[0148] The first 201 and second grippers 202 may be operated by means of one or more motors, a hydraulic system or a pneumatic system. This is all well known in the art and is not further discussed.
[0149] The disclosed embodiment of the assembling tool 200 further comprises a pusher 210, best seen in Fig. 9. The pusher 210 is disclosed as being arranged in aposition between the two fingers 203 of the second gripper 202. It is to be understood that the pusher 210 may be arranged in other positions with remained functionality. The pusher 210 is configured to be linearly operated in a direction in parallel with the longitudinal extension of the fingers 203. The pusher 210 is configured to allow a gripped member to be pushed downwardly towards the worktable in a manner to be further described below. This allows for the gripped member to be flush with the tabletop as well as with other members before fixation.
[0150] The disclosed embodiment of the assembling tool 200 further comprises a fixation tool 220. In this embodiment the fixation tool is a nailer. The nailer may be a pneumatic nailer. The nailer is connected to a nail magazine. The skilled person realizes that the fixation tool with remained functionality may be a screwdriver.
[0151] The fixation tool 220 is arranged in view of the first 201 and second grippers 202 so that the fixation of a member can be made while the member is gripped. This allows for accurate positioning and fixation of a member to another member. This process will be further described below.
[0152] The fixation tool 220 is preferably removably connected to the frame structure 240 of the assembling tool 200 by a quick-connector 260, best seen in Fig.
[0153] 10. Arranging the fixation tool 220 to a quick connector allows for a rapid change between different fixation tools to enable an empty or faulty fixation tool to be exchanged and replaced by a new fully loaded fixation tool.
[0154] The fixation tool 220 is preferably pivotably supported to the frame structure 240. This allows the fixation tool 220 to adapt its operation direction to the member that should be fixated by means of the fixation tool 220.
[0155] The skilled person realizes that the assembling tool 220 may comprise more than one fixation tool.
[0156] Now turning to Fig. 10, a second perspective view of the assembling tool 200 is disclosed. As noted, the fixation tool 220 has now been pivoted into another angle as to compared to the situation in Fig. 9. By pivoting to a different angle, the fixation tool 220 can fixate other members that are not held by the grippers 201,202.
[0157] The disclosed embodiment of the assembling tool 200 comprises a vacuum lifter 230. A vacuum lifter as such is well known in the art and is not further discussed. Also, a person skilled in the art realizes that the same function can be achieved with other types of lifting arrangements. The vacuum lifter 230 allows a supplementary way of picking and positioning a member onto the tabletop.
[0158] Now turning to Fig. 11a, a sideview of a portion of the assembling tool 200 is disclosed. The robot arm supporting the assembling tool 200 is omitted to improve clarity. The assembling tool 200 is moved to a position vertically above a worktable101. A first member 7a is disclosed as being fixated to the tabletop 101 by means of a fixing element 105 that extends from the lower side of the worktable, through the tabletop and into the first member 7a.
[0159] In this example a second member 7b is pinched by the two fingers 203 of each of the first 201 and the second grippers 202. The assembling tool 200 is configured to be lowered by means of the robot arm (omitted) into a position where a lower side of the second member 7b lies flush with the tabletop 101 and where a free end of the second member 7b abuts the first member 7a. This is highly schematically disclosed in Fig. lib. When set to this position, the fixation tool 220 is operated to fixate the first member 7a to the second member 7b by forcing one or more nails through the first member 7a and into the second member 7b. The fixation is made while the first 201 and the second grippers 202 maintain their grip around the second member 7b.
[0160] After fixation, the first 201 and the second grippers 202 may release their grips. The thus formed sub-element, see Figs, lib and 11c, comprising the now mutually fixated first and second members 7a, 7b remain firmly fixated to the tabletop 101 of the worktable 100.
[0161] As noted in Fig. 11a, there is a gap G between the fixation tool 220 and the gripped member 7. The gap G allows a member 7 that is already positioned on the tabletop 101 to be inserted into the gap. This allows an additional member 7 to be positioned on the tabletop 101 and to be joined with an already positioned member 7 while being gripped.
[0162] Now turning to Fig. 12a a sideview of the assembling tool 200 is disclosed to illustrate another situation. The robot arm supporting the assembling tool 200 is omitted to improve clarity. The assembling tool 200 is moved to a position vertically above the worktable 100. A first member 7a is disclosed as being fixated to the tabletop 101 by means of a fixing element 105 that extends from the lower side of the worktable 100, through the tabletop 101 and into the first member 7a. In this example a second member 7b is pinched between the first 201 and the second grippers 202. Hence, the first gripper 201 has been displaced along the rail 209 towards the second gripper, whereby the second member 7b is pinched between opposing outer surfaces of the first and second grippers 201, 202.
[0163] As is best seen in Fig. 12a, the assembling tool 200 with the thus gripped second member 7b is moved into a position where the second member 7b is arranged vertically above the first member 7a and sidewardly displaced in view of the first member 7a to which it should be attached. A vertical side wall of the second member 7b is facing and aligned with a vertical side wall of the first member 7a.Now turning to Fig. 12b. The assembling tool 200 is now lowered by means of the robot arm (omitted) towards the tabletop 101. During the lowering, the pusher 210 is activated so that its piston forces the second member 7b downwardly towards the worktable 101. The side wall of the second member 7b will slide against and be in an abutting relation with the side wall of the first member 7a.
[0164] Concurrently, the fingers 203 of the first gripper 201 will be translated upwardly by its elastic suspension provided for by the pneumatic pistons 206, whereby the first gripper 201 will release its engagement with the second member 7b.
[0165] When the second member 7b is flush with both the tabletop 101 and the first member 7a, the fixation tool 220 is operated to fixate the second member 7b to the first member 7a by one or more fixing elements.
[0166] After fixation, the assembling tool 200 may lifted vertically away from the worktable 100 by means of the robot arm (omitted). The thus formed sub-member comprising the now mutually fixated first 7a and second members 7b remain firmly fixated to the tabletop 101 of the worktable 100. The first 7a and second members 7b are now fixated to each other in a parallel fashion, long side against long side.
[0167] Now turning to Fig. 13a, a sideview of the assembling tool 200 is disclosed to illustrate yet another situation. The robot arm that supports the assembling tool is omitted to improve clarity. The assembling tool 200 is rotated to a position where the vacuum lifter 230 has gripped a second member 7b and positioned it on top of a first member 7a that has been fixated to the tabletop 101 by means of a fixing element 105 that extends from the lower side of the worktable 100, through the tabletop 101 and into the first member 7a. A practical example is when the second member 7b is a lintel 11.
[0168] Turning to Fig. 13b, the assembly has released the grip of the second member 7b and also the robot arm (omitted) has spatially turned the assembling tool 200 to a position where the fixation tool 220 can fixate the second member 7b to the first member 7a. It is illustrated how the fixation tool 220 has been turned almost 180 degrees around its mounting, away from the first 201 and second grippers 202 to allow it to instead operate to fixate the second member 7b to the first member 7a.
[0169] The thus formed sub-member comprising the now mutually fixated members 7 remain firmly fixated to the tabletop 101 of the worktable 100.
[0170] Now turning to Fig. 4 anew, a perspective view of one embodiment of the worktable 100 with the ruler arrangement 500 is disclosed. The ruler arrangement 500 comprises two crossmembers 502 that extend across the tabletop surface. The crossmembers 502 are fixed to mounting brackets 504. Each of the mountingbrackets 504 are connected to a respective guide rail 506 on the two opposing edges 508 of the of the tabletop 101. The skilled person realizes that the design of the ruler arrangement 500 can be made in a number of ways within the scope of the invention.
[0171] The ruler arrangement is configured to facilitate multiple functions including member stabilization and pushing off completed sub-elements from the tabletop 101. This is enabled by the ruler arrangement 500 being configured to move slidingly along the tabletop 101 as will be further discussed below.
[0172] Now turning to Fig. 14. The ruler arrangement 500 may be used when positioning a last member to a sub-element 1 that is being manufactured. In operation this is done by positioning and pushing a last placed member 8 into flush abutment with the previously positioned members 7. This allows for the fixation tool to make an accurate fixation between the last member 8 the one or more previous members 7. The ruler arrangement 500 may also be used when mounting an intermediate short member, such as member 2a in Fig. lc or one or both of the outer most members 2 in Fig. lc.
[0173] The ruler arrangement 500 may further be used to ensure correct angles between the members 7 that have been positioned on the tabletop 101 and joined to each other. More precisely, the ruler arrangement 500 may be used as one leg of an angle hook when mounting a member 7 that extends orthogonal to the first member 7a, and especially the last member 8. While the ruler arrangement 500 will act as one leg of such angle hook, the first member 7a that is fixated to the tabletop 101 may be used as a second leg of the angle hook. This will force the sub-element 1 assembly into an orthogonal configuration before fixating the last member 8 to the assembly to thereby lock and preserve the orthogonality. Hence, this allows for all mutually joined members 7 to form an orthogonal sub-element structure before joining the last member 8.
[0174] Yet another use of the ruler arrangement 500 is to push-off a completed subelement 1 from the tabletop 101. This is made by moving the ruler arrangement 500 from one side of the tabletop 101 to the opposite side, see arrow B in Fig. 4. With this motion, the sub-element 1 will be pushed to the end of the tabletop 101 in a controlled motion while clearing the tabletop 101 and hence making space for the next sub-element 1.
[0175] The ruler arrangement 500 may be fitted with one or multiple tools to be used to remove debris from the tabletop 101. In one embodiment this can be achieved with one or more brushes (not shown) pointing downwards towards the tabletop 101. This allows for quick removal of debris as a sub-element 1 is pushedoff the tabletop surface. Another embodiment includes at least one nozzle (not shown) with pressurized air that is directed along the tabletop 101. A person skilled in the art realizes that a combination of the two above mentioned embodiments or another debris-removal function can be achieved in a number of ways within the scope of the invention.
[0176] As given above, the invention also refers a method of producing a subelement 1 comprising at least two members 7. The method will be described based on the use of an assembly system 10 of the type that has been discussed and exemplified above.
[0177] The method comprises gripping 1000, by using one or more grippers in the assembling tool 200, a first member 7a and positioning the first member 7a on top of the tabletop 101. The first member 7a may by gripped by one or both of the first 201 and second grippers 202 by the member 7 being pinched between their fingers 203. Alternatively, the first member 7a may be gripped by pinching the first member 7a between the outer opposing surfaces 208 of the first 201 and the second grippers 202. The choice of one or two grippers, and which gripper to use, depends on the orientation of the member 7 to be picked and how it is to be oriented on the tabletop 101.
[0178] The first member 7a is positioned on top of the tabletop 101 vertically above the one or more fastening arrangements 104 that are arranged vertically below a respective through-going hole 103 in the tabletop. The one or more fastening arrangements 104 are preferably arranged along and adjacent one edge of the worktable 100. The remaining area of the tabletop 101 can thereby be used as a support surface for the additional members 7 that are to be positioned on the tabletop 101 while manufacturing a sub-element 1.
[0179] Once the first member 7a is arranged on the tabletop 101, the first member 7a is removably fixated 2000 to the tabletop 101 by removably arranging at least one fixing element 105 from the underside of the tabletop 101 into the first member. The fixation is made by operating the one or more fastening arrangements 104 that are arranged underneath the tabletop 101. The fixation is preferably made while the gripper(s) 201,202 holds the first member 7a. The grip is preferably released only after the first member 7a has been fixated to the tabletop 101. The first member 7a will thereby be fixated with very high precision to the tabletop 101 in its intended position, i.e., the position determined by the program code of the robot 300. The thus fixated first member 7a can be used as a physically fixed, spatial reference when arranging and joining additional members, directly or indirectly to the first member 7a. The fixation will prevent the first member 7a from beingdisplaced by sliding but also from tilting. Although one fixation point as such is sufficient to fixate the first member 7a, it is preferred to use at least two fixation points to thereby prevent the first member 7a from being angularly displaced when adding and fixating additional members 7 during the manufacturing of the subelement 1.
[0180] When the first member 7a has been fixated to the tabletop 101 and the assembling tool 200 has released its grip, the assembling tool 200 is moved to the supply system 400 to pick up 3000 a second member 7b. The second member 7b can be gripped by using one or two grippers. The choice of one or two grippers, and which gripper to use, depends by way of example on the intended orientation of the second member 7b in view of the already positioned and fixated first member 7a. In case of a sub-frame having rectangular configuration, the members are typically arranged either side by side in a parallel abutting relationship (long side to long side) or in a perpendicular abutting relationship (long side to short side).
[0181] When the second member 7b is gripped, the assembling tool 200 moves and positions the second member 7b into abutment with the first removably fixated first member 7a. Once positioned in its intended position, the second member 7b is fixated to the first member 7a. The fixation is made by using the at least one fixation tool 220 that is supported by the assembling tool 200. The fixation is made while the one or more grippers maintain the grip of the second member 7b. Since the first member 7a is fixated with a very high accuracy in its originally intended position, also the subsequent, second member 7b will be positioned and joined to the first member 7a with high accuracy. Also, since the second member 7b is joined to the first member 7a while maintaining the grip of the second member 7b, the risk of the second member 7b being displaced, or even tilted, before being fixated is reduced.
[0182] Depending on the type of sub-element 1 to be manufactured, the process can now be repeated by the assembling tool 200 releasing 4000 its grip with the second member 7b and the assembling tool 200 anew being moved to the supply system to pick a third member 7c. Like before, the choice of one or two grippers depends by way of example on the intended orientation of the third member 7c in view of the first 7a and the second member 7b.
[0183] The assembling tool 200 moves the gripped third member 7c into abutment with one or both of the first 7a and second members 7b. When correctly positioned, the assembling tool 200 fixates the third member to the abutting first and / or second member by using the fixation tool 220 that is supported by the assembling tool 200. The gripper(s) maintains its grip until the member is fixated.The method may comprise an optional step of pushing 5000 a gripped member 7 towards the tabletop 101 by using a pusher 210 that is supported by the assembling tool 200 while the member 7 is fixated to a previous member 7. This allows for an improved positioning before fixation.
[0184] The method may comprise an optional step of operating the ruler arrangement 500 to push a last placed member 8 into flush abutment with one or more previously positioned members 7. This allows for the fixation tool to make an accurate fixation between the last member 8 the one or more previous members 7. Also, the ruler arrangement may be used as one leg of an angle hook when mounting a member 7 that extends perpendicular to the first member 7a, and especially the last member 8. While the ruler arrangement 500 will act as one leg of such angle hook, the first member 7a that is fixated to the tabletop 101 may be used as a second leg of the angle hook. This will force the sub-element assembly into an orthogonal configuration before fixating the last member 8 to the assembly to thereby lock and preserve the orthogonality.
[0185] The assembling tool 200 repeats its steps of picking, positioning, fixating and releasing additional members until the sub-element 1 to be manufactured is completed and has received its intended configuration.
[0186] Although not explicitly mentioned above, the fixation tool 220 can be used throughout the manufacturing of a sub-element 1 to provide additional fixation points between the members 7. This may be made without operating the grippers. To allow this, the assembling tool 220 can be tilted by means of the robot arm 302 to so that the fixation tool 220 has free access to the members 7. Alternatively, the fixation tool 220 may be tilted in view of its bracket. This is by way of exemplified in Fig. 13b.
[0187] It is to be stressed that not all members 7 must be mounted by using one or both or the first 201 and second grippers 202. Should the member 7 be a lintel 11, or even a board, the vacuum lifter 230 may be used. The vacuum lifter 230 and its operation has been described above with reference to Figs. 13a and 13b. The vacuum lifter 230 operates in the same way as is described above in terms of gripping and positioning the member 7. However, the vacuum lifter 230 may be configured to release its grip before the member 7 is fixated. After releasing its grip, the assembling tool 200 may be re-positioned so that the fixation tool 220 can get access to the member 7 that was positioned by the vacuum lifter 230. This may be made by additionally tilting the fixation tool 220 in its bracket, see Fig. 13b. To allow a plurality of fixation points, the assembling tool 200 may be translated so that the fixating tool 220 reaches the desired fixation positions.When the intended design of the sub-element 1 has been reached, the engagement between the at least one fixing element 105 and the first member 7a is released 6000. This is made by operating the at least one fastening arrangement 104 in its reversed operation direction, whereby the at least one fixing element 105 will be retracted from the first member 7a. The sub-element 1 can thereby be removed from the tabletop 101 to allow a new sub-element 1 to be manufactured.
[0188] The sub-element 1 may be removed from the tabletop 101 in a number of ways. One way is to remove the sub-element 1 by lifting, e.g., by using a robot. Another way is to push it off the worktable 100. The pushing may be made by moving the ruler arrangement 500 across the tabletop 101 from a first edge of the tabletop 101 towards an opposing second edge of the tabletop 101. The ruler arrangement 500 may be provided with a brush and / or one or more nozzles that are connected to a supply of pressurized air. This allows a simultaneous removal of waste or debris from the tabletop 101.
[0189] Accordingly and in summary, the invention refers to an assembly system for manufacturing a sub-element 1 comprising at least two members 7, and a method of producing a sub-element 1. The invention involves the idea of removably fixating at least the first member 7a that is arranged on the tabletop 101. The fixation is made from the underside of the tabletop 101. Also, the fixation is made while the gripper holds the member 7. The grip between the gripper and the member 7 is preferably released only after the member 7 has been fixated to the tabletop 101. This means that the position of a first member 7a that is positioned by means of the assembling tool 200 to the tabletop 101 will be maintained throughout the whole assembly process. The thus fixated first member 7a can accordingly be used as a physically fixed, spatial reference when arranging and joining additional members 7, directly or indirectly to the first member 7a. The member will, due to its fixation, be prevented from being displaced not only by sliding but also from tilting. Since the at least one fastening arrangement 104 is arranged underneath the tabletop 101 and is configured to removably arrange a fixing element 105 from an underside of the tabletop 101, the tabletop 101 can be provided as a smooth working surface with no projecting fixation members such as fingers, clamps or the like. Hence, the tabletop 101 can according to the invention be seen as a blank canvas allowing a full freedom regarding where additional members may be arranged. This allows a very high freedom when using one and the same worktable for building different sub-frames. Additionally, since the fixation is made from below the tabletop 101, there is no need for the assembling tool 200 to support any separate fixation tool and changeits grip or spatial orientation for fixating the member 7. This saves weight of the assembling tool 200 and it saves time during the assembly.
[0190] Accordingly, and in summary, the invention provides an assembly system that ensures a high precision and hence a high-qualitative sub-element. Also, the invention provides an assembly system that allows a very high flexibility when used in a production line where different types of sub-elements are to be manufactured.
Claims
28CLAIMS1. An assembly system (10) for manufacturing a sub-element (1) comprising at least two members, the assembly system (10) comprising: a robot (300), a worktable (100) and an assembling tool (200) comprising at least one gripper (201; 202), said assembling tool (200) being configured to be operated by the robot (300), wherein the worktable (100) comprises a tabletop (101);a frame (102) supporting said tabletop (101); andat least one fastening arrangement (104) arranged underneath the tabletop (101); whereinthe assembling tool (200), when operated by the robot (300), is configured to arrange a member (7) on top of the tabletop (101) by using the at least one gripper (201; 202); andwherein the at least one fastening arrangement (104) is configured to removably arrange a fixing element (105) from an underside of the tabletop (101) into the member (7) thereby removably fixating the member (7) to the top of the tabletop (101).
2. The assembly system (10) according to claim 1, wherein the at least one fastening arrangement (104) is supported on a lower side of the tabletop (101) or by the frame (102).
3. The assembly system (10) according to claim 1 or 2, wherein the fixing element (105) is supported by the fastening arrangement (104), and wherein the fixing element (105) is configured to removably engage the member (7) by a rotating operation of the fastening arrangement (104), thereby forcing the fixing element (105) to engage and disengage the member (7) by a rotating action.
4. The assembly system (10) according to any of the preceding claims, wherein the fastening arrangement (104) is arranged to operate in a direction substantially perpendicular to a general plane of the tabletop (101).
5. The assembly system (10) according to any of the preceding claims, wherein the tabletop (101) is arranged on top of the frame (102), and wherein the assembly system (10) further comprises a sliding mechanism (106) allowing the tabletop (101) to be slidingly displaced in at least one lateral direction in view of the frame (102).
6. The assembly system (10) according to any of the preceding claims, wherein the assembly system (10) comprises at least two fastening arrangements (104).
7. The assembly system (10) according to any of the preceding claims, further comprising a ruler arrangement (500), the ruler arrangement (500) being movable across the tabletop (101) from a first edge of the tabletop (101) towards an opposing second edge of the tabletop (101).
8. The assembly system (10) according to any of the preceding claims, wherein the assembling tool (200) comprises a first gripper (201) and a second gripper (202);the first gripper (201) comprising two fingers (203) being configured to allow a member (7) to be pinched there between, and further allowing the thus pinched member (7) to be lifted;the second gripper comprising two fingers (203) being configured to allow a member (7) to be pinched therebetween, and further allowing the thus pinched member (7) to be lifted; andwherein the first (201) and the second grippers (201) are movable towards each other to allow a member (7) to be gripped between the two grippers (201,202), and the member (7) to be lifted by means of the first (201), and second grippers (202).
9. The assembly system (10) according to any of the preceding claims, wherein the assembling tool (200) comprises a fixation tool (220).
10. The assembly system (10) according to claim 9, wherein a member receiving gap (G) is formed on the assembling tool (200) between a head of the fixation tool (220) and the at least one gripper (201; 202).
11. A method of producing a sub-element (1) comprising at least two members (7), the method comprising:gripping, by using a gripper in an assembling tool (200), a first member (7a) and positioning the first member (7a) on top of a tabletop (101);removably fixating the first member (7a) to the tabletop (101) by removably arranging at least one fixing element (105) from the underside of the tabletop (101) into the first member (7a).
12. The method according to claim 11, further comprising:gripping, by using a gripper of the assembling tool (200), a second member (7b) and positioning the second member (7b) into abutment with the first removably fixated first member (7a); andfixating, by using a fixation tool (220) supported by the assembling tool (200), the second member (7b) to the first member (7a) while maintaining the grip of the second member (7b).
13. The method according to claim 12, further comprising:releasing the grip of the second member (7b);gripping, by using a gripper of the assembling tool (200), a third member (7c) and positioning the third member (7c) into abutment with the first (7a) and / or the second member (7b); andfixating, by using the fixation tool (220) supported by the assembling tool (200), the third member (7c) to the first (7a) and / or the second member (7b) while maintaining the grip of the third member (7c).
14. The method according to claim 12 or 13, further comprising pushing a member (7) towards the tabletop (101) by using a pusher (210) supported by the assembling tool (200) while fixating the pushed member (7) to a previously mounted member (7).
15. The method according to any of claims 12 to 14, further comprising:releasing the engagement between the at least one fixing element (105) and the first member (7a); andremoving the thus formed sub-element (1) containing the at least two mutually fixated members from the tabletop (101).
16. The method according to claim 15, wherein the sub-element (1) is removed from the tabletop (101) by moving a ruler arrangement (500) across the tabletop (101) from a first edge of the tabletop (101) towards an opposing second edge of the tabletop (101).
17. Use of the method according to any of claims 11-16 for the manufacturing of of a sub-element (1) comprising at least two members.
18. A worktable to be used in the assembly system of claim 1, the worktable (100) comprising:a tabletop (101);a frame (102) supporting said tabletop (101); andat least one fastening arrangement (104) arranged underneath the tabletop (101); whereinthe at least one fastening arrangement (104) is configured to removably arrange a fixing element (105) from an underside of the tabletop (101) into a member (7) that has been arranged on top of the tabletop (101), thereby allowing the member (7) to be removably fixated to the tabletop (101).
19. An assembling tool (200) to be used in the assembly system of claim 1, the assembling tool comprising a first gripper (201) and a second gripper (202);the first gripper (201) comprising two fingers (203) being configured to allow a member (7) to be pinched there between, and further allowing the thus pinched member (7) to be lifted;the second gripper comprising two fingers (203) being configured to allow a member (7) to be pinched therebetween, and further allowing the thus pinched member (7) to be lifted; andwherein the first (201) and the second grippers (201) are movable towards each other to allow a member (7) to be gripped between the two grippers (201,202), and the member (7) to be lifted by means of the first (201), and second grippers (202).