Patent ID: 12240125

DETAILED DESCRIPTION

FIG.1shows a cross-section of a work apparatus1according to the invention, including a robot4which carries out automatic work steps in the collaborative area3. Work area3extends above workbench2, from the upper side of rectangular worktop21vertically upwardly, where it is limited by light grille51generated by light barrier system5. Work area3is closed off laterally by side panels7and protected against access by person A. Corresponding side panels are also provided on the two sides of work area3situated in parallel to the figure plane. The access to work area3from the volume of workbench2situated beneath worktop21is provided by opening22. Opening22is formed as a slit directed into the figure plane, whose dimensions are configured for the through-passage of articulated arms41of robot4. Articulated arms41guide manipulators42on their extremities for processing structural elements C. Manipulator42, which is provided on left articulated arm41and designed as a gripper, is suitable for gripping structural element C deposited in intermediate holder23. Cup-shaped intermediate holder23is open on its two sides in parallel to the figure plane, whereby access for manipulator42is facilitated from beneath worktop21. Intermediate holder23extends up to one or both edge(s) of worktop21in front of or behind the figure plane, so that intermediate holder23is also accessible there from an area outside work apparatus1. Robot4comprises a base43, which is movably arranged on a rail44mounted on baseplate24of workbench2, as well as a height-adjustable stamp45, on which the two articulated arms41rest. Due to the movability along rail44and along stamp45, the action radius of robot4is expanded to reach all desired positions in work area3with manipulators42, on the one hand, and to be able to completely withdraw robot4from work area3into the volume of workbench2situated beneath worktop21. Controller40of robot4is also arranged on baseplate24within the volume of workbench2. Workbench2resting on feet25is surrounded on by side panels26on all four sides beneath worktop21, the side panel26abutted by intermediate holder23requiring a corresponding recess in the area of intermediate holder23to ensure the accessibility of intermediate holder23from an area outside work apparatus1.

FIG.2shows a cross-section of a work apparatus1according to the invention, including a person A who carries out manual work steps in collaborative work area3, and including a robot4arranged completely beneath worktop21. Light barrier system5is deactivated while carrying out the manual work steps. According toFIG.1, collaborative work area3is limited upwardly by the highest position assumed by a part of robot4while carrying out the automatic work steps. To further monitor the manual work steps, illustrated work apparatus1is equipped with a sensor system6, which detects the positions and movements of extremities B of person A carrying out the work steps. Sensor system6comprises a plurality of cameras61directed into work area3, which continuously detect the position of markers62, which are arranged on extremities B of person A, for example with the aid of a glove carrying markers62, and which are also arranged on tool D. The data collected by sensor system6in this manner is processed by controller40of robot4. The case that manual and automatic work steps are carried out in parallel in collaborative work area3, i.e. that human extremities B and parts of robot4work simultaneously in work area3, is therefore also possible in this work apparatus1. Controller40uses the position and movement data continuously provided by sensor system6to adapt the actions of robot4to the manual work steps, whether to avoid industrial accidents, for example in the form of collisions, or to precisely control a scheduled interaction of robot4with person A. Reference is hereby made to the above description inFIG.1for the further reference numerals contained inFIG.2.

FIG.3shows a section of a production line, including three work apparatuses1according to the invention arranged one after the other, viewed from above. Flow direction I of introduced and removed structural elements C runs from left to right in the figure plane. On each of work apparatuses1, manual and automatic work steps are to be carried out on structural elements C, which also comprise the mounting of components supplied along flow direction II on structural elements C. The transport of structural elements C between work apparatuses1runs along flow directions III beneath worktops21from one intermediate holder23to next intermediate holder23. Intermediate holders23are accessible by robots4, without them having to penetrate through openings22into work area3above worktops21. It is thus possible for person A to reach into work area3with his/her extremity B at the same time that a structural element is being transported in this manner, and to carry out manual work steps using tool D without having to fear an industrial accident with robot4.

The design of the invention is not limited to the preferred exemplary embodiment specified above. Instead, a number of variants are conceivable, which make use of the illustrated approach, even in fundamentally different designs. All features and/or advantages arising from the claims, the description or the drawings, including structural details, spatial arrangements and method steps. may be essential to the invention individually as well as in a wide range of combinations.

The invention being thus described, it will be obvious that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are to be included within the scope of the following claims.