Method and device for processing a moving production part, particularly a vehicle body
A method for processing a moving workpiece ( 1 ), in particular a vehicle body ( 1 ) which is moved using of a conveyor belt ( 10 ). A processing tool ( 5 ) is used which is attached to the hand ( 12 ) of a robot ( 7 ) and comprises a sensor system ( 18 ) which is permanently connected to the processing tool ( 5 ) and has at least one sensor ( 19 ). During the processing, the processing tool ( 5 ) follows the moving workpiece. This following movement is based on a closed-loop control process in which the processing tool ( 5 ) is oriented periodically towards reference areas ( 9 ) of the moving workpiece ( 1 ) using measured data of the sensor system ( 18 ). The measured data of the sensor system ( 18 ) is compared with setpoint data which is generated within the scope of a set up phase (I) of the processing tool ( 5 ), and a movement vector of the processing tool ( 5 ) is calculated from the difference between the measured values and setpoint data using a Jacobi matrix calculated within the scope of the set up phase, the processing tool ( 5 ) being moved by an amount equal to said movement vector. This process is repeated in a control loop.
1 - 8 . (canceled)
9 . A method for processing a moving workpiece moved using conveyor belt, a processing system for processing the workpiece having a processing tool attached to a hand of a robot, the processing system including a sensor system fixedly connected to the processing tool, the sensor system including at least one sensor, the method comprising the following steps:
moving, during a positioning phase, the hand with the processing tool into a working position, the processing tool in the working position being oriented in a precisely positioned fashion with respect to a reference area of the workpiece moved on the conveyor belt;
maintaining, during a subsequent processing phase, the processing tool oriented with respect to the reference area on the workpiece;
running through a periodically repeating, iterative closed-loop control process during the positioning phase and the processing phase, the closed-loop control process including:
generating an actual measured value of the reference area of the workpiece by the at least one sensor,
comparing the actual measured value with a setpoint measured value generated during a set up phase,
calculating a movement vector of the hand from a difference between the actual measured value and the setpoint measured value using a Jacobi matrix calculated during the set-up phase, and
moving the processing tool using the movement vector.
10 . The method as recited in claim 9 wherein a TCP/IP interface is used for communication between a control system of the robot and an evaluation unit of the sensor system.
11 . The method as recited in claim 9 wherein to position the processing tool with respect to different vehicle body types or with respect to different reference areas of a same vehicle body type, the measured values of different individual sensors of the sensor system are used for closed-loop position control.
12 . The method as recited in claim 9 wherein the workpiece is a vehicle body.
13 . The method as recited in claim 12 wherein the processing tool mounts a roof module in a roof opening in the vehicle body.
14 . The method as recited in claim 12 wherein the processing tool mounts a windshield in a front window opening in the vehicle body.
15 . A processing system for processing a moving workpiece moved using a conveyor belt, the processing system comprising:
a processing tool attached to a hand of a robot;
a control system for controlling the robot and the processing tool;
a sensor system having at least one sensor fixedly connected to the processing tool; and
an evaluation unit for evaluating measured values of the sensor system;
the at least one sensor, during a positioning and processing phase, being directed toward a reference area of the moving workpiece,
the processing tool capable of being coupled in a contact-free fashion to a path movement of the moving workpiece using measured values of the sensor system.
16 . The processing system as recited in claim 15 wherein the at least one sensor is a noncalibrated sensor.
17 . The processing system as recited in claim 16 wherein the at least one sensor is an optical sensor measuring over an area.
18 . The processing system as recited in claim 15 wherein the at least one sensor is an optical sensor measuring over an area.
19 . The processing system as recited in claim 15 wherein the processing system is a vehicle processing system.