• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A transportable production system (10), comprising a road traffic vehicle (12) comprising handling means (14) for handling a freight container (16), two, preferably three freight containers (16) with openable sides (20) arranged to be transported to a production site ( 100) as a road traffic transport with said road traffic vehicle (12), wherein said freight containers (16) lifted by the road traffic vehicle (12) at the production site (100) are compatible on their adjacent open sides (20) to form a uniform production space (22), means of production (18) arranged inside said at least one shipping container (16) for realizing production at the production site (100), which means of production (18) comprise a robot (28) arranged in a shipping container (16) and an operating system (30) for controlling said robot (28), which robot (28) comprises a boom (65) comprising a first end (27) and a second end (29) and at least two mutually hinged booms (63), wherein The plant (65) is arranged from its first end (27) relative to a vertical axis about rotating to the shipping container (16), characterized in that the means of production (18) further comprise in the form of tools (36) at least one gripper (37) for the robot (28) can grip a raw material (24) and processing material (90) for the raw materials (24) to process at least one raw material (24) into the desired shape with a view to an end product (26), and the production system (10) further comprises quick connectors (64) for a tool (36) arranged at the other end (29) of said robot (28) boom (65) and in the respective tools (36) for connecting selected tools (36) to the robot (28) in the different production steps in an automated manner, and calibration means (67) for calibrating the robot (28) relative to a selected coordinate system. In addition, the protection requirements 2-4.
    公开号:FI12896Y1
    申请号:FIU20204077U
    申请日:2018-10-23
    公开日:2021-02-22
    发明作者:Jarmo Kinnunen
    申请人:Leanel Oy；
    IPC主号:
    专利说明:

    The invention relates to a mobile production system comprising - a road transport vehicle comprising handling means for handling a transport container, - two, preferably three side-opening transport containers - production means arranged inside at least one transfer container for carrying out production at the production site, the production means comprising a robot fitted in one transfer container and an operating system for controlling the robot, the robot comprising a boom comprising a first end and a second end and at least two articulated booms, the boom being arranged at its first end rotatably about a vertical axis in the transfer container.
    In industrial production, the aim is often to concentrate production on as large units as possible, where production capacity is large and unit costs of production can be reduced to O 25.
    The problem with such centralized ro production is the delivery of products to consumers, + especially when it comes to the production of large products. z In the case of large products, such as building elements N, transporting them to the consumer entails considerable transport costs.
    In addition, the production of product batches other than mass production N is cumbersome. 5 One area of production where the problem is particularly acute is construction.
    The most common construction methods used are construction from piece goods, the precut method and small and large element construction. Part-time construction refers to traditional on-site construction using unit components, while large-element construction refers to the use of prefabricated building elements by combining building elements on site to form a building.
    The advantage of piece goods construction is its flexibility, which enables the production of individual buildings on the construction site. On the other hand, its problem is the cost of hiring a skilled workforce. In addition, weather conditions and protection from them are also a problem.
    The advantage of large-element construction, in turn, is the high cost efficiency of series production, but the disadvantage is the cost and difficulty of deviating from series production. in addition, series production in production facilities is often far from the construction site, in which case large elements must be transported to the construction site.
    This results in significant transportation costs. In addition, costs are incurred for transporting the materials to the factory and for storing and handling them at the factory.
    o The form of intermediate building and large-element construction can be considered to be small-element construction on a construction site, where small-piece goods are formed into small-building + elements that are combined into a building. A manufacturing device for producing such building elements N is known from publication E FI 89469. The manufacturing device can be used to manufacture structural elements, in which the wooden frame, the N wool insulation installed between the frame and the wind and steam protection structures together form a building element. However, such a handcrafted building element is still complex to manufacture and heavy to handle.
    EP 2629948 B1 is also known from the prior art, which discloses a mobile production system for the production of concrete elements. The production system includes a transfer container in which production means are formed for the production of concrete elements locally on the construction site. "The production system can avoid the transport costs of ready-mixed concrete elements, but the problem is to obtain labor to operate a complex production line in each application. A modular maintenance system for oil drilling tools is known in the art and is described in WO 2016/010511 Al. The object of the invention is to provide a more efficient production system than prior art mobile production systems, in which the transport costs and the need for labor are minimized. appear from the attached protection requirement 1. S 25
    No. The object of the production system according to the invention can be + achieved by a mobile production system comprising z road vehicle comprising handling means for handling transport container N, two, preferably three side-open S 30 transport containers adapted to be moved to production site N by road transport in at least one transport vehicle in a production vehicle At the production site, the transfer containers dropped off the road vehicle can be connected side by side from their open sides to form a unified production space.
    The production means comprises a robot arranged in one transfer container and an operating system for controlling the robot, the robot comprising a boom comprising a first end and a second end and at least two articulated booms, the boom being arranged at its first end about a vertical axis in the transfer container.
    The production means further comprise, as tools, at least a gripper robot for gripping the raw material and raw material shaping means for shaping the at least one raw material into the desired shape for the final product.
    The production system further includes tool quick coupling means fitted to one end of the robot boom and to each tool for automatically connecting the selected tool to the robot at various stages of production, and calibration means for calibrating the robot relative to the selected coordinate system.
    In the production system according to the invention, the entire production system can be transported to the consumer by means of an ordinary truck or other road transport vehicle, whereby no transport costs are incurred for the finished product.
    When fitted to a road vehicle, the transfer containers can be moved as a conventional transport which does not require special equipment and can be performed o by a single road vehicle, preferably using a truck.
    Furthermore, at the O 25 production site, the transport containers are combined into a combined production facility, where the robot produces products from raw materials + directly at the place of use of the products.
    Robot E production is efficient and the need for local labor is very low.
    The advantage of the production system according to the invention S 30 is also that the production of the products takes place in weather-protected N transport containers.
    The production system is suitable for automated production, because in addition to the robot, the production system comprises a selection of tools that can be quickly connected to the robot by means of connection means according to different work steps.
    In this way, the robot can fully or mainly automate the processing and assembly of the raw materials into the desired end product without the physical involvement of the user in the process.
    With the help of calibration elements, the position of the robot in relation to the various 5 pieces can be determined precisely, whereby the movements of the robot are precise.
    The idea of the invention is to utilize the so-called LEAN thinking in the production system.
    Lean thinking is a management philosophy that focuses on eliminating seven different types of vanity (unproductive activity) that aim to improve customer satisfaction, improve quality and reduce operating costs, and shorten production lead times. lean strives to get the right amount of the right kind of right things at the right time and in the right place and in the right quality.
    At the same time, everything is reduced unnecessarily and we are flexible and open to change.
    Based on LEAN thinking, unnecessary functions are “transport and handling”, “storage”, “movement”, “waiting”, “overproduction”, “overprocessing” and “failure, repair and inspection”. The production system according to the invention seeks to eliminate these disadvantages for LEAN thinking. o It is particularly advantageous to apply the production system according to the invention O 25 in the production of fractionation elements, where the transport costs of the finished ro building elements are traditionally + high and the requirements of the construction sites for the building elements z vary widely.
    With the production system N according to the invention, the building elements required for the building can be produced at the S 30 construction site according to the needs of the object in question individually when labor is released to erect the building by the robot S at least partially automatically producing the building elements.
    Preferably, the robot is fully automated. In this context, when talking about a fully automated robot, we mean a robot that is able to perform the production of a product from raw materials to a finished product without user intervention. It is up to the user to select the features of the products to be manufactured using the robot's operating system and start production. In this case, the user is not required during the production stages in mechanical execution, whereby the risks of injury to the user as a result of robot movements are reduced and the provisions of occupational safety legislation are met. Preferably, a storage is formed in one transfer container for at least two different raw materials. This allows the robot to pick up raw materials directly from storage at the end of the robot's reach. At the same time, the raw materials are protected from the weather and travel with the production system from one work site to another. The production system may further include connecting means for combining different raw materials into a final product. By means of the connecting means, the raw materials can be physically combined into the final end product, whereby the entire process from picking the raw materials into the finished product can be carried out by means of a robot.
    S S 25 The connecting means may be a nozzle unit for applying glue to the processed raw materials for the production of the final product, or a + nailer or riveting machine, most preferably a nozzle unit. By means of the nozzle unit, the adhesive surfaces between the components can be applied N quickly and efficiently. S 30
    S N Raw material processing means may be a milling cutter, a saw or a S drill, most preferably a milling cutter. Such shaping means can be used to remove material from the raw material or to cut the raw material into suitably sized parts for the final product to be assembled. For example, in the production of building elements, tools can be used to cut and tension standard-sized insulators according to the dimensions of each building element, whereby the largest possible insulation can be stored in the transfer container to maximize the use of the storage container volume. With the help of the tools, the raw materials can be utilized, even if they are advantageously in bulk form for transport.
    Preferably, the production system comprises three transfer containers, which together form a production space and in which one transfer container contains a robot, another serves as a warehouse for raw materials and a third as a warehouse for raw materials or end products, or both. In this way, the entire production can be carried out with the help of three transfer containers, from the storage of raw materials to the storage of finished products without storage facilities outside the production system.
    Preferably, in a production system, one transfer container includes first doors for feeding raw materials into the transfer systems of the production system and a second transfer container includes second doors for removing end products from the production system out of the transfer containers. A production system is adapted to transfer raw materials and end product during.
    8 + Preferably, a transfer container comprising a robot can be opened on both sides z and adapted between two transfer containers N to form a uniform production space. Thus, a robot located in one S 30 transfer container can grab the raw materials in another transfer container, transfer them to production in the same transfer container as the S robot. The robot can also be used to store the finished product in a second or third transfer container.
    Preferably, the system includes only one robot located centrally with respect to the transfer containers and dimensioned to extend into each transfer container of the production system, enabling the entire production system to be implemented with a single robot, and preferably a work platform for locking raw materials while the robot is operating.
    In this case, the production system is cost-effective to implement.
    This allows the production system to be implemented with a single robot without separate conveying means such as conveyor belts or the like for conveying raw materials or finished products.
    The production system may include heating means for adjusting the temperature of the raw materials to a selected level.
    For example, gluing raw materials together may require a sufficiently high temperature to enhance the drying of the glue.
    The production system may include heating / cooling means for adjusting the temperature of the production space formed by the transfer containers to a selected level.
    Thus, when delivered in cold conditions, a sufficiently high temperature can be ensured to ensure the operation of the electric robot, and on the other hand, in hot conditions, a temperature low enough to prevent the robot from overheating.
    S os ro The production system may include suction equipment to remove production + waste from the production facility.
    For example = in the production of building elements, the N insulation debris resulting from the processing of the insulation must be collected so that the debris does not enter the adhesive-like surface and, on the other hand, does not pose a risk of dust explosion. > ‘Preferably, the tools include pneumatic means for applying working pressure to at least the gripper and the
    media. Compressed air is easy to produce in a mobile production system.
    Preferably, the production system comprises substructure structures arranged under the transfer containers at the production site to match the transfer containers to the same level. The platform structures can be used to ensure that, in an uneven production location, the transport containers can be adjusted to the same level, so that the robot does not have to re-enter the location data between the containers each time, but can be standardized.
    In one embodiment, the production system includes a work platform for supporting raw materials. The work platform leaves the robot free to process the raw materials to form the final product, when some of the raw materials can be supported on the table. With the help of the work platform, the production of small building elements can be used to support the frame timber and insulation that serve as raw materials during the processing performed by the robot.
    Preferably, the work platform comprises compression actuators for locking the raw materials to the work platform. Actuators are used to keep the raw materials in place until they are attached to each other, for example with glue. In this way, instead of a gripper, the robot o can use the raw material shaping means O 25 on one raw material piece while the other already machined raw material piece is on the work platform.
    x z Preferably, the actuators are compressible from the sides. Thus, the surface of the N work platforms is left free for the robot to lower the raw materials to the plane surface of the work platform S 30. O
    Preferably, said work platform is a so-called positionable work platform which acts as a template for the final product to be formed, determining the location of the various raw materials in the final product in the final product. Thus, the operating accuracy of the robot does not have to be quite equal when the work platform forces the different raw materials to the right places in the final product.
    Preferably, both the robot and the work platform are controlled by the operating system under common control, since the operation of these with respect to each other must be precisely timed.
    The robot may include a mounting base integrated as part of the body of the transfer container to firmly support the robot in the transfer container. In this way, the robot stays firmly in place despite the forces exerted on its mounting base. The load hanging at the end of the robot's long arm, as well as rapid changes in the trajectory, cause significant forces on the robot's mounting base.
    Preferably, the robot has at least five pivot axes to achieve sufficient degrees of freedom for moving raw materials and finished products as well as tools. The robot can be a long-arm multifunction machine with at least 5 axes of rotation. Such a robot may comprise, as parts, a mounting base for attaching the robot to a transfer container, a main boom articulated with a vertical hinge, a folding boom articulated with a transverse hinge to the main boom, and O 25 x a N Preferably, the operating system comprises a computing unit, a memory S30 connected to the computing unit comprising automated N control commands for the final product, software S means stored in memory for converting automated control commands of the robot to the robot by the computing unit, user interface for transmitting software means and data transfer means. With such an operating system, the operation of the robot can be fully or at least mainly automated, so that the user does not have to perform physical tasks, but is primarily responsible for controlling the robot. Preferably, the calibration means are arranged in connection with the work platform to determine the position of the robot. In this case, the accuracy of the robot is particularly high in connection with a desktop.
    According to one embodiment, the tools comprise a gripper adapted to adhere to the frame beams and insulators of the building element to be manufactured and to the finished building element and a cutter for cutting the insulations to a suitable length and milling the joints and a nozzle unit for applying the adhesive to the insulation. The connecting means preferably comprises a first part attached to one end of the robot boom and a second part each connected to one tool for attaching the tool to the robot, wherein the first part and the second part can be unlocked and locked together automatically. Preferably, the road vehicle is a truck. In one truck, one transfer container can be transported on the truck knob O 25 and two transfer containers in a trailer, in which case only one + truck is needed to transport the entire ro production system. With the help of a truck, the cost of transport is kept to a minimum. a
    R O 30 According to one embodiment, the production system may comprise N separate weather protection hoods dimensioned so that S can completely cover the transport containers. In this way, the connections between the transfer containers do not have to be sealed separately.
    According to one embodiment, the production system is adapted to handle raw materials with a thickness to width / height ratio of 2 to 15%, preferably 5 to 12%. Such plate-like raw materials can be conveniently processed by a robot. Preferably, during production, the production space formed by the transfer containers is unoccupied and the robot carries out the transfer of raw materials and finished products. To this end, at least a first location information indicating the location of the raw materials in the transfer containers, a second location information for the location of the work platform, a third location information for the location of unused tools in the tool holder and a fourth location information for the location of finished products are entered into the robot operating system memory. The first spatial data may contain several different categories if the product contains several different raw materials, each of which is located at a different point in the transfer container. In addition, the dimensions of the raw materials for each raw material as well as the dimensions and properties of the desired end product have been defined in the robot's operating system. Preferably, the transfer containers include alignment markings to ensure the identical location of the transfer containers relative to each other at each application. When the alignment markings O 25 are used, the robot is taught the position of different objects on the first use ro, such as platform position, raw material + raw material position, tool position, etc. Then z when aligning transfer containers with alignment marks, the relative position of different N objects remains unchanged and S 30 every time again. O
    Preferably, in the production system, one transfer container includes first doors for feeding raw materials into the transfer systems of the production system and a second transfer container includes second doors for removing end products from the production system out of the transfer containers.
    In such a production system, the transport containers form part of the logistics chain, enclosing an unmanned production space.
    Loading and unloading of raw materials and finished products into transfer containers is performed manually or, for example, using a fork lift outside the robot's operation.
    When the robot is operating, the user is outside the container.
    Alternatively, a so-called collaborative robot can also be used in the system according to the invention, the operation of which can be simultaneous with that of a person operating in transport containers due to the security systems contained in the collaborative robot.
    However, a collaborative robot is more expensive than a traditional robot in terms of investment costs.
    The robot may include a collision avoidance system, the so-called “Collision guard”, which contains information entered into the robot for obstacles in its possible paths to avoid collisions. o The production system according to the invention can be used with an O 25 production method, in which the transfer container is loaded onto a road transport vehicle, the transfer containers are transferred by a road + transport vehicle to the production site and the transfer container z is unloaded from the road transport vehicle at the production site.
    In addition, N transfer containers are connected at their open sides to form a uniform S 30 production space, N robots fitted to one transfer container are used as production means, and a selected tool is automatically connected to the other end of the robot boom by connecting means to the robot at different stages means for modifying the materials to shape at least one raw material into the shape desired for the final product, and calibrating the robot relative to the selected coordinate system by means of calibration means.
    In the method, the final product is formed from the raw materials in the following steps, in which the raw materials are stored in the robot by means of a gripper connected to the robot, the raw material is processed by means of the raw material processing means belonging to the robot and the modified raw materials are combined into the final product.
    The method controls a robot by means of an operating system to produce the final product from raw materials at the production site in a transfer container.
    In the production system according to the invention, with the help of one road transport vehicle, all the transport containers needed by the production system can be transported and the transport containers can be easily formed into production facilities where the robot can produce products from raw materials.
    Thus, for example, starting the production of building elements at a fractionation site, for example, is very fast and efficient.
    In this context, a robot-controlled operating system means that the operating system automatically controls the operation of the robot according to the details of the product selected by the user.
    The interchangeability of tools to the robot with a quick attachment enables the use of the robot o at all stages of manufacture, in which case the user is left with the task of monitoring the operation of the robot ro and entering the input data in a normal production situation. x z Preferably, the production system uses three transfer N containers and only one robot placed in the middle transfer container S 30.
    Thus, with the use of one robot, all transfer containers can be operated. 5 Preferably, the production system uses tools in connection with the robot, including a gripper for gripping the robot.
    to the frame trees and insulators of the building element to be made, as well as to the finished fractionation element, a cutter for cutting the insulations to a suitable length and milling the joints, and nozzles for applying the adhesive to the insulation.
    When using such machine tools, a single robot can handle all the steps of manufacturing a building element and produce finished building elements without the need for work steps by the user.
    According to a preferred embodiment, the production of the building element resulting from the production system by means of a robot takes place in the following steps, transferring the trunks to heating, heating the trees, transfer the insulation to the work platform, cut and punch the insulation, blow the insulation against the material and pressed against the trunk timber.
    The adhesive sets quickly (about 2 minutes) at the right temperature with moisture.
    Preferably, the production system uses metal or wooden frame structures and insulation boards as raw materials for production and manufactures a building element as a final product.
    Especially in the manufacture of building elements, the transport of finished elements is expensive, whereby the production system according to the invention can avoid transport costs by manufacturing the elements on the construction site. 8 + Preferably, the production system uses a work platform z comprising compression actuators for locking the raw materials to the N work platforms, and the raw materials are locked by means of the work platform in at least one stage of the final product.
    With such a work platform N, the robot can perform several operations in succession with different tools 5 and at the same time assemble the modified raw materials into a template formed by the work platform on which the finished end product is built.
    Preferably, in the production system, a zero point for calibrating the position of the robot is formed on the work platform by means of calibration means. The work platform is preferably also for locating raw materials, i.e. it determines the location of the raw materials in the product, in which case it is useful to determine the zero point of the robot's operation at the point where the accuracy should be greatest. Preferably, in the production system, the raw materials are fed through the first doors of one transfer container into the transfer containers, to transfer raw materials and end products inside the transfer containers with the production system unoccupied during production, and the end products are removed out of the transfer containers through the second transfer container doors. In this way, production can be carried out automatically and unmanned, making the production system simpler than prior art production systems in which the user and the robot operate in the same space and the production system includes many different safety systems to avoid a collision between the user and the robot. The production system according to the invention enables so-called mobile unmanned production, in which only a robot is used for the physical stages of production. The user's task O 25 is only to enter the production parameters into the operating system, which controls the robot to carry out the production. The invention will now be described in detail with reference to the accompanying drawings, which illustrate certain embodiments of the invention, in which
    Figure 1 shows a side view of a mobile production system according to the invention,
    Figure 2 shows an axonometric view of an embodiment of a production system according to the invention placed on the production site, the two transfer containers being shown only in broken lines,
    Figure 3 shows a top view of an embodiment of a production system according to the invention placed on a production site,
    Figure 4 shows a side view of an embodiment of a production system according to the invention placed on a production site,
    Figure 5 shows an axonometric view of a work platform of a production system according to the invention,
    Figure 6 shows a block diagram of a robot operating system of a production system according to the invention,
    Figure 7a shows an axonometric view of the first part of the connection means of the production system according to the invention separately,
    Figure 7b shows a sectional view of the first part of the connection means of the production system according to the invention separately,
    Fig. 8a shows an axonometric view of the gripper of the production system according to the invention o and the second part of the connection means O 25 separately,
    ro Figure 8b shows a sectional view of the gripper of the + production system according to the invention and the second part of the connecting means separately,
    Fig. 9a shows an axonometric view of the production system according to the invention S 30 according to the invention separately from the cutter as the means for processing the raw material N and the second part of the connection means S,
    Figure 9b shows a sectional view of the raw material processing method of the production system according to the invention.
    Fig. 9c shows a side view of the cutter blade, Fig. 10a shows an axonometric view of the nozzle head as a connecting means of the production system according to the invention and a second part of the connecting means separately, Fig. 10b shows a sectional view of the second part of the production system according to the invention , Fig. 11 is a block diagram showing the steps of using a production system according to the invention, Fig. 12 is a block diagram showing the steps of using a production system according to the invention, Fig. 13 shows an axonometric view of a product preferably produced with a production system according to the invention.
    Figure 1 shows the basic components of the production system 10 according to the invention via a preferred embodiment.
    The production system comprises a road transport vehicle 12 provided with handling means 14 and at least two transfer containers 16 openable on the sides 20 O 25, of which one transfer container 16 is fitted with a robot and its operating system. + The robot and its operating system are better shown in Figures 2 E = 4. The production means belonging to the production system are shown in more detail in Figures 5 to 10b.
    S 30 N In the preferred embodiment of Figure 1, the production system 10 is S adapted to operate in the production of small building elements.
    Preferably, the production system 10 then comprises, as a road transport vehicle 12, a truck 12 ', which includes handling equipment.
    as a line 14 a crane 14 ”for lifting the container 16" on and off the truck 12 "and three transfer containers 16. The lifting capacity of the crane 14" used is preferably 10 to 20 tons.
    In this case, for example, a transfer container with a robot weighing 4 tons can be moved up to 4 meters away.
    Instead of a crane, the truck may include handling equipment as loading means for loading the transfer containers onto the truck and its trailer.
    Each transfer container 16 is preferably openable at the ends, but openable from at least one side 20.
    One of the transfer containers 16 is a transfer container 16 openable on both sides 20 as shown in Figures 2 and 3, which is used as a middle transfer container 16 in the production system 10. The transfer containers are preferably provided with pressed walls for their openable sides and preferably have mounting brackets 56 in Figures 2 to 4. , by means of which the transfer containers 16 can be lifted into place by means of a truck crane.
    The transfer containers 16 are always aligned with each other in the same manner using the alignment marks 71 shown in Fig. 3. In Fig. 2, the transfer containers 16 on both sides of the middle transfer container 16 are shown only in terms of their outline for the sake of clarity of the image.
    It should be understood, however, that these transfer containers are also closed in terms of their ends, one side, floor and roof and can only be opened from one side.
    S os ro Preferably, each transfer container 16 has its own function in the + production system 10 as shown in Figure 3.
    One of the conveying machines 16, which has two opening sides, acts as the middle N conveying container 16, in which the robot 28 S 30 acting as production means 18 is arranged.
    In addition, a work platform 42 is preferably arranged in this transfer container 16, against which the insulators 52 and the frame trees 54 acting as raw materials 24 5 are supported during the assembly of the small building element 60 formed as the final product 26.
    The work platform 42 allows the insulator 52 to be firmly supported in place for cutting and grouting the insulator 52 and for gluing the timber 54. Figures 2 and 3 show only a simplified drawing of the work platform 42, Figure 8 showing an actual embodiment. Preferably, the work platform 42 includes, as shown in Figure 5, pneumatically lateral pressing actuators 72 for locking the raw materials to the work platform 42 and, in the production of small building elements, for pressing the timber in response to the insulation. In this case, the robot 28 can perform the above-mentioned operations on the insulator 52 and the frame trees 54, when the robot does not have to hold on to the raw materials. The actuators 72 may be rail-mounted presses 74. In addition, the work platform 42 preferably includes rails for the presses 74 that form a planar surface 78 for the raw materials. Preferably, the platform 42 also includes a second press 76 perpendicular to the plane 78 of the platform 42 to prevent raw materials from rising between the presses 74 from the plane 78 of the platform 42. Further, this transfer container 16 preferably also includes the electrical connection 31 and drive system 30 for controlling the robot 28. . These can be isolated from the production space 22 contained by the robot 28 and the work platform 42 so that there is no danger to the user when controlling the robot 28.
    S S 25 One of the transfer containers 16 can in turn act as a raw material storage, in which insulating plates 52 for small building elements 60 can be placed. Preferably, this transfer container 16 z is open on one side 20, whereby the robot 28 in the adjacent transfer container N 16 reaches to take the insulators 52 and transfer them S 30 to the work platform 42. Preferably, the transfer container 16 also includes lockable first doors 62 of Fig. 3, preferably end doors the insulators 52 can be filled into the transfer container 16 at the production site 100 (Figure 2).
    A third of the transfer containers 16 preferably serves as a raw material storage for frame timber 54 and as a storage for finished small building elements
    60. Preferably, this transfer container 16 is also open on one side 20, with the robot 28 in the adjacent transfer container 16 reaching to take the timber 54 and transfer it to the work platform 42 as well as transfer the finished small building elements 60 for storage back to the third transfer container 16. Preferably the transfer container 16 includes second doors 61 , preferably end doors through which the timber 54 can be filled into the transfer container 16 and through which the user can retrieve the finished small building elements 60 for use from the warehouse 32 at the production site. The raw materials can be fed to the transfer containers via openable sides during the packaging phase of the transfer containers before moving to the production site by hand or using a forklift, for example.
    The production system 10 preferably comprises the base structures 40 shown in Figure 4, which may be, for example, the I-beams or logs 41 accompanying the transfer container 16, on which the transfer containers 16 are assembled side by side. The purpose of the platform structure is to ensure that the bottoms of the transfer containers also form a substantially flat and uniform plane on an uneven platform, whereby the position of the adjacent transfer containers in relation to the middle transfer container comprising the robot is always the same and constant. In this way, the paths of the robot do not have to be adjusted O 25 separately each time, provided that the mutual = position of the transfer containers is always the same. 8 E As shown in Figure 4, for the robot 28, the production system 10 N preferably includes a mounting base 46, which may be, for example, a frame structure welded from S 30 beams, which is welded to the frame beams of the frame structure 48 of the transfer container N. It is important that the attachment of the 5 robots is firm, as the root of the robot is subjected to high stresses as the robot carries heavy loads at the end of a long arm in a movement whose direction can change rapidly.
    The mounting base 46 may also be arranged on the rails to move the robot in the transfer container.
    Preferably, the above-mentioned transfer containers are dimensioned according to the maximum dimensions allowed in road traffic.
    In one embodiment, the transfer container is 234 cm wide, 590 cm long and 269 cm high.
    In this case, the corresponding external dimensions are 244 cm, 605 cm, 290 cm (width, length, height). Transfer containers can also be slightly smaller, for example 2 m wide, 5 m long and 2 m high, but in this case the production space becomes quite cramped.
    With such sizing, all three transfer containers 16 can be loaded onto a conventional truck 12 ”as shown in Figure 1 and on the other hand the robot 28 placed in the middle transfer container 16 reaches 310 cm to operate all transfer containers 18 as shown in Figure 3 with its mounting base 46 shown in Figure 4 fixed.
    Transfer containers can be completely ordinary transport containers known for road traffic or sea or air traffic.
    The transfer containers preferably include tying means or stops with which the bulk goods inside the transfer containers can be tied during transport.
    Preferably, in the same transfer container 16 as the robot 28, an electrical connection 31 is arranged, as shown in Fig. 2, through which electricity is provided to operate the production system 10.
    The production system can be self-sufficient in energy, in which case it includes a + power unit to produce electricity.
    The unit is connected to the E electrical connection.
    Alternatively, the electrical connection N is used to receive the power current at the production site.
    S 30 In this context, current means less than 35 A at 440 N V.
    In practice, power is mainly needed to power the robot.
    Power can also be used for lighting, heating, machining equipment, compressed air production and the use of suction equipment.
    Electricity can be distributed from a transfer container with an electrical connection to adjacent transfer containers by means of extension cables.
    The transfer containers 16 preferably also include the heating / cooling means 34 shown in Figures 3 and 4 for adjusting the internal temperature of the transfer containers 16 to be suitable for production.
    The heating means 34 may be, for example, a liquefied gas heater 35, by means of which heat is produced in the production space formed by the transfer containers.
    Alternatively, radiant heaters or an air heat pump can also be used, which can also be used to cool the room if necessary.
    The need for cooling arises when operating in warm conditions, in which case the waste heat generated by the production equipment raises the temperature in the production space too high.
    Cooling prevents overheating of production equipment.
    According to one embodiment, the transfer containers may include separate heating means only for heating the raw materials.
    Preferably, the production system 10 for producing small building elements 60, according to Figure 3, comprises a liquefied gas heater 35, by means of which the frame wood 54 is heated to a surface temperature optimally 60-80 ° C for gluing.
    At the same time, the LPG heater heats the air in the production room. o According to Figure 4, the robot O 25 28 used in the production system 10 is preferably articulated with at least five axes, so that it has sufficient degrees of freedom to design movements + in a compact production space 22. According to a preferred embodiment E, a robot such as Fanuc R-2100iC / 125 N is 125 kg and the dimension is 310 cm.
    S 30 The robot in question comprises the control of five groups of axes with N hand controls, an industrial operating system, servomotor S and data interfaces.
    Preferably, the operating system is adapted to a computer arranged in the same transport container as the robot, but separated from the robot by a partition (not shown). The operating system can be, for example, Fanuc R-30iB.
    The computer-implemented operating system 30 preferably includes, as shown in Figure 6, a user interface 110 for issuing user commands, a computing unit 112 for performing functions, and a memory 118 for storing software means 114 for the robot 28 and a database comprising robot control commands 120. In addition, various standard size products, e.g. the dimensions of the small building elements on the basis of which the software tools select the correct robot control commands.
    In addition, the location of the raw materials and the permitted trajectories is pre-stored in the memory in connection with the control commands in order to prevent the robot from colliding with the transfer containers and the production equipment and other parts therein.
    In this way, the user can select the desired preselected products from the memory with the manual control using the user interface to the production list, from which the robot automatically manufactures the products in question.
    The robot's operating system can also be remotely controlled over the network, allowing the robot's trajectories to be programmed remotely.
    The operating system 30 further comprises, as shown in Fig. 6, communication buses 116 for transmitting data from the user interface 110 and the computing unit.
    from Fig. 112 to robot 28. o As shown in Fig. 4, robot 28 includes a boom 65 having O 25 first end 27 and second end 29 and consisting of at least ro two booms 63. The robot 28 is mounted at its first end 27 + rotatably about a vertical axis E on a mounting base 46 and thereby to the transfer container 16. At the end of the boom 63 of the robot N 28, more specifically at the other end 30 of the boom 65 S 30, there are connection means 64 for replacing the robot 28 N with a variety of tools 36, embodiments of which are shown in Figures 8a-10b.
    The connection means can be, for example, a robot adapter sold under the brand name Schunk SWS 110 and a tool adapter which is attached to each tool. The robotic adapter, i.e. the first part 80 of the connecting means 64, is shown in Figures 7a and 7b and the tool adapter, i.e. the second part 88 of the connecting means 64, is shown in connection with the tools 36 in Figures 8a to 10b. As shown in Figures 7a and 7b, the first portion 80 includes a mounting surface 82 and a mandrel 84 projecting therefrom. The first portion 80 is secured to the other end of the robot boom by a mounting plate 86 using, for example, bolts or the like. As shown in Figures 8b, 9b and 10b, a second mounting surface 87 is formed in the second portion 88, in which a form-fitting recess 89 is formed for the mandrel 84 of the first portion 80. The second part 88 is attached to each tool separately, i.e. each tool 36 has its own second part 88 of the connecting means 64. The spindle 84 of the first part 80 may be pneumatically operated, each tool 36 being quickly removable and attachable to the robot 28. As shown in Figures 2-4. In connection with 42, there may be a tool holder 55 in which tools are stored when not in use. When manufacturing a small building element, these tools 36 are preferably the gripper 37, the cutter, the nozzle unit and the pneumatic means shown in Fig. 4. The function of the gripper 37 shown in more detail in Figures 8a and 8b is to act as a gripping member for lifting raw materials, i.e., for example, timber and insulation, as well as finished small building elements. The gripper 37 may be a structure consisting of an O 25 body 96 and a plurality of suction cups 98, which uses compressed air to suck the suction cups onto the adhesive + target. The gripper preferably used in the production system E according to the invention can be, for example, a gripper manufactured by the Finnish N MTC flextek Oy Ab and marketed under the brand name MTCF Vacuum gripper S 30. O
    The purpose of the cutter 92, which acts as the raw material processing means 90 shown in Figs. 9a and 9b, is in turn to process the raw material, i.e. to cut the insulation, for example, in a small building.
    the dimension of the element to the correct dimension and mill the trusses for the joints in the insulation. Figures 9a and 9b show the cutter 92 without the cutter blade 95 attached to the rotary motor 94, which is shown separately in Figure 9c. The milling machine preferably used in the production system according to the invention can be, for example, a milling machine manufactured by the Finnish MTC flextek Oy Ab and marketed under the brand name MTCF Sppindle 4.4 kW. The nozzle unit 102 shown in Figures 10a and 10b, which acts as a connecting means 75, in turn serves to supply compressed air to the end of the robot for blowing, an adhesive for gluing the trusses and a water mist for curing the adhesive. The nozzle unit 102 may include a body 104 and a nozzle head 106 and a second portion 88 of connecting means 64 attached to the body 104.
    The nozzle unit preferably used in the production system according to the invention can be, for example, a nozzle unit manufactured by the Finnish MTC flextek Oy Ab and marketed under the brand name MTCF Glue Nozzle.
    Preferably, according to Figure 4, the production system 10 according to the invention comprises suction means 77 arranged in connection with the robot 28, by means of which the insulation chip generated during milling can be collected. It is especially important to collect insulation debris, o so that it does not come into contact with the adhesive and, on the other hand, so that O 25 dust does not float in, for example, a liquefied gas heater, where it could cause an explosive fire. The suction means + can be realized, for example, by using a hollow, z-suction machining spindle in the milling machine, which has a suction inside to suck the insulation chip to N. In addition, the suction means may include suction connections arranged in connection with the work platform S 30. In Fig. 4, the suction means 77 are a suction hose arranged in connection with N tools. The production system 10 according to the invention also comprises, as shown in Figure 3, optical limit switches 66, the purpose of which is to monitor the movement of users inside the transport containers 16. As the user enters the transfer doors 16 of the transfer container 16, which preferably serves as a warehouse 32, the optical limit switches 66 detect the user and stop the operation of the robot 28. In this way, a safe operating environment in accordance with the Occupational Safety and Health Act can be guaranteed for users. The production system 10 further includes calibration members 67 important for the movements of the robot 28, which are preferably located in connection with the work platform 42. The calibration means 67 preferably form a zero point for calibrating the robot to the corner of the work platform 42, whereby the accuracy of the robot on the work platform 42 is very high. The calibration means 67 are adapted to calibrate the robot 28 in relation to a selected coordinate system, in which the location of production-relevant objects such as work platform, raw materials, end product and tools, as well as the location of various robot movement obstacles is known. In addition, the accuracy of the production is advantageously improved by the fact that the work platform acts as a dimensionally accurate positioning template for the raw materials, placing the raw materials in the right relation to each other.
    A preferred embodiment of using a production system according to the invention for implementing a mobile production system will now be described with the aid of the block diagram of Figure 11. o Preferably, the use of the production system is started by packing the necessary raw materials O 25 in transfer containers in step 200. ro When using three transfer containers in the production of small building elements +, the insulation is packed in one transfer container from the opening sides of the transfer container E and the timber from the opening sides. The raw materials are attached to the S 30 for transport and the transfer containers are closed. The transfer containers N are lifted aboard the truck by a truck crane according to step 202 S, or the transfer containers may have already been lifted before the raw materials are packed. The transfer containers are then moved by truck to the construction site in accordance with step 204,
    wherein, depending on the condition, either a substrate structure for the transfer containers is formed on the uneven substrate or the transfer containers are dismantled on an already existing flat substrate according to step 206.
    Of the transfer containers, the transfer container comprising the robot is placed in the middle and the press walls on its sides are opened.
    Correspondingly, their individual press walls are also opened from the other transfer containers.
    The other transfer containers are then raised on either side of the middle transfer container to combine the transfer containers into a single production space according to step 208, and the press walls of the middle transfer container can be spread over the other transfer containers for protection.
    The electricity is connected to the transmission container by an electrical connection according to step 210, either by starting the unit to generate electricity at the electrical connection or, optionally, by connecting the power cable at the construction site to the electrical connection of the transport container.
    Preferably, the heating means of the transfer container 7 are also started to heat the production space formed by the transfer containers.
    The robot can then be fed the dimensions of the selected small building elements to be produced or selected directly from the memory of the operating system to form a production list.
    After the production list is formed, production by the robot can be started according to step 212, controlling the robot with its operating system according to step 214.
    S os ro The production of small building elements preferably takes place according to Figure 12 + in steps of 300 to 314 using a robot.
    In the first z step, the robot selects a gripper for the tool, by means of which the N robot goes to lift the trunk trees for liquefied gas heating according to step S 30 300 and to the insulation work platform according to step 302.
    N Next, the robot replaces the gripper with a cutter 5 as a tool, by means of which it cuts the insulation to the selected dimension according to step 304 and directly forms the necessary tongues in the insulation according to step 306.
    After milling the joints, the robot exchanges the cutter for the nozzle unit and blows compressed air through the nozzle unit off the insulation chip generated during milling from the surface of the insulation according to step 308. All switching operations use the quick-connect means provided earlier in the specification. Thereafter, in step 310, the robot applies a nozzle unit to the adhesive insulation tongues and finally sprays a water mist to activate the adhesive. After the water spraying, the robot replaces the nozzle unit with the gripper again and picks up the heated trunks from the LPG heating and places the trunks against the adhesive surface in step 312 on the insulation tongues. Thereafter, in step 314, the trusses are pressed from the sides parallel to the level of the insulation by means of the work platform and the insulation is pressed straight against the work platform by means of a robot gripper. At the end of the compression, the robot grabs the finished small building element and moves it to the adjacent transfer container for storage. Finally, the robot can move the cut piece of insulation back into storage before starting to assemble the next small building element.
    According to one embodiment, the assembly of the small building element takes place in the following steps by means of a robot. First, the robot picks up the trunks from the wood storage and places them in the heating station. The insulation board is then retrieved by robot from the blank stack o onto the work platform. The insulation board is milled and cut to the dimensions required by the finished O 25 product using a robot. In milling, ro pontoons are run for trees. After a possible cut, the + so-called waste pieces are removed from the work platform. The trees in the heating station are then retrieved one by one using a robot. N Apply glue to the wood and spray water. The wood is installed on an S 30 insulation board. Once all the trees have been installed on the insulation board, N is expected for the adhesive to dry. The completed element is taken to the finished stack of S adjacent containers.
    The product to be manufactured by the production system according to the invention may be, for example, a small building element 60 according to Fig. 13 for forming a load-bearing wall or an upper, lower or intermediate base.
    Such a small building element 60 comprises only one single thermal insulation piece, i.e. insulation 52 for providing thermal insulation of the small building element 60 and at least two load-bearing support parts, i.e. preferably frame wood 54, for providing the load-bearing capacity of the small building element 60 glued to the thermal insulation piece.
    The thermal insulation body 52 is prefabricated from polyurethane in the form of a sheet and is a unitary structure forming the thermal insulation, the vapor barrier and the wind protection of the small building element.
    The thermal insulating body, i.e. the insulator 52, has an inner surface 68 and an outer surface 50, and recesses are formed in the inner surface 68 of the thermal insulating body for support members, i.e., frame trees 54.
    Such a small building element has a very simple structure and the formation of cold bridges is eliminated by the use of a uniform thermal insulation piece.
    The thermal insulation piece extends in the building element over the entire width of the building element and at the same time forms three functional entities, ie the insulation layer, the wind protection and the vapor barrier.
    At the same time, the unitary thermal insulation body is homogeneous, thus avoiding problems with moisture condensation between the different layers of O 25, as in prior art solutions.
    Since = the thermal insulation body © made of a single piece has its own rigidity, the support members can be left unconnected to each other by means of z separate transverse support members, the thermal insulation piece N acting as a connecting structure.
    With the help of the building element S 30 according to the invention, it is possible to achieve a very individual and N efficient new and renovation construction, in which the wishes of the customer 5 can be taken into account effortlessly.
    It is also possible to use the production system according to the invention as a mobile production unit in already existing fixed production sites such as factories and the like. The mobile production system makes it easy to increase and decrease capacity as needed and possibly transfer capacity for use to other production sites. The production system can be used, for example, in the automotive industry for the manufacture of subassemblies or similar metalworking, in which one of the subassemblies of components is produced in a car by means of a mobile production system according to the invention. The invention is also suitable for use in mobile production systems in the engineering industry. oO OF O
    N 0 <Q +
    I Jami a PP
    PM oO + O OF O OF D
    权利要求:
    Claims (4)
    [1]
    A mobile production system (10) comprising - a road transport vehicle (12) comprising handling means (14) for handling a transport container (16), - two, preferably three (20) openable transport containers (16) adapted to be moved to a production site (100) for road transport 12) in a ride, where at said production site (100) said transfer containers (16) lowered off the ride of a road transport vehicle (12) can be connected side by side from their open sides (20) to form a single production space (22), - production means (18) fitted to said at least one transfer container (16) ) for carrying out production at a production site (100), the production means (18) comprising a robot (28) fitted in one transfer container (16) and an operating system (30) for controlling said robot (28), the robot (28) comprising a boom (65) comprising a first end (27) and a second end (29) and at least two articulated booms (63), the boom (65) being arranged at its first end (27) about a vertical axis about the vertical to the transfer container (16), characterized in that the production means (18) further comprise as tools (36) at least a gripper (37) for gripping the robot (28) and the raw material (24) (24) shaping means O 25 (90) for shaping at least one raw material (24) into the desired shape for the final product (26), and the production system (10) further comprises z-tool (36) quick-connect means (64) fitted N to the other end (29) of the boom (65) of said robot (28) and S 30 to each tool (36) for automatically connecting the selected tool (36) to the N robot (28) at different stages of production, and S - calibration means (67) for the robot (28) to calibrate relative to the selected coordinate system.
    [2]
    Production system according to claim 1, characterized in that said raw material processing means (90) are a milling cutter (92), a saw or a drill, most preferably a milling cutter (92) and the production system (18) further comprises connecting means (75) for different raw materials (75). 24) for incorporation into a final product (26).
    [3]
    Production system according to claim 1 or 2, characterized in that the production means (18) comprise a work platform (42) for supporting the raw materials (24) for the production of the final product (26).
    [4]
    Production system according to any one of claims 1 to 3, characterized in that said operating system (30) comprises - a computing unit (112), - a memory (118) connected to said computing unit (112) comprising automated control commands (120) for the final product of the robot (28) (26) stored therein, - software means (114) stored in said memory (118) for converting the automated control commands o (120) of the robot (28) to the robot (28) by means of a computing unit (112), O 25 - user interface (110) of software means (114) = for operation and © - communication means (116) for transmitting control commands (120) z to the robot (28). a
    R
    S
    S 8> ”
    类似技术:
    公开号 | 公开日 | 专利标题
    US9358688B2|2016-06-07|Machine for aligning items in a pattern and a method of use
    EP3519651B1|2021-11-24|System for placing objects on a surface and method thereof
    CN105834617A|2016-08-10|Metal construction forming manufacturing system and stacking unit thereof
    US7467469B2|2008-12-23|Modular housing system and method of manufacture
    CA2560153C|2010-09-21|Attachment for a telescopic material handler for manipulating a load with five degrees of freedom
    US20120035758A1|2012-02-09|Device for coating an elongated workpiece
    US20080178537A1|2008-07-31|Portable modular manufacturing system
    US20150343638A1|2015-12-03|Robot module
    US7987597B2|2011-08-02|Systems and methods for the automated fabrication of trusses
    de Santos et al.2008|Power assist devices for installing plaster panels in construction
    US20090025343A1|2009-01-29|Method of providing erected folding boxes at the exit of a manufacturing machine and apparatus for erecting folding boxes from flat folding box sheath
    US11236519B2|2022-02-01|Automated systems and methods for floor and ceiling units in the construction of modular building units
    FI12896Y1|2021-02-22|Mobile production system
    CN110159624B|2020-11-20|Fireproof door glue joint intelligent production system and operation method thereof
    MXPA06012038A|2007-08-14|Cardboard pallet.
    CN108046184A|2018-05-18|A kind of high-voltage mutual inductor mounting lifting platform
    US9676117B2|2017-06-13|Method and device for producing a ply involved in the construction of a multi-ply panel
    JP2009299117A|2009-12-24|System for rust preventive treatment
    JP6721916B2|2020-07-15|Vehicle-mounted building material processing system and building material processing method
    CN110450514A|2019-11-15|A kind of heat preservation energy-saving decorative integrated plate composite production line
    JP2004160667A|2004-06-10|Apparatus and method for producing precut timber
    CN107758365A|2018-03-06|A kind of feed manufacturing machine stacking machine
    CN214520967U|2021-10-29|Bathroom production line for arranging ceramic sheets
    CN106271144A|2017-01-04|A kind of pressure vessel head automatic production line
    CN107160172A|2017-09-15|A kind of pipeline processing automation equipment
    同族专利:
    公开号 | 公开日
    WO2019081812A1|2019-05-02|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP2743029A1|2012-12-11|2014-06-18|Jointec AB|Pallet recycling device|
    US9272417B2|2014-07-16|2016-03-01|Google Inc.|Real-time determination of object metrics for trajectory planning|
    法律状态:
    2021-02-22| FGU| Utility model registered|Ref document number: 12896 Country of ref document: FI Kind code of ref document: U1 |
    优先权:
    申请号 | 申请日 | 专利标题
    FI20175937|2017-10-23|
    PCT/FI2018/050773|WO2019081812A1|2017-10-23|2018-10-23|Mobile production system and a method for implementing a mobile production system|
    [返回顶部]