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WO2018100081A1 - Station d'assemblage et procédé d'assemblage - Google Patents

Station d'assemblage et procédé d'assemblage Download PDF

Info

Publication number
WO2018100081A1
WO2018100081A1 PCT/EP2017/081019 EP2017081019W WO2018100081A1 WO 2018100081 A1 WO2018100081 A1 WO 2018100081A1 EP 2017081019 W EP2017081019 W EP 2017081019W WO 2018100081 A1 WO2018100081 A1 WO 2018100081A1
Authority
WO
WIPO (PCT)
Prior art keywords
station according
joining station
transport
joining
guide
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2017/081019
Other languages
German (de)
English (en)
Inventor
Wolfgang Fischer
Karl-Heinz Proksch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
Original Assignee
KUKA Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Systems GmbH filed Critical KUKA Systems GmbH
Publication of WO2018100081A1 publication Critical patent/WO2018100081A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/022—Transferring or handling sub-units or components, e.g. in work stations or between workstations and transportation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
    • B23P2700/50—Other automobile vehicle parts, i.e. manufactured in assembly lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0294—Vehicle bodies

Definitions

  • the invention relates to a joining station and a
  • Such a joining station is known from DE 20 2004 013 687 Ul.
  • the clamping frames have on their underside each a pair of rotatable and pivotable rollers, with which they roll in a bottom curved guide rail and are guided on an upper separate guide rail.
  • the invention solves this problem with the features in the method and device main claim.
  • the claimed joining technique i. the joining station and the associated method have different advantages.
  • a process device of the process device and / or a supply device for further components are in an area adjacent to the process area between the
  • the curved shape of the conveyor track can be advantageously exploited, which is located just after the process site laterally from the conveyor line and thereby opens a wedge-shaped space or a so-called. Gusset in this area.
  • a process device arranged in this region can optimally reach the front or rear part of the workpiece and can, in particular, reach close to the station frame or to the process station. This is also for a feeder in this
  • Means with a support for a tenter and the associated method have the advantage that the clamping frame can be accurately and safely guided and transported and positioned at a process location.
  • the guide can be formed between the curved transport path and the means of transport and defined exactly.
  • the clamping frame position on the means of transport or on the Carrier can be specified and maintained exactly.
  • Support for the means of transport offers a further improvement of the guiding and positioning accuracy.
  • space can be saved by this combination and the accessibility at the process site can be significantly improved over the prior art.
  • the transport means may be a single carrier or a carrier train having a plurality of coupled carriers
  • clamping frames can be moved from each other. This is favorable for a possible assembly of the clamping frames with components, in particular side walls of a vehicle body, which can be supplied together with the clamping frame of the process station.
  • the component assembly can be carried out independently of the joining process. Furthermore, an arrangement of further process stations on the transport path is possible, at which additional processes can be carried out.
  • a carrier train can accommodate several different clamping frames that can be brought to the process site as needed. In this way, when changing the type of workpieces, in particular the body parts, also quickly and easily a type change of the respectively required and type-related clamping frame can be performed.
  • the clamping frame located on the carrier train or a single carrier can be exchanged as needed via other process stations on the transport path. This allows the storage capacity and flexibility of the clamping frame technology on the
  • Joining station can be extended almost limitless.
  • the carrier can be a uniaxial or
  • the multi-axis adjusting device which can in particular perform a transversely or radially directed to the curvature of the transport path movement.
  • the clamping frame can be transferred to a station rack and docked there in a suitable manner and positioned.
  • the receptacle can release the clamping frame as needed and / or the setting device can have one
  • the transport path preferably has a circular shape. Accordingly, the guide means and optionally the support may be circular or arranged. For the design of the transport path, the
  • Transport means possible, e.g. as a multi-lane
  • Track guide is formed. This is especially for a tip-safe guidance of the transport of
  • the rail guide can extend without interruption over the length of the transport path.
  • Transport path may have an open arch shape or a closed ring shape.
  • Transport path with a mutual distance relatively stationary arranged guide and support elements.
  • the transport bridged while the distance, with several guide and support elements each
  • Guide element and supporting support element can be arranged.
  • Support element is preferably greater than twice the distance of the relatively stationary guide and
  • the said distance formation has the advantage that a clearance between the relatively stationary guide and support elements can be formed, which allows a crossing of the transport path. This is particularly beneficial to process sites within of the curved one
  • a process device is arranged. This has one or more process devices, in particular industrial robots on. These lead the joining processes and possibly
  • Tack welding processes in a framing station with which the Zufuegenden workpieces are brought into a defined position to each other and stabilized by the HeftSch proceduretagenen or other joints in this position.
  • Another joining station can as
  • the joining station is connected to a transfer line and a conveyor for the supply of workpieces.
  • Joining stations and optionally one or more other stations may be along the transfer line
  • FIG. 1 shows a schematic representation of a joining station, a variant of a joining station in a schematic plan view, an end view of the joining station of FIG. 2, a detail of FIG
  • Figures 5 and 6 a transport with a transverse
  • Adjustment device for a tenter
  • the invention relates to a joining station (2), a
  • FIG. 1 and Figure 2 and 3 show a joining station (2) in different variants.
  • the joining station serves to join workpieces (44) to a process station (3).
  • the workpieces (44) are transported along a transfer line with a conveyor (45) and fed into the joining station (2) and discharged again after carrying out the joining process.
  • the joining of the workpieces (44) at the processing station (3) takes place with the aid of exchangeable clamping frames (10), which are replaced by a
  • Transport device (6) are supplied and discharged.
  • the workpieces can be of any type, number and size. Preferably, it is body components of a vehicle body shell, e.g. around a floor group and around side wall parts and roof parts.
  • the workpieces (44) can on the conveyor (45) on a pallet, a Skid or the like. Tragstoff be supplied.
  • Workpieces (44) may be single and loose or in an already pre-oriented and provisionally stapled layer, e.g. as a floor group with employees and
  • Joining station (2) is also called stitching station or
  • Framing station called. In one or more of
  • Joining stations (2) can then be added to the prefabricated workpieces (44).
  • the joining process can be done in any suitable way
  • the joining can be done, for example, by welding, Soldering, gluing, clinching or the like respectively.
  • Joining device (5) is designed accordingly.
  • further processes may take place, e.g. Handling and / or machining processes on the workpieces (44).
  • Body panels e.g. Roof parts or
  • the joining station (2) can have one or more others
  • One or more further process stations (4) can be connected to the transport device (6).
  • a local process may involve the loading of the clamping frames (10) with one or more components (9), an exchange of clamping frames or the like.
  • the process or joining device (5) has several in the process area (s) (3,4) arranged
  • Process devices (36) is as programmable
  • Joining station (2) may have a controller (11) to which the process devices (36) may be connected.
  • a process device (36) and / or a feed device (40) for further components (9) is arranged in a wedge-shaped or gusset-like region (46) between the transfer line or the transfer line
  • Conveyor (45) and the bent conveyor track (12) arranged.
  • This free space or region (46) adjoins the process station (3) or the station station (47) in the direction of the transfer line. It can be arranged before and / or after the process station (3) as well as on one or both sides of the transfer line.
  • a process device (36) can be tied to a lane and / or on
  • Station frame (47) can be arranged and can reach the front ⁇ or rear end of the workpiece (44) optimally.
  • Feeding device (40) can also be a process device (36), in particular a handling robot (38), arranged to be movable. It can effect the transport and transfer of the components (9) at the front of the process station (3). It can also cooperate with a rear supply (42) for the components (9).
  • the transporting device (6) for the clamping frames has a guide device (17) and a support (18) as well as a curved transport path (12) and a traversable along the transport path (12)
  • the transport (13) can move on the transport path (12) rotating or reversing.
  • the transport device (6) has a drive device (19). On the means of transport (13) or on the
  • Carrier (14) one or more clamping frames (10) fixed or detachable, in particular changeable, can be arranged.
  • the transport path (12) is preferably bent in a circular manner.
  • the guide device (17) and the support (18) for the transport means (13) are preferably combined. When guiding the transport (13) can be supported at the same time.
  • Supporting device may be formed in different ways. It ensures a tip-safe guidance and support of the means of transport (13) on the
  • the transport means (13) may comprise a single carrier (14). It may alternatively comprise a carrier train (16) with a plurality of mutually rigidly or movably coupled carriers (14). These are along the
  • Transport path (12) arranged one behind the other and connected to each other via possibly releasable couplings.
  • a plurality of transport means (13) can be arranged, which are moved together or optionally independently along the transport path (12).
  • the joining station (2) has two transport devices (6), which are arranged on both sides of the transfer line and the processing station (3).
  • clamping frames (10) can be attached to the processing station (3) and the workpieces (44) on both sides.
  • a single transport device (6) may be provided and arranged only on one side of the process station (3) or the transfer line.
  • transport means (6) it is possible to have several, e.g. two or three, transport means (6) to be arranged one above the other.
  • the transport path (12) can according to Figure 1 have an open arch shape or a closed ring shape.
  • the transport device (6) can accommodate a plurality of clamping frames (10). It can also form a tenter frame movable along the transport path (12).
  • On one Transport means (13), in particular a carrier train (16) can be arranged a plurality of clamping frames (10).
  • the clamping frames (10) are preferably formed differently. You can choose different
  • the workpieces (44), in particular body parts, can vary in various ways. You can e.g. of the same kind and different in type.
  • Different types of vehicles are e.g. as a sedan, coupe, caravan, convertible or the like. educated. You can have a common platform or floor group, with the side walls and the
  • Tensioning frames (10) are corresponding to the
  • Body types are adapted and are in turn different in type.
  • Transport means (13) moves along the
  • the transport device (6) has only one
  • the positioning device (20) may e.g. have a positive and controllable stakeout. Alternatively, a positioning can be carried out without contact via a displacement measurement or in any other suitable manner.
  • a tensioning frame (10) on the means of transport (13) may contain energy and / or other resources, e.g.
  • Fluids are fed in an appropriate manner. This is e.g. by a media coupling (not shown) at the process site (s) (3,4) that is manually or automatically actuated.
  • energy and other resources may be carried on the means of transport (13) or otherwise supplied externally, e.g. over a tow cable.
  • the transport device (6) may have a sensor system (not shown) for monitoring the various components and functions.
  • the sensor can e.g. Displacement or angle sensors, force sensors,
  • Sensor is connected to the controller (11). This can be e.g. the drive device (19) and the
  • Control device (22) are controlled.
  • On the support (14) is preferably a single
  • the receptacle (21) can be rigid or movable on the
  • Carrier (14) can be arranged. It can also be designed and arranged changeable and, if necessary, allow a replacement or a change in position of the clamping frame (10). Furthermore, an adjustability along the carrier (14) can be given in the web direction. This can e.g. be supported by a grid arrangement of mounting locations. The means of transport (13) thereby receives a high degree of functional and constructive flexibility. It can be adapted to different process requirements.
  • a receptacle (21) can be attached to a clamping frame (10)
  • Tensioning frame (10) as needed relative to the carrier (14) to be moved can in particular be delivered by the carrier (14) to the process station (3,4) and to the station frame (47) and brought back again.
  • Carrier (14) can for this purpose have a single-axis or multi-axis adjusting device (22) for a movable receptacle (21).
  • the actuator (22) may e.g. when
  • the adjusting device (22) has a transverse to the curvature of
  • Transport path (12) directed movement axis. This is, for example, aligned radially to the transport path (12).
  • the adjusting device (22) on a controllable drive.
  • the receptacle (21) or the adjusting device (22) can be locked in one or more operating positions, if necessary. It can be manually adjusted between the different operating positions.
  • Actuator (22) may also be a preferred
  • the carrier (14) may be in any suitable manner
  • the carrier (14) can also be bent, in particular
  • the carrier (14) or the arc segment (15) is preferably formed rigid.
  • the bending stiffness is in the embodiments in all directions.
  • the guide device (17) and the support (18) for the transport means (13) can be designed in different ways. In a not shown
  • the rail guide may e.g. a one-lane or
  • Transport means (13) rolls with a chassis.
  • FIG. 1 illustrates a fragmentary other transport means (6). Their components are shown in more detail in FIG.
  • the guide device (17) serves to guide the
  • the guide device (17) has a plurality of discrete and along the transport path (12) with a mutual distance (a) relatively stationary arranged guide and support elements (27). The discreet leadership and
  • Support elements are preferably arranged individually and each independently and preferably stationary.
  • the guide and support elements (27) are relatively stationary relative to the movable transport means (13).
  • the movable transport (13) bridges the
  • Distance (a) It is self-supporting and preferably rigid at least in the vertical.
  • Support elements (27) locally carry the means of transport (13) and support its weight.
  • Transport means (13) along the transport path (12) each lead at least two of the existing in larger numbers guide and support elements (27)
  • the transport (13) is kept floating and at a distance above the ground. Due to the local guide ⁇ and support connection with said leadership and
  • the guide means (17) and the support (18) for the transport means (13) are combined.
  • the said guiding and supporting elements (27) combine the relatively stationary local guiding and supporting function.
  • the functions may be performed separately and discretely provided along the transport path (12) discrete guide elements and support elements.
  • Guide device (17) has a guide element (23) and a supporting support member (24) on the movable
  • Transport means (13). These elements (23, 24) can be present singly or multiply. They can be arranged separately or combined with each other.
  • the guide and support elements (23,24) are each formed like a strip and bridge the distance (a). They are at least two relatively stationary
  • the guide element (23) and optionally the support element (24) and the guide and support elements (27) preferably cooperate in a multi-sided positive connection.
  • the transport (13) is thereby guided on all sides and can only in the direction of the transport path
  • the transport device (6) moves the transport means (13) along the curved transport path (12).
  • Guide means (17) and the support (18) also have a curvature.
  • the curvature is preferably circular arc-shaped.
  • the relatively stationary guide and support elements (27) are arranged in an arc, in particular circular arc. This can be an open or finite bow or a closed bow or ring.
  • Element curvatures can be concentric.
  • the guide and support elements (23,24) extend along the transport means (13) and the transport path (12). The length of the guide element (23) and the
  • Supporting element (24) is each greater than twice the distance (a) of the relatively stationary guide and
  • the guide element (23) and the support element (24) thereby come into contact with each other during travel and in the state of the transport means (13) with at least two relatively stationary guide and support elements (27).
  • the carrier (14) and the guide and support elements (23,24) can be
  • the carrier (14) has a rigid frame (25).
  • This preferably flat frame (25) is formed by two parallel frame-side and along the transport path (12) extending frame elements, which are connected by other frame elements, for example in the form of a framework, transversely.
  • the peripheral frame members may form the support member (24). They are designed as spars (26) or rails that
  • Frame (25) is self-supporting and can be used in the
  • the strip-like guide element (23) can be arranged at any point of the carrier (14) or frame (25). It is e.g. at one edge
  • Frame member and projects upright from this and / or below. It can be arranged on the inside or outside of the frame element.
  • the strip-like guide element (23) is e.g. when
  • the support member (24) may alternatively or additionally have a guiding function and cooperate with said guiding and supporting elements (27).
  • the outer side of a peripheral frame member is formed and used as a guide surface.
  • the discrete and relatively stationary leadership and Support elements (27) arranged floor bound. They have a base (30), which is attached to a substrate each independently and in any way.
  • the base (30) has a slim shape and is aligned transversely or obliquely to the transport path (12). It may be formed, for example, as an elongated, strip-like and flat base plate.
  • the relatively stationary guide and support elements (27) also each have a roller guide with support and guide rollers (28,29).
  • the roller guides may be the same or different.
  • the support and guide rollers (28,29) act with the guide and support elements
  • a sliding guide is possible.
  • the guide element (23) is gripped by e.g. on both sides lateral guide rollers (29) in pairs.
  • the support element (24) is supported and held from below and possibly from above by support rollers (28). It may also be guided laterally by guide rollers (29).
  • the drive device (19) acts with a
  • the drive elements (33) act locally there
  • the drive element (33) can each influence the formation of the aforementioned roller guide.
  • a drive element (33) may be arranged on all or only a few relatively stationary guide and support elements, for example on every other along the
  • Transport track (12) The drive elements (33) are distributed along the transport path (12) such that the
  • Transport path (12) with at least one, preferably two, drive element (s) (33) is in drive connection.
  • the transport device (6) can have one in FIG. 1
  • control (11) which is connected to the drive device (19).
  • Transport means movement along the transport path (12) alternately activated and deactivated.
  • Drive device (19) can be connected to the controller (11) and program according to the
  • the drive device (19) can be designed in any suitable manner and act on the transport means (13) driving. This can be done with traction and / or positive locking.
  • the transport means (13) driving can be done with traction and / or positive locking.
  • the transport means (13) driving can be done with traction and / or positive locking.
  • Drive device (19) designed as a friction wheel drive. It can act on the transporting means (13), in particular on the carrier (14), via the guide element (23). Alternatively or additionally, an attack on the support element (24) is possible.
  • the drive elements (33) each have drive means (34, 35).
  • a drive means (34) can be designed, for example, as a controllable and optionally controllable electric motor.
  • Another drive means (35) can eg as
  • Friction wheel be designed.
  • gears and toothed racks can be used.
  • an electric motor can be any other drive motor or other driving
  • the abortive drive means (34) are used.
  • the abortive drive means (35) may be part of the aforementioned roller guide.
  • the roller guide two spaced transversely to the transport path, freely rotatable support rollers (28) on the base (30) on which rest the edge-side frame members. Furthermore, at least one lateral guide roller (29)
  • a guide roller (29) may e.g. from a spring or another
  • the counter-hold may be via another guide roller (29) located elsewhere in the carrier (14), e.g. on the guide element (23) attacks.
  • two friction wheels (35) acting on both sides of the guide element (23) to assume a guiding function and to replace one or more freely rotatable lateral guide rollers (29).
  • Support elements (27) existing distance (a) can as
  • Free space (32) may be formed, which allows a crossing of the transport path (12). If no
  • Figure 1 corresponds to the arrangement of Figure 4, wherein the guide means (17) only discrete and along the transport path (12) not interconnected relatively stationary floor-bound guide and support elements (27).
  • Figures 2 and 3 show a variant in which the relatively stationary guide and support elements (27) on a stand (31) are arranged hanging. They float at a distance above the ground.
  • the clamping frame (10) is also suspended on the transport means (13) or the
  • the guide device (17) and the support (18) are as a hanging guide and
  • support rollers (28) can be located below and above the support element (24).
  • the uprights (31) can be free-standing and arranged independently of one another. They may alternatively be connected together in the direction of the transport path (12).
  • Transport device (6) are suspended.
  • Stand (31) can be arranged.
  • the spar (14) be designed as a single spar.
  • the spar also forms the supporting support element.
  • the guide element in this case is e.g. arranged hanging on the spar and protrudes down.
  • the spar can be a rectangular one
  • He may have the aforementioned curved, in particular circular arc-like shape.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Tyre Moulding (AREA)

Abstract

La présente invention concerne une station d'assemblage (2), notamment une station d'assemblage de carrosserie, et un procédé pour assembler des pièces (44), notamment des pièces de carrosserie, au niveau d'une station de traitement (3) au moyen de cadres de serrage (10) amovibles qui sont amenés au moyen d'un dispositif de transport (6) doté d'un dispositif de guidage (17) et d'un dispositif d'appui (18) le long d'une trajectoire de transport (12) courbe. Les pièces (44) sont transportées le long d'une ligne de transfert au moyen d'un moyen de transport (45) et alimentent la station d'assemblage (2) de la station de traitement (3), la station d'assemblage (2) présentant un dispositif de traitement (5) doté d'un appareil de traitement (36) dans la zone de la station de traitement (3). L'appareil de traitement (36) et/ou le dispositif d'amenée (40) destiné à d'autres éléments (9) sont disposés dans une zone (46) adjacente à la station de traitement (3) entre le moyen de transport (45) et la trajectoire de transport (12) courbe.
PCT/EP2017/081019 2016-12-01 2017-11-30 Station d'assemblage et procédé d'assemblage Ceased WO2018100081A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202016106695.6 2016-12-01
DE202016106695.6U DE202016106695U1 (de) 2016-12-01 2016-12-01 Fügestation

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Publication Number Publication Date
WO2018100081A1 true WO2018100081A1 (fr) 2018-06-07

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Cited By (4)

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US10689202B2 (en) 2018-05-29 2020-06-23 The Procter And Gamble Company Apparatus for controlled transport of articles along a path
US10696488B2 (en) 2018-05-29 2020-06-30 The Procter And Gamble Company Apparatus that controls motion of proximate independent movers along a path
US10717606B2 (en) 2018-05-29 2020-07-21 The Procter And Gamble Company Method of independently controlling motion of movers along a path
US10919705B2 (en) 2018-05-29 2021-02-16 The Procter And Gamble Company Apparatus that controls motion of independent movers along a path

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CN114619246A (zh) * 2022-03-30 2022-06-14 东莞市天峤织带有限公司 一种龙虾扣三件套组装设备

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DE19917908A1 (de) * 1998-09-03 2000-03-23 Thyssen Industrie Anlage für den flexiblen Zusammenbau von Kfz-Karosserien
DE202004013687U1 (de) 2004-05-03 2005-06-09 Kuka Schweissanlagen Gmbh Bearbeitungsstation

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19917908A1 (de) * 1998-09-03 2000-03-23 Thyssen Industrie Anlage für den flexiblen Zusammenbau von Kfz-Karosserien
DE202004013687U1 (de) 2004-05-03 2005-06-09 Kuka Schweissanlagen Gmbh Bearbeitungsstation

Cited By (6)

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US10696488B2 (en) 2018-05-29 2020-06-30 The Procter And Gamble Company Apparatus that controls motion of proximate independent movers along a path
US10717606B2 (en) 2018-05-29 2020-07-21 The Procter And Gamble Company Method of independently controlling motion of movers along a path
US10919705B2 (en) 2018-05-29 2021-02-16 The Procter And Gamble Company Apparatus that controls motion of independent movers along a path
US11479415B2 (en) 2018-05-29 2022-10-25 The Procter & Gamble Company Method of independently controlling motion of movers along a path
US11505410B2 (en) 2018-05-29 2022-11-22 The Procter & Gamble Company Method of independently controlling motion of movers along a path

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