EP1207965A1 - Method and device for mounting a subassembly comprising at least a coating product sprayer on a robot mobile part - Google Patents

Method and device for mounting a subassembly comprising at least a coating product sprayer on a robot mobile part

Info

Publication number
EP1207965A1
EP1207965A1 EP00958683A EP00958683A EP1207965A1 EP 1207965 A1 EP1207965 A1 EP 1207965A1 EP 00958683 A EP00958683 A EP 00958683A EP 00958683 A EP00958683 A EP 00958683A EP 1207965 A1 EP1207965 A1 EP 1207965A1
Authority
EP
European Patent Office
Prior art keywords
support
ring
assembly
sub
reliefs
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.)
Granted
Application number
EP00958683A
Other languages
German (de)
French (fr)
Other versions
EP1207965B1 (en
Inventor
Caryl Thome
Philippe Provenaz
Louis Sentis
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.)
Sames Kremlin SAS
Original Assignee
Sames Technologies SAS
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 Sames Technologies SAS filed Critical Sames Technologies SAS
Publication of EP1207965A1 publication Critical patent/EP1207965A1/en
Application granted granted Critical
Publication of EP1207965B1 publication Critical patent/EP1207965B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/16—Arrangements for supplying liquids or other fluent material
    • B05B5/1608—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive
    • B05B5/1675—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive the supply means comprising a piston, e.g. a piston pump
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • B05B12/1454—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet separate units comprising both a material container and a spray device permanently connected thereto being removably attached to a part of the spray apparatus, e.g. to a robot arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/16—Arrangements for supplying liquids or other fluent material
    • B05B5/1608—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive
    • B05B5/1616—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive and the arrangement comprising means for insulating a grounded material source from high voltage applied to the material
    • B05B5/1625—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive and the arrangement comprising means for insulating a grounded material source from high voltage applied to the material the insulating means comprising an intermediate container alternately connected to the grounded material source for filling, and then disconnected and electrically insulated therefrom

Definitions

  • the invention relates to a method and a device for mounting a sub-assembly, comprising at least one coating product projector, on a mobile part of a robot.
  • Automatic installations for spraying coating products must be capable of great flexibility in order to minimize the investments they entail.
  • coating product projectors such as rotary projectors, pneumatic projectors and electro-pneumatic projectors.
  • type of coating product which can be a base paint, a varnish, a metallic paint, a solvent-based or water-soluble paint, the nozzle, the possible bowl and the possible electrostatic charge must be adapted.
  • only one type of projector is generally intended to be used.
  • the invention relates to a method of mounting a sub-assembly, comprising at least one coating product projector, on a mobile part of a robot characterized in that it consists of:
  • the ring and the support together constitute a rotation locking system, analogous to a bayonet system or to a so-called "quarter-turn" system, even if the relative angle of rotation of the ring by relation to the support is not necessarily 90 °.
  • the movement of the laying plane makes it possible to stiffen the assembly produced thanks to the ring and to the support and also to ensure the sealing of fluidic and / or electrical connections made at the interface between the robot and the subassembly considered.
  • the method of the invention only induces a movement of rotation of the ring and a movement of longitudinal displacement of the laying plane, which can be a translation, these movements being mechanically simple and being able to be carried out in a particularly rapid manner, such so that the assembly of the subassembly and its disassembly can be compatible with the production rates of the automotive industry.
  • the displacement of the laying plane is obtained by supplying pressurized air to a closed volume defined between the support and the laying plane.
  • This mode of control in displacement of the piston makes it possible to obtain a great speed of movement and an intense pressing force of the laying surface on the sub-assembly.
  • the effort of mutual taking of the reliefs depends on the supply pressure of this closed volume.
  • the invention also relates to a device making it possible to implement the method as described above and, more specifically, a device which comprises:
  • a laying plane carried by the movable part and able to be moved relative to the support in a direction generally parallel to a central axis of this support;
  • the first and second reliefs being able to be brought into mutual engagement when the ring surrounds the support, the laying plane being able to exert on the sub-assembly an effort to lock these reliefs.
  • the first and second reliefs include studs formed on an internal radial surface of the ring and on an external radial surface of the support and capable of being aligned when the ring is arranged around the support.
  • the surfaces of the studs intended to come into mutual support are advantageously provided with respective centering means, these centering means possibly comprising a housing, provided on one of the surfaces of one of the studs for receiving an element. protruding formed on the corresponding surface of another stud.
  • the installation plan includes orifices for passage of the fluid supplying the projector, these orifices being able to be aligned with corresponding orifices of the subassembly, and / or an electrical connector able to cooperate with an electrical connector provided on the sub-assembly for the current supply of the projector. Thanks to the mobile nature of the laying plane, a satisfactory seal is obtained between the orifices of the laying plane and those of the sub-assembly, while the electrical connection produced by means of the connectors is reliable and protected from its environment.
  • the installation surface is provided with an orifice for the passage of a control rod for a piston of a reservoir incorporated in the sub-assembly for supplying coating product to the projector (s).
  • a closed volume is defined between the support and the installation plane, this closed volume being able to be selectively connected to a source of pressurized air, the value of the pressure in this volume making it possible to control the movement of the installation plane .
  • the ring is provided with reliefs capable of cooperating with reliefs of corresponding shapes provided on an operating ring belonging to a cleaning station / - filling of the sub-assembly for controlling the rotation movement of this ring.
  • FIG. 1 is a schematic representation of the principle of an installation for spraying coating product during operation
  • Figure 2 is a partial perspective view, with parts broken away, of a part of a cleaning station / - filling the installation of Figure 1;
  • FIG. 3 is an exploded perspective view of the end of the arm of a robot of the installation of Figure
  • FIG. 4 is a longitudinal section of the elements of FIG. 2 during assembly
  • Figure 5 is a view similar to Figure 4 when the elements are mounted.
  • an automaton or robot 1 is placed near a conveyor 2 transporting objects to be coated, in this case bodies 3 of motor vehicles.
  • the robot 1 is of the multi-axis type and comprises a chassis 4 movable on a guide 5 'extending parallel to the conveying direction XX'.
  • An arm 6 supported by the chassis 4 comprises several segments 6a, 6b, 6c_ articulated with respect to each other.
  • the chassis 4 also consists of parts 4a and 4b articulated relative to each other about a substantially vertical axis ZZ '.
  • the segment 6c of the arm 6 supports a subassembly 7 in which a reservoir 8 of coating product and a projector 9 are provided.
  • the projector 9 is of the electrostatic and rotary type and it carries a bowl 9a intended to be driven at high speed by an air turbine integrated in the headlight 9.
  • the subassembly 7 is moved opposite the body and the headlight 9 is activated in order to coat this bodywork with the product contained in the tank 8.
  • the quantity of products present in the tank 8 is adapted to the surface to be coated of the bodywork 3.
  • the latter At the end of the coating of the bodywork, and while a second bodywork is progressing towards the robot 1, the latter is oriented towards a cleaning / filling station 10 located in its vicinity, inside the cabin projection.
  • this station 10 is provided with two zones 11 and 12 for receiving sub-assemblies of the type of sub-assembly 7. More specifically, zone 11 is empty and ready to receive the sub- assembly 7 while the zone 12 contains a similar subassembly 7 ', which also includes a reservoir 8' and a projector 9 ', similar to those of the subassembly 7.
  • the subassemblies 7 and 7' can be alternately mounted on segment 6ç of arm 6.
  • the subassembly 7 is approached from the zone 11 and introduced into it by a downward movement of the segment 6c represented by the arrow F x in FIG. 2. It thus crosses a ring 13 delimiting the inlet orifice lia of zone 11. A similar crown 14 is provided at the upper level of zone 12.
  • the subassembly 7 carries a ring 20, the lower part of which is provided with notches 21 which are designed to receive ribs 15 formed on the internal radial surface 13a of the crown 13.
  • the rings 13 and 14 are each secured to a link 16 or 17, these links being connected together by a link 18 controlled by a drive cylinder 19 in a translational movement, parallel to its largest axis X 18 and shown by arrow F 2 .
  • the jack 19 makes it possible to drive the rings 20 and 20 ′ of the subassemblies 7 and 7 ′ in rotation around the central axes X 1X and X 12 of the zones 11 and 12.
  • the ring 20 is provided, on its internal radial surface 20a, with studs 22 separated by free zones 23.
  • the segment 6c of the arm 6 is equipped with a support 30, of overall shape cylindrical and whose outer radial surface 30a has a diameter slightly smaller than that of the surface 20a.
  • the surface 30a is also equipped with studs 32 whose width is less than that of the zones 23.
  • a seating plane 24 is formed in the upper part of the subassembly 7 and is provided with orifices 25 for the passage of air or other fluids for controlling the reservoir 8 and the projector 9 and for controlling these devices.
  • An electrical connector 26 is also provided for supplying the projector with high voltage 9.
  • a corresponding laying plane 34 is defined in the central part of the support 30 and also includes orifices 35 for passage of air and an electrical connector 36 connected to a high voltage unit not shown.
  • the orifices 25 and 35 on the one hand and the connectors 26 and 36 on the other hand are intended to be aligned when the sub-assembly 7 is mounted on the segment 6ç_.
  • the lower surfaces 22a of the studs 22 directed towards the subassembly 7 and the upper surfaces 32a of the studs 32 directed towards the segment 6ç_ are opposite one another.
  • the surfaces 22a carry a lug 27 projecting in the direction of the laying plane 24.
  • the surfaces 32a are each provided with a notch 37 for receiving a lug 27.
  • a lug 27 of each surface 22a is opposite a notch 37 of a stud 32, the elements 27 and 37 each being provided in the central part of the surfaces 22a and 32a.
  • the laying plane 34 is movable in the direction of the axis X 30 relative to the support 30.
  • an annular volume 38 is defined between the internal surface of the support 30 and the external surface of the laying plane 34, this volume 38 being connected, by a controlled line not shown, to a source of compressed air also not shown.
  • the volume 38 is pressurized, which has the effect of moving, in translation parallel to the axis X 30 and as represented by the arrow F 5 , the laying plane 34 until a support closes on the installation plane 24, so that the tightness of the junctions between the orifices 25 and 35, on the one hand, and between the connectors 26 and 36, on the other hand, is carried out securely while this force, represented by arrow F 6 in FIG. 5, has the effect of pressing the surfaces 22a on the surfaces 32a and causing the pins 27 to penetrate into the notches 37, which ensures a effective mechanical locking of the sub-assembly 7 on the segment 6ç.
  • the cooperation of the pins 27 and the notches 37 makes it possible to obtain, under the effect of the force F 6 , a rotation blocking of the ring 20 and of the support 30.
  • the piston actuation device 8a maintains an axial force on the ring 20, which ensures, thanks to the elements 27 and 37, an effective mechanical locking.
  • the laying plane 24 is also provided with a central orifice 29 while the laying plane 34 is provided with a central orifice 39 of the same internal section in which a rod 40 for controlling the position of the piston 8a of the reservoir can slide 8.
  • the components of the device of the invention are made of electrically insulating material, for example made of suitable plastic. This avoids the risk of electric arcs between parts brought to high voltage, such as the projector bowl and the contents of the tank in the case of an electrostatic type projector and a water-soluble coating product, on the one hand, and parts of the earth's potential, such as the robot's wrist, on the other.
  • the device is configured so that it does not include an electrically conductive element near the high voltage parts.
  • the invention therefore allows a rapid change of subassembly at the end of the arm of a multi-axis robot, which makes it possible to paint bodies 3 with a high rate, the cleaning of the tank 8 and of the projector 9 being carried out. in masked time, during the use of the corresponding elements 8 'and 9' of the sub-assembly 7 '.
  • the invention has been represented with a multi-axis robot and a sub-assembly 7 comprising a reservoir, it is however applicable to any type of robot and to any type of sub-assembly, whether or not it incorporates a reservoir of powering of the projector (s) considered.
  • the ring 20 can be mounted to rotate freely around the sub-assembly 7.
  • the sub-assembly can comprise two or more than two projectors which can be of any known type.
  • the invention has been shown with a movement F 3 for introducing the support 30 into the ring 20. It would also be possible to use a reverse movement according to which the ring 20 would be moved to be engaged around the support 30. In all the case, the support 30 is engaged in the ring within the meaning of the present invention.
  • the invention it is possible to quickly change the sub-assembly 7 mounted on the arm 6 of a robot 1 and, in particular, to change the type of sub-assembly, the sub-assemblies 7 and 7 'n being not necessarily identical.
  • the characteristics of the sprayer 9, of the reservoir 8 or of the associated electrostatic charging system can they be adapted according to the desired application.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Manipulator (AREA)
  • Electrostatic Spraying Apparatus (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Automatic Assembly (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)

Abstract

A process and device for mounting a sub-assembly that includes at least one coating product spray on a mobile part of a robot. The method includes:-engaging a support fast with the mobile part in a ring connected to the sub-assembly;-rotating this ring with respect to this support by bringing first projections provided on the periphery of the ring opposite second projections provided on the periphery of this support; and-displacing a bearing plate, connected to the mobile part, in the direction of this sub-assembly, until the plate exerts a bearing effort on the sub-assembly, the bearing effort being transmitted to the ring, with the result that the first and second projections are brought into mutual engagement. The device includes a ring connected to the sub-assembly and provided with first projections and a support, fast with the mobile part and provided with second projections, while a bearing plate borne by the mobile part is adapted to be displaced with respect to this support, the first and second projections being adapted to be brought into mutual engagement.

Description

PROCEDE ET DISPOSITIF DE MONTAGE D'UN SOUS-ENSEMBLE COMPRENANT AU MOINS UN PROJECTEUR DE PRODUIT DE REVETEMENT SUR UNE PARTIE MOBILE D'UN ROBOT METHOD AND DEVICE FOR MOUNTING A SUB-ASSEMBLY INCLUDING AT LEAST ONE COATING PROJECTOR ON A MOBILE PART OF A ROBOT
L'invention a trait à un procédé et à un dispositif de montage d'un sous-ensemble, comprenant au moins un projecteur de produit de revêtement, sur une partie mobile d'un robot. Les installations automatiques de projection de produits de revêtement doivent être capables d'une grande flexibilité afin de minimiser les investissements qu'elles induisent. Il existe aujourd'hui différents types de projecteurs de produit de revêtement, tels que les projecteurs rotatifs, les projecteurs pneumatiques et les projecteurs électro-pneumati- ques . D'autre part, en fonction du type de produit de revêtement, qui peut être une peinture de base, un vernis, une peinture métallisée, une peinture à base de solvant ou hydrosoluble, la buse, le bol éventuel et l'éventuel système de charge électrostatique doivent être adaptés. Dans les installations connues, un seul type de projecteur est généralement prévu pour être utilisé. Ainsi, dans le cas d'une installation de revêtement de carrosseries de véhicules automobiles, il est connu d'équiper une cabine de revêtement avec un type de projecteurs pour sensiblement toute la durée de vie de la cabine. On pourrait envisager d'utiliser différentes cabines, comportant chacune un type de projecteurs dédié à un type d'application, mais ceci induirait des investissements considérables qui ne pourraient être économiquement rentables . C'est à ces inconvénients qu' entend plus particulièrement remédier l' inventi,on en proposant un procédé et un dispositif qui permettent de monter de façon fiable et rapide un sous- ensemble sur un robot et d'adapter, en cours de production, le type du projecteur utilisé au type d'application recherchée et/ou au type de produit à projeter.The invention relates to a method and a device for mounting a sub-assembly, comprising at least one coating product projector, on a mobile part of a robot. Automatic installations for spraying coating products must be capable of great flexibility in order to minimize the investments they entail. Today there are different types of coating product projectors, such as rotary projectors, pneumatic projectors and electro-pneumatic projectors. On the other hand, depending on the type of coating product, which can be a base paint, a varnish, a metallic paint, a solvent-based or water-soluble paint, the nozzle, the possible bowl and the possible electrostatic charge must be adapted. In known installations, only one type of projector is generally intended to be used. Thus, in the case of an installation for coating motor vehicle bodies, it is known to equip a coating cabin with a type of headlamps for substantially the entire life of the cabin. One could consider using different cabins, each comprising a type of projectors dedicated to a type of application, but this would entail considerable investments which could not be economically profitable. It is to these drawbacks that the inventi more particularly intends to remedy, by proposing a method and a device which make it possible to reliably and quickly mount a subassembly on a robot and to adapt, during production, the type of projector used, the type of application sought and / or the type of product to be projected.
Dans cet esprit, l'invention concerne un procédé de montage d'un sous-ensemble, comprenant au moins un projecteur de produit de revêtement, sur une partie mobile d'un robot caractérisé en ce qu' il consiste à :In this spirit, the invention relates to a method of mounting a sub-assembly, comprising at least one coating product projector, on a mobile part of a robot characterized in that it consists of:
- engager un support solidaire de la partie mobile dans une bague reliée audit sous-ensemble ;- Engage a support integral with the movable part in a ring connected to said sub-assembly;
- entraîner en rotation cette bague par rapport à ce support en amenant des premiers reliefs prévus à la périphérie de cette bague en regard de seconds reliefs prévus à la périphérie de ce support etdriving this ring in rotation relative to this support by bringing first reliefs provided at the periphery of this ring opposite second reliefs provided at the periphery of this support, and
- déplacer un plan de pose, relié à cette partie mobile, en direction de ce sous-ensemble, jusqu'à ce que ce plan de pose exerce un effort d'appui sur le sous-ensemble, cet effort d'appui étant transmis à la bague, de telle sorte que les premiers et seconds reliefs sont amenés en prise mutuelle .- Move a laying plane, connected to this movable part, in the direction of this sub-assembly, until this laying plane exerts a bearing force on the sub-assembly, this bearing force being transmitted to the ring, so that the first and second reliefs are brought into mutual engagement.
Grâce à l'invention, la bague et le support constituent ensemble un système de verrouillage par rotation, analogue à un système à baïonnette ou à un système dit "à quart de tour", même si l'angle de rotation relatif de la bague par rapport au support n'est pas nécessairement de 90°. Le mouvement du plan de pose permet de rigidifier l'assemblage réalisé grâce à la bague et au support et également d'assurer l'étanchéité de connexions fluidiques et/ou électriques réalisées à l'interface entre le robot et le sous-ensemble considéré. Le procédé de l'invention induit uniquement un mouvement de rotation de la bague et un mouvement de déplacement longitudi- nal du plan de pose, qui peut être une translation, ces mouvements étant mécaniquement simples et pouvant être réalisés de façon particulièrement rapide, de telle sorte que le montage du sous-ensemble et son démontage peuvent être compatibles avec les cadences de production de l'industrie automobile.Thanks to the invention, the ring and the support together constitute a rotation locking system, analogous to a bayonet system or to a so-called "quarter-turn" system, even if the relative angle of rotation of the ring by relation to the support is not necessarily 90 °. The movement of the laying plane makes it possible to stiffen the assembly produced thanks to the ring and to the support and also to ensure the sealing of fluidic and / or electrical connections made at the interface between the robot and the subassembly considered. The method of the invention only induces a movement of rotation of the ring and a movement of longitudinal displacement of the laying plane, which can be a translation, these movements being mechanically simple and being able to be carried out in a particularly rapid manner, such so that the assembly of the subassembly and its disassembly can be compatible with the production rates of the automotive industry.
Selon un aspect avantageux de l'invention, le déplacement du plan de pose est obtenu par l'alimentation en air sous pression d'un volume fermé défini entre le support et le plan de pose. Ce mode de commande en déplacement du piston permet d'obtenir une grande rapidité de mouvement et une force d'appui intense du plan de pose sur le sous-ensemble. Ainsi, l'effort de prise mutuelle des reliefs dépend de la pression d'alimentation de ce volume fermé. L'invention concerne également un dispositif permettant de mettre en oeuvre le procédé tel que précédemment décrit et, plus spécifiquement, un dispositif qui comprend :According to an advantageous aspect of the invention, the displacement of the laying plane is obtained by supplying pressurized air to a closed volume defined between the support and the laying plane. This mode of control in displacement of the piston makes it possible to obtain a great speed of movement and an intense pressing force of the laying surface on the sub-assembly. Thus, the effort of mutual taking of the reliefs depends on the supply pressure of this closed volume. The invention also relates to a device making it possible to implement the method as described above and, more specifically, a device which comprises:
- une bague reliée au sous-ensemble et pourvue, à sa périphérie, de premiers reliefs ;- a ring connected to the sub-assembly and provided, at its periphery, with first reliefs;
- un support solidaire de la partie mobile et pourvu, à sa périphérie, de seconds reliefs ;- a support integral with the movable part and provided, at its periphery, with second reliefs;
- un plan de pose, porté par la partie mobile et apte à être déplacé par rapport au support selon une direction globalement parallèle à un axe central de ce support ;- A laying plane, carried by the movable part and able to be moved relative to the support in a direction generally parallel to a central axis of this support;
- les premiers et seconds reliefs étant aptes à être amenés en prise mutuelle lorsque la bague entoure le support, le plan de pose étant apte à exercer sur le sous-ensemble un effort de verrouillage de ces reliefs. Selon des aspects avantageux de l'invention, les premiers et seconds reliefs comprennent des plots ménagés sur une surface radiale interne de la bague et sur une surface radiale externe du support et aptes à être alignés lorsque la bague est disposée autour du support. Dans ce cas, les surfaces, des plots destinées à venir en appui mutuel sont avantageusement pourvues de moyens de centrage respectifs, ces moyens de centrage pouvant comprendre un logement, prévu sur une des surfaces d'un des plots pour la réception d'un élément en saillie ménagé sur la surface correspondante d'un autre plot. - Le plan de pose comprend des orifices de passage de fluide d'alimentation du projecteur, ces orifices étant aptes à être alignés avec des orifices correspondants du sous- ensemble, et/ou un connecteur électrique apte à coopérer avec un connecteur électrique prévu sur le sous-ensemble pour l'alimentation en courant du projecteur. Grâce au caractère mobile du plan de pose, une étanchéité satisfaisante est obtenue entre les orifices du plan de pose et ceux du sous- ensemble, alors que la liaison électrique réalisée grâce aux connecteurs est fiable et protégée de son environnement. - Le plan de pose est pourvu d'un orifice de passage d'une tige de commande d'un piston d'un réservoir incorporé dans le sous-ensemble pour l'alimentation en produit de revêtement du ou des projecteurs. - Un volume fermé est défini entre le support et le plan de pose, ce volume fermé étant apte à être sélectivement relié à une source d'air sous pression, la valeur de la pression dans ce volume permettant de commander le déplacement du plan de pose .- The first and second reliefs being able to be brought into mutual engagement when the ring surrounds the support, the laying plane being able to exert on the sub-assembly an effort to lock these reliefs. According to advantageous aspects of the invention, the first and second reliefs include studs formed on an internal radial surface of the ring and on an external radial surface of the support and capable of being aligned when the ring is arranged around the support. In this case, the surfaces of the studs intended to come into mutual support are advantageously provided with respective centering means, these centering means possibly comprising a housing, provided on one of the surfaces of one of the studs for receiving an element. protruding formed on the corresponding surface of another stud. - The installation plan includes orifices for passage of the fluid supplying the projector, these orifices being able to be aligned with corresponding orifices of the subassembly, and / or an electrical connector able to cooperate with an electrical connector provided on the sub-assembly for the current supply of the projector. Thanks to the mobile nature of the laying plane, a satisfactory seal is obtained between the orifices of the laying plane and those of the sub-assembly, while the electrical connection produced by means of the connectors is reliable and protected from its environment. - The installation surface is provided with an orifice for the passage of a control rod for a piston of a reservoir incorporated in the sub-assembly for supplying coating product to the projector (s). - A closed volume is defined between the support and the installation plane, this closed volume being able to be selectively connected to a source of pressurized air, the value of the pressure in this volume making it possible to control the movement of the installation plane .
- La bague est pourvue de reliefs aptes à coopérer avec des reliefs de formes correspondantes prévus sur une couronne de manoeuvre appartenant à une station de nettoyage/- remplissage du sous-ensemble pour la commande du déplacement en rotation de cette bague.- The ring is provided with reliefs capable of cooperating with reliefs of corresponding shapes provided on an operating ring belonging to a cleaning station / - filling of the sub-assembly for controlling the rotation movement of this ring.
L'invention sera mieux comprise et d'autres avantages de celle-ci apparaîtront plus clairement à la lumière de la description qui va suivre d'un mode de réalisation d'un dispositif de montage d'un sous-ensemble sur une partie mobile d'un robot et de son procédé de mise en oeuvre, donnée uniquement à titre d'exemple et faite en référence aux dessins annexés dans lesquels :The invention will be better understood and other advantages thereof will appear more clearly in the light of the following description of an embodiment of a device for mounting a subassembly on a movable part of the invention. 'a robot and its implementation method, given solely by way of example and made with reference to the appended drawings in which:
- la figure 1 est une représentation schématique de principe d'une installation de projection de produit de revêtement en cours de fonctionnement ;- Figure 1 is a schematic representation of the principle of an installation for spraying coating product during operation;
- la figure 2 est une vue en perspective partielle, avec arrachements, d'une partie d'une station de nettoyage/ - remplissage de l'installation de la figure 1 ;- Figure 2 is a partial perspective view, with parts broken away, of a part of a cleaning station / - filling the installation of Figure 1;
- la figure 3 est une vue en perspective éclatée de l'extrémité du bras d'un robot de l'installation de la figure- Figure 3 is an exploded perspective view of the end of the arm of a robot of the installation of Figure
1 et d'un sous-ensemble destiné à être monté sur ce robot ;1 and a sub-assembly intended to be mounted on this robot;
- la figure 4 est une coupe longitudinale des éléments de la figure 2 en cours de montage, etFIG. 4 is a longitudinal section of the elements of FIG. 2 during assembly, and
- la figure 5 est une vue analogue à la figure 4 lorsque les éléments sont montés.- Figure 5 is a view similar to Figure 4 when the elements are mounted.
A la figure 1, un automate ou robot 1 est disposé à proximité d'un convoyeur 2 transportant des objets à revêtir, en l'occurrence des carrosseries 3 de véhicules automobiles. Le robot 1 est du type multi-axes et comprend un châssis 4 mobile sur un guide 5 s 'étendant parallèlement à la direction de convoyage X-X' . Un bras 6 supporté par le châssis 4 comprend plusieurs segments 6a, 6b, 6c_ articulés les uns par rapport aux autres. Le châssis 4 est également constitué de parties 4a et 4b articulées l'une par rapport à l'autre autour d'un axe Z-Z' sensiblement vertical. Le segment 6ç du bras 6 supporte un sous-ensemble 7 dans lequel sont prévus un réservoir 8 de produit de revêtement et un projecteur 9. Le projecteur 9 est du type électrostatique et rotatif et il porte un bol 9a destiné à être entraîné à haute vitesse par une turbine à air intégrée dans le projecteur 9. Lorsqu'une carrosserie de véhicule 3 est en place ou défile au niveau du robot 1, le sous-ensemble 7 est déplacé en regard de la carrosserie et le projecteur 9 est activé afin de revêtir cette carrosserie avec le produit contenu dans le réservoir 8. La quantité de produits présente dans le réservoir 8 est adaptée à la surface à revêtir de la carrosserie 3.In FIG. 1, an automaton or robot 1 is placed near a conveyor 2 transporting objects to be coated, in this case bodies 3 of motor vehicles. The robot 1 is of the multi-axis type and comprises a chassis 4 movable on a guide 5 'extending parallel to the conveying direction XX'. An arm 6 supported by the chassis 4 comprises several segments 6a, 6b, 6c_ articulated with respect to each other. The chassis 4 also consists of parts 4a and 4b articulated relative to each other about a substantially vertical axis ZZ '. The segment 6c of the arm 6 supports a subassembly 7 in which a reservoir 8 of coating product and a projector 9 are provided. The projector 9 is of the electrostatic and rotary type and it carries a bowl 9a intended to be driven at high speed by an air turbine integrated in the headlight 9. When a vehicle body 3 is in place or scrolls at the level of the robot 1, the subassembly 7 is moved opposite the body and the headlight 9 is activated in order to coat this bodywork with the product contained in the tank 8. The quantity of products present in the tank 8 is adapted to the surface to be coated of the bodywork 3.
Au terme du revêtement de la carrosserie, et alors qu'une seconde carrosserie est en cours de progression vers le robot 1, celui-ci est orienté vers une station de nettoyage/remplissage 10 située dans son voisinage, à l'intérieur de la cabine de projection.At the end of the coating of the bodywork, and while a second bodywork is progressing towards the robot 1, the latter is oriented towards a cleaning / filling station 10 located in its vicinity, inside the cabin projection.
Comme il apparaît plus clairement à la figure 2, cette station 10 est pourvue de deux zones 11 et 12 de réception de sous-ensembles du type de sous-ensemble 7. Plus précisément, la zone 11 est vide et prête à accueillir le sous-ensemble 7 alors que la zone 12 contient un sous-ensemble analogue 7', qui comprend également un réservoir 8' et un projecteur 9', analogues à ceux du sous-ensemble 7. Les sous-ensembles 7 et 7' peuvent être alternativement montés sur le segment 6ç du bras 6.As can be seen more clearly in FIG. 2, this station 10 is provided with two zones 11 and 12 for receiving sub-assemblies of the type of sub-assembly 7. More specifically, zone 11 is empty and ready to receive the sub- assembly 7 while the zone 12 contains a similar subassembly 7 ', which also includes a reservoir 8' and a projector 9 ', similar to those of the subassembly 7. The subassemblies 7 and 7' can be alternately mounted on segment 6ç of arm 6.
Le sous-ensemble 7 est approché de la zone 11 et introduit dans celle-ci par un mouvement de descente du segment 6ç représenté par la flèche Fx à la figure 2. Il traverse ainsi une couronne 13 délimitant l'orifice d'entrée lia de la zone 11. Une couronne analogue 14 est prévue au niveau supérieur de la zone 12.The subassembly 7 is approached from the zone 11 and introduced into it by a downward movement of the segment 6c represented by the arrow F x in FIG. 2. It thus crosses a ring 13 delimiting the inlet orifice lia of zone 11. A similar crown 14 is provided at the upper level of zone 12.
Le sous-ensemble 7 porte une bague 20 dont la partie inférieure est pourvue d'encoches 21 qui sont prévues pour recevoir des nervures 15 façonnées sur la surface radiale interne 13a de la couronne 13.The subassembly 7 carries a ring 20, the lower part of which is provided with notches 21 which are designed to receive ribs 15 formed on the internal radial surface 13a of the crown 13.
Ainsi, lorsque l'un des sous-ensemble 7 ou 7 ' est disposé dans une zone 11 ou 12, la coopération des éléments 15 et 21 permet de rendre solidaire en rotation la couronne 13 ou 14 et la bague 20 ou 20' de ce sous-ensemble.Thus, when one of the subassembly 7 or 7 'is arranged in a zone 11 or 12, the cooperation of the elements 15 and 21 makes it possible to make the crown 13 or 14 and the ring 20 or 20 'of this subassembly in rotation.
Les couronnes 13 et 14 sont chacune solidaires d'une biellette 16 ou 17, ces biellettes étant reliées entre elles par une bielle 18 commandée par un vérin 19 d'entraînement selon un mouvement de translation, parallèle à son plus grand axe X18 et représenté par la flèche F2. Ainsi, le vérin 19 permet d'entraîner les bagues 20 et 20' des sous-ensembles 7 et 7 ' en rotation autour des axes centraux X1X et X12 des zones 11 et 12.The rings 13 and 14 are each secured to a link 16 or 17, these links being connected together by a link 18 controlled by a drive cylinder 19 in a translational movement, parallel to its largest axis X 18 and shown by arrow F 2 . Thus, the jack 19 makes it possible to drive the rings 20 and 20 ′ of the subassemblies 7 and 7 ′ in rotation around the central axes X 1X and X 12 of the zones 11 and 12.
Comme il ressort plus clairement de la figure 3, la bague 20 est pourvue, sur sa surface radiale interne 20a, de plots 22 séparés par des zones libres 23. Le segment 6ç du bras 6 est équipé d'un support 30, de forme globalement cylindrique et dont la surface radiale externe 30a a un diamètre légèrement inférieur à celui de la surface 20a.As can be seen more clearly from FIG. 3, the ring 20 is provided, on its internal radial surface 20a, with studs 22 separated by free zones 23. The segment 6c of the arm 6 is equipped with a support 30, of overall shape cylindrical and whose outer radial surface 30a has a diameter slightly smaller than that of the surface 20a.
Lors du montage et du démontage d'un ensemble 7 ou 7' sur le segment 6c., les axes centraux X20 et X30 respectifs des éléments 20 et 30 sont confondus.During assembly and disassembly of a 7 or 7 'assembly on segment 6c . , the respective central axes X 20 and X 30 of the elements 20 and 30 are combined.
La surface 30a est également équipée de plots 32 dont la largeur est inférieure à celle des zones 23.The surface 30a is also equipped with studs 32 whose width is less than that of the zones 23.
Un plan de pose 24 est formé en partie supérieure du sous-ensemble 7 et est pourvu d'orifices 25 de passage d'air ou d'autres fluides pour la commande du réservoir 8 et du projecteur 9 et pour le contrôle de ces dispositifs. Un connecteur électrique 26 est également prévu pour l'alimentation en haute tension du projecteur 9. Un plan de pose correspondant 34 est défini dans la partie centrale du support 30 et comprend également des orifices 35 de passage d'air et un connecteur électrique 36 raccordé à une unité haute tension non représentée.A seating plane 24 is formed in the upper part of the subassembly 7 and is provided with orifices 25 for the passage of air or other fluids for controlling the reservoir 8 and the projector 9 and for controlling these devices. An electrical connector 26 is also provided for supplying the projector with high voltage 9. A corresponding laying plane 34 is defined in the central part of the support 30 and also includes orifices 35 for passage of air and an electrical connector 36 connected to a high voltage unit not shown.
Les orifices 25 et 35 d'une part et les connecteurs 26 et 36 d'autre part sont prévus pour être alignés lorsque le sous-ensemble 7 est monté sur le segment 6ç_.The orifices 25 and 35 on the one hand and the connectors 26 and 36 on the other hand are intended to be aligned when the sub-assembly 7 is mounted on the segment 6ç_.
Le montage d'un sous-ensemble 7 ou 7' sur le segment 6c a lieu alors que ce sous-ensemble est en place dans l'une des zones de réception 11 ou 12 et que sa bague 20 est en appui sur l'une des couronnes 13 ou 14. Dans cette configuration, le support 30 est introduit dans la bague 20 comme représenté par la flèche F3 à la figure 3, les plots 32 passant dans les zones 23, entre les plots 22 de la bague 20. Un mouvement de rotation représenté par la flèche F4 est alors imprimé à la bague 20 grâce à l'activation du vérin 19 qui entraîne la couronne 13 ou 14 et, par la même, la bague 20, ce qui a pour effet d'amener les plots 22 en regard des plots 32. On est alors dans la configuration de la figure 4.The mounting of a subassembly 7 or 7 'on the segment 6c takes place while this subassembly is in place in one of the reception zones 11 or 12 and its ring 20 is supported on one of the rings 13 or 14. In this configuration, the support 30 is introduced into the ring 20 as shown by the arrow F 3 in FIG. 3, the studs 32 passing through the zones 23, between the studs 22 of the ring 20. A rotational movement represented by the arrow F 4 is then printed on the ring 20 by activating the jack 19 which drives the crown 13 or 14 and , by the same token, the ring 20, which has the effect of bringing the studs 22 opposite the studs 32. We are then in the configuration of FIG. 4.
Dans cette configuration, les surfaces inférieures 22a des plots 22 dirigées vers le sous-ensemble 7 et les surfaces supérieures 32a des plots 32 dirigées vers le segment 6ç_ sont en regard les unes des autres. Les surfaces 22a portent un ergot 27 faisant saillie en direction du plan de pose 24. Par ailleurs, les surfaces 32a sont chacune pourvues d'une encoche 37 de réception d'un ergot 27.In this configuration, the lower surfaces 22a of the studs 22 directed towards the subassembly 7 and the upper surfaces 32a of the studs 32 directed towards the segment 6ç_ are opposite one another. The surfaces 22a carry a lug 27 projecting in the direction of the laying plane 24. Furthermore, the surfaces 32a are each provided with a notch 37 for receiving a lug 27.
Ainsi, après le mouvement de rotation F4, un ergot 27 de chaque surface 22a est en regard d'une encoche 37 d'un plot 32, les éléments 27 et 37 étant chacun prévus dans la partie centrale des surfaces 22a et 32a.Thus, after the rotational movement F 4 , a lug 27 of each surface 22a is opposite a notch 37 of a stud 32, the elements 27 and 37 each being provided in the central part of the surfaces 22a and 32a.
Le plan de pose 34 est mobile selon la direction de l'axe X30 par rapport au support 30. En effet, un volume annulaire 38 est défini entre la surface interne du support 30 et la surface externe du plan de pose 34, ce volume 38 étant relié, par une ligne commandée non représentée, à une source d'air comprimé également non représentée.The laying plane 34 is movable in the direction of the axis X 30 relative to the support 30. In fact, an annular volume 38 is defined between the internal surface of the support 30 and the external surface of the laying plane 34, this volume 38 being connected, by a controlled line not shown, to a source of compressed air also not shown.
Après la rotation F4, le volume 38 est mis sous pression, ce qui a pour effet de déplacer, en translation parallèle à l'axe X30 et comme représentée par la flèche F5, le plan de pose 34 jusqu'à un appui ferme sur le plan de pose 24, de telle sorte que l'étanchéité des jonctions entre les orifices 25 et 35, d'une part, et entre les connecteurs 26 et 36, d'autre part, est réalisée de façon sûre alors que cet effort, représenté par la flèche F6 à la figure 5 a pour effet de plaquer les surfaces 22a sur les surfaces 32a et de faire pénétrer les ergots 27 dans les encoches 37, ce qui assure un verrouillage mécanique efficace du sous-ensemble 7 sur le segment 6ç.After the rotation F 4 , the volume 38 is pressurized, which has the effect of moving, in translation parallel to the axis X 30 and as represented by the arrow F 5 , the laying plane 34 until a support closes on the installation plane 24, so that the tightness of the junctions between the orifices 25 and 35, on the one hand, and between the connectors 26 and 36, on the other hand, is carried out securely while this force, represented by arrow F 6 in FIG. 5, has the effect of pressing the surfaces 22a on the surfaces 32a and causing the pins 27 to penetrate into the notches 37, which ensures a effective mechanical locking of the sub-assembly 7 on the segment 6ç.
La coopération des ergots 27 et des encoches 37 permet d'obtenir, sous l'effet de l'effort F6, un blocage en rotation de la bague 20 et du support 30. En outre, en cas de perte de pression dans le volume 38, le dispositif d' actionnement du piston 8a maintient un effort axial sur la bague 20, ce qui assure, grâce aux éléments 27 et 37, un verrouilage mécanique efficace . Le plan de pose 24 est également pourvu d'un orifice central 29 alors que le plan de pose 34 est prévu d'un orifice central 39 de même section interne dans lequel peut coulisser une tige 40 de commande de la position du piston 8a du réservoir 8. Ainsi, dans la configuration de la figure 5, il est possible de commander la position du piston 8a, en particulier pour l'alimentation de projecteur 9, grâce à la commande de la tige 40 qui peut être réalisée de façon précise au moyen d'un actionneur non représenté prévu dans le segment 6ç. Lors des opérations de montage et de démontage d'un sous- ensemble 7 sur le segment 6ç_, la tige 40 est rétractée à l'intérieur du sous-ensemble 6, comme représenté aux figures 3 et 4.The cooperation of the pins 27 and the notches 37 makes it possible to obtain, under the effect of the force F 6 , a rotation blocking of the ring 20 and of the support 30. In addition, in the event of a loss of pressure in the volume 38, the piston actuation device 8a maintains an axial force on the ring 20, which ensures, thanks to the elements 27 and 37, an effective mechanical locking. The laying plane 24 is also provided with a central orifice 29 while the laying plane 34 is provided with a central orifice 39 of the same internal section in which a rod 40 for controlling the position of the piston 8a of the reservoir can slide 8. Thus, in the configuration of FIG. 5, it is possible to control the position of the piston 8a, in particular for the supply of headlight 9, by means of the control of the rod 40 which can be produced precisely by means an actuator not shown provided in segment 6ç. During the assembly and disassembly operations of a sub-assembly 7 on the segment 6ç_, the rod 40 is retracted inside the sub-assembly 6, as shown in FIGS. 3 and 4.
Lorsqu'il convient de désolidariser un sous-ensemble 7 par rapport au segment 6ç_, par exemple lors de l'étape suivant celle représentée à la figure 2, la pression dans le volumeWhen it is advisable to separate a subassembly 7 relative to the segment 6ç_, for example during the step following that represented in FIG. 2, the pressure in the volume
38 est ramenée à la pression atmosphérique, de telle sorte que l'effort F5 est supprimé, la tige 40 étant rétractée.38 is brought back to atmospheric pressure, so that the force F 5 is eliminated, the rod 40 being retracted.
Il est alors possible d'entraîner en rotation la bague 20 autour des axes X20-X30 dans le sens de la flèche F4 ou dans le sens opposé, de façon à amener les plots 22 et 32 dans une configuration telle qu'ils ne se font plus face. Le segment 6ç_ peut alors être soulevé, par un mouvement inverse de celui représenté avec la flèche F3, et amené en regard du second sous-ensemble 7' qui peut être monté sur le segment 6ç comme indiqué précédemment .It is then possible to rotate the ring 20 around the axes X 20 -X 30 in the direction of the arrow F 4 or in the opposite direction, so as to bring the studs 22 and 32 in a configuration such that they no longer face each other. The segment 6ç_ can then be lifted, by a movement opposite to that shown with the arrow F 3 , and brought opposite the second sub-assembly 7 'which can be mounted on the segment 6ç as indicated above.
Les éléments constitutifs du dispositif de l'invention sont réalisés en matière électriquement isolante, par exemple en matière plastique appropriée. Ceci permet d'éviter les risques d'arcs électriques entre des parties portées à la haute tension, tels que le bol du projecteur et le contenu du réservoir dans le cas d'un projecteur du type électrostatique et d'un produit de revêtement hydrosoluble, d'une part, et des parties au potentiel de la terre, telles que le poignet du robot, d'autre part. Le dispositif est configuré de telle sorte qu'il ne comprend pas d'élément électriquement conducteur à proximité des parties à la haute tension. L'invention permet donc un changement rapide de sous- ensemble à l'extrémité du bras d'un robot multi-axes, ce qui permet de peindre des carrosseries 3 avec une cadence élevée, le nettoyage du réservoir 8 et du projecteur 9 étant effectué en temps masqué, pendant l'utilisation des éléments correspon- dants 8' et 9' du sous-ensemble 7' .The components of the device of the invention are made of electrically insulating material, for example made of suitable plastic. This avoids the risk of electric arcs between parts brought to high voltage, such as the projector bowl and the contents of the tank in the case of an electrostatic type projector and a water-soluble coating product, on the one hand, and parts of the earth's potential, such as the robot's wrist, on the other. The device is configured so that it does not include an electrically conductive element near the high voltage parts. The invention therefore allows a rapid change of subassembly at the end of the arm of a multi-axis robot, which makes it possible to paint bodies 3 with a high rate, the cleaning of the tank 8 and of the projector 9 being carried out. in masked time, during the use of the corresponding elements 8 'and 9' of the sub-assembly 7 '.
L'invention a été représentée avec un robot multi-axes et un sous-ensemble 7 comprenant un réservoir, elle est cependant applicable à tout type de robot et à tout type de sous-ensemble, qu'il intègre ou non un réservoir d'alimenta- tion du ou des projecteurs considérés.The invention has been represented with a multi-axis robot and a sub-assembly 7 comprising a reservoir, it is however applicable to any type of robot and to any type of sub-assembly, whether or not it incorporates a reservoir of powering of the projector (s) considered.
Selon des variantes de réalisation de l'invention, la bague 20 peut être montée libre en rotation autour du sous- ensemble 7. Le sous-ensemble peut comprendre deux ou plus de deux projecteurs qui peuvent être de tout type connu. L'invention a été représentée avec un mouvement F3 d'introduction du support 30 dans la bague 20. Il serait également possible d'utiliser un mouvement inverse selon lequel la bague 20 serait déplacée pour être engagée autour du support 30. Dans tous les cas, le support 30 est engagé dans la bague au sens de la présente invention.According to alternative embodiments of the invention, the ring 20 can be mounted to rotate freely around the sub-assembly 7. The sub-assembly can comprise two or more than two projectors which can be of any known type. The invention has been shown with a movement F 3 for introducing the support 30 into the ring 20. It would also be possible to use a reverse movement according to which the ring 20 would be moved to be engaged around the support 30. In all the case, the support 30 is engaged in the ring within the meaning of the present invention.
Grâce à l'invention, il est possible de changer rapidement le sous-ensemble 7 monté sur le bras 6 d'un robot 1 et, en particulier, de changer de type de sous-ensemble, les sous- ensembles 7 et 7' n'étant pas forcément identiques. Ainsi, les caractéristiques du projeteur 9, du réservoir 8 ou du système de charge électrostatique associé peuvent-elles être adaptées en fonction de l'application recherchée. Thanks to the invention, it is possible to quickly change the sub-assembly 7 mounted on the arm 6 of a robot 1 and, in particular, to change the type of sub-assembly, the sub-assemblies 7 and 7 'n being not necessarily identical. Thus, the characteristics of the sprayer 9, of the reservoir 8 or of the associated electrostatic charging system can they be adapted according to the desired application.

Claims

REVENDICATIONS
1. Procédé de montage d'un, sous-ensemble (7-7') comprenant au moins un projecteur (9, 9') de produit de revêtement sur une partie mobile (6ç_) d'un robot (6), caractérisé en ce qu'il consiste à :1. A method of mounting a sub-assembly (7-7 ') comprising at least one projector (9, 9') of coating product on a mobile part (6ç_) of a robot (6), characterized in what it consists of:
- engager (F3) un support (30) solidaire de ladite partie mobile dans une bague (20) reliée dudit sous-ensemble (7) ;- Engage (F 3 ) a support (30) integral with said movable part in a ring (20) connected to said subassembly (7);
- entraîner en rotation (F4) ladite bague (20) par rapport audit support (30) , en amenant des premiers reliefs (22) prévus à la périphérie de ladite bague en regard de seconds reliefs (32) prévus à la périphérie dudit support et - déplacer (F5) un plan de pose (34) , relié à ladite partie mobile (6) , en direction dudit sous-ensemble (7) jusqu'à ce que ledit plan de pose exerce un effort (F6) d'appui sur ledit sous-ensemble, ledit effort d'appui étant transmis à ladite bague, de telle sorte que lesdits premiers et seconds reliefs (22, 32) sont amenés en prise mutuelle.- Driving in rotation (F 4 ) said ring (20) relative to said support (30), by bringing first reliefs (22) provided at the periphery of said ring opposite second reliefs (32) provided at the periphery of said support and - moving (F 5 ) a laying plane (34), connected to said movable part (6), in the direction of said sub-assembly (7) until said laying plane exerts a force (F 6 ) d pressing on said subassembly, said pressing force being transmitted to said ring, so that said first and second reliefs (22, 32) are brought into mutual engagement.
2. Procédé selon la revendication 1, caractérisé en ce que le déplacement (F5) dudit plan de pose est obtenu par l'alimentation en air sous pression d'un volume fermé (38) défini entre ledit support (30) et ledit plan de pose (34) . 2. Method according to claim 1, characterized in that the displacement (F 5 ) of said laying plane is obtained by supplying pressurized air to a closed volume (38) defined between said support (30) and said plane installation (34).
3. Dispositif de montage d'un sous-ensemble (7, 7') comprenant au moins un projecteur (9, 9') de produit de revêtement sur une partie mobile (6ç_) d'un robot (6), caractérisé en ce qu'il comprend :3. Device for mounting a sub-assembly (7, 7 ') comprising at least one projector (9, 9') of coating product on a mobile part (6ç_) of a robot (6), characterized in that that he understands:
- une bague (20) reliée audit sous-ensemble et pourvue, à sa périphérie, de premiers reliefs (22) ;- A ring (20) connected to said sub-assembly and provided, at its periphery, with first reliefs (22);
- un support (30) solidaire de ladite partie mobile (6ç_) et pourvu, à sa périphérie, de seconds reliefs (32) et- a support (30) integral with said movable part (6ç_) and provided, at its periphery, with second reliefs (32) and
- un plan de pose (34), porté par ladite partie mobile (6ç_) et apte à être déplacé (F5) par rapport audit support (30) selon une direction globalement parallèle à un axe central (X30) dudit support,- a laying plane (34), carried by said movable part (6ç_) and able to be moved (F 5 ) relative to said support (30) in a direction generally parallel to a central axis (X 30 ) of said support,
- lesdits premiers et seconds reliefs (22, 32) étant aptes à être amenés en prise mutuelle lorsque ladite bague (20) entoure ledit support (30) , ledit plan de pose (34) étant apte à exercer, sur ledit sous-ensemble, un effort (F6) de verrouillage desdits reliefs.- said first and second reliefs (22, 32) being able to be brought into mutual engagement when said ring (20) surrounds said support (30), said laying plane (34) being capable of exerting, on said subassembly, a force (F 6 ) for locking said reliefs.
4. Dispositif selon la revendication 3, caractérisé en ce que lesdits premiers et seconds reliefs comprennent des plots (22, 32) ménagés sur une surface radiale interne (20a) de ladite bague (20) et sur une surface radiale externe (30a) dudit support (30) et aptes à être alignés (F4) lorsque ladite bague (20) est disposée autour dudit support (30) . 4. Device according to claim 3, characterized in that said first and second reliefs include studs (22, 32) formed on an internal radial surface (20a) of said ring (20) and on an external radial surface (30a) of said support (30) and able to be aligned (F 4 ) when said ring (20) is arranged around said support (30).
5. Dispositif selon la revendication 4, caractérisé en ce que les surfaces (22a, 32a) desdits plots destinées à venir en appui mutuel sont pourvues de moyens (27, 37) de centrage respectifs .5. Device according to claim 4, characterized in that the surfaces (22a, 32a) of said studs intended to come into mutual support are provided with means (27, 37) for respective centering.
6. Dispositif selon la revendication 5, caractérisé en, ce qu'au moins une surface (32a) d'un desdits plots (32) destinée à venir en appui contre sur surface correspondante6. Device according to claim 5, characterized in that at least one surface (32a) of one of said studs (32) intended to bear against the corresponding surface
(22a) d'un autre plot (22) est pourvue un logement (37) de réception d'un élément en saillie (27) ménagé sur ladite surface correspondante. (22a) of another stud (22) is provided with a housing (37) for receiving a projecting element (27) formed on said corresponding surface.
7. Dispositif selon l'une des revendications 3 à 6, caractérisé en ce que ledit plan de pose (34) comprend des orifices (35) de passage de fluide d'alimentation dudit projecteur (9), lesdits orifices étant aptes à être alignés avec des orifices correspondants (25) dudit sous-ensemble (7) , et/ou un connecteur électrique (36) , apte à coopérer avec un connecteur électrique (26) prévu sur ledit sous-ensemble pour l'alimentation en courant dudit projecteur.7. Device according to one of claims 3 to 6, characterized in that said laying plane (34) comprises orifices (35) for the passage of fluid supplying said projector (9), said orifices being able to be aligned with corresponding orifices (25) of said sub-assembly (7), and / or an electrical connector (36), capable of cooperating with an electrical connector (26) provided on said sub-assembly for the current supply of said projector.
8. Dispositif selon l'une des revendications 3 à 7, caractérisé en ce que ledit plan de pose (34) est pourvu d'un orifice (39) de passage d'une tige (40) de commande d'un piston (8a) d'un réservoir (8) incorporé dans ledit sous- ensemble (7) pour l'alimentation en produit de revêtement dudit un projecteur (9) .8. Device according to one of claims 3 to 7, characterized in that said laying plane (34) is provided with an orifice (39) for passage of a rod (40) for controlling a piston (8a ) a reservoir (8) incorporated in said subassembly (7) for supplying coating product to said projector (9).
9. Dispositif selon l'une des revendications 3 à 8, caractérisé en ce qu'un volume fermé (38) est défini entre ledit support (30) et ledit plan de pose (34) , ledit volume étant apte à être sélectivement relié à une source d'air sous pression, la valeur de la pression dans ledit volume permet- tant de commander ledit plan de pose en déplacement (F5) .9. Device according to one of claims 3 to 8, characterized in that a closed volume (38) is defined between said support (30) and said laying plane (34), said volume being able to be selectively connected to a source of pressurized air, the value of the pressure in said volume allows as long as ordering said laying plan on the move (F 5 ).
10. Dispositif selon l'une des revendications 3 à 9, caractérisé en ce que ladite bague (20) est pourvue de reliefs10. Device according to one of claims 3 to 9, characterized in that said ring (20) is provided with reliefs
(21) aptes à coopérer avec des reliefs (15) de forme correspondante prévus sur une couronne (13, 14) de manoeuvre appartenant à une station (10) de nettoyage/remplissage dudit sous-ensemble (7) pour la commande du déplacement en rotation(21) able to cooperate with reliefs (15) of corresponding shape provided on a maneuvering ring (13, 14) belonging to a station (10) for cleaning / filling said subassembly (7) for controlling movement in rotation
(F4) de ladite bague. (F 4 ) of said ring.
EP00958683A 1999-08-30 2000-08-11 Method and device for mounting a subassembly comprising at least a coating product sprayer on a robot mobile part Expired - Lifetime EP1207965B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9910993 1999-08-30
FR9910993A FR2797789B1 (en) 1999-08-30 1999-08-30 METHOD AND DEVICE FOR MOUNTING A SUB-ASSEMBLY INCLUDING AT LEAST ONE COATING PROJECTOR ON A MOBILE PART OF A ROBOT
PCT/FR2000/002317 WO2001015815A1 (en) 1999-08-30 2000-08-11 Method and device for mounting a subassembly comprising at least a coating product sprayer on a robot mobile part

Publications (2)

Publication Number Publication Date
EP1207965A1 true EP1207965A1 (en) 2002-05-29
EP1207965B1 EP1207965B1 (en) 2004-03-24

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Application Number Title Priority Date Filing Date
EP00958683A Expired - Lifetime EP1207965B1 (en) 1999-08-30 2000-08-11 Method and device for mounting a subassembly comprising at least a coating product sprayer on a robot mobile part

Country Status (15)

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US (1) US6349884B1 (en)
EP (1) EP1207965B1 (en)
JP (1) JP4392148B2 (en)
KR (1) KR100695865B1 (en)
CN (1) CN1137791C (en)
AT (1) ATE262381T1 (en)
AU (1) AU7012900A (en)
BR (1) BR0013588A (en)
CA (1) CA2382702A1 (en)
DE (1) DE60009308T2 (en)
ES (1) ES2214309T3 (en)
FR (1) FR2797789B1 (en)
MX (1) MXPA02001491A (en)
TW (1) TW526097B (en)
WO (1) WO2001015815A1 (en)

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Also Published As

Publication number Publication date
EP1207965B1 (en) 2004-03-24
JP4392148B2 (en) 2009-12-24
DE60009308D1 (en) 2004-04-29
TW526097B (en) 2003-04-01
MXPA02001491A (en) 2002-07-02
US6349884B1 (en) 2002-02-26
ATE262381T1 (en) 2004-04-15
JP2003508198A (en) 2003-03-04
CA2382702A1 (en) 2001-03-08
KR20020028223A (en) 2002-04-16
WO2001015815A1 (en) 2001-03-08
CN1374889A (en) 2002-10-16
AU7012900A (en) 2001-03-26
KR100695865B1 (en) 2007-03-19
BR0013588A (en) 2002-05-07
CN1137791C (en) 2004-02-11
FR2797789A1 (en) 2001-03-02
FR2797789B1 (en) 2001-11-23
DE60009308T2 (en) 2005-03-10
ES2214309T3 (en) 2004-09-16

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