EP3768466A1 - Système de transfert de pièces pour atelier - Google Patents
Système de transfert de pièces pour atelierInfo
- Publication number
- EP3768466A1 EP3768466A1 EP19709762.9A EP19709762A EP3768466A1 EP 3768466 A1 EP3768466 A1 EP 3768466A1 EP 19709762 A EP19709762 A EP 19709762A EP 3768466 A1 EP3768466 A1 EP 3768466A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- parts
- platform
- workstations
- gripper
- autonomous vehicle
- 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.)
- Withdrawn
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
- B23P21/004—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 the units passing two or more work-stations whilst being composed
-
- 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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production 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
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
- B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
Definitions
- the invention relates to the field of industrial parts manufacturing workshops, including machine shops. More particularly, the invention relates to workpiece transfer systems for workshops.
- a machine shop includes one or more machining lines, each consisting of several machines to perform different operations on a part (turning, milling, roller burnishing, drilling, tapping rectification, superfinishing ).
- a machining range of a part gives the order in which the machining operations are performed and thus the path of the workpiece in the machining line. This range of machining can be different from one room to another. Thus, the path of a room in the workshop can take different paths.
- the machines used and the order in which the parts are operated on these machines vary according to the machining range.
- Parts are moved along the machining line by various means that can be manual or partially or fully automated.
- the parts can be placed on carts pushed by an operator, from station to station, or placed in a tray deposited on an autonomous autonomous vehicle (AGV).
- AGV autonomous autonomous vehicle
- An object of the invention is thus to reduce the footprint of the workshops equipped with a system according to the invention.
- the subject of the invention is a workpiece transfer system for a workshop comprising: - workstations configured to work parts, and to obtain work pieces,
- At least one autonomous vehicle adapted to travel on the platform and to transfer the parts, to or from at least one of said workstations, through at least one of said openings.
- Parts that are intended for a workstation to be worked on. They may be rough parts intended for a first workstation or parts partially worked in transit between two workstations.
- Parts Worked Parts leaving a workstation.
- the workshop further comprises one or more of the following features, taken in isolation or in any technically feasible combination:
- the system according to the invention comprises a feeding device for bringing the parts at the platform;
- the system according to the invention comprises an evacuation device for evacuating the worked parts of the platform;
- the platform includes:
- an input storage zone adapted for temporary storage of parts intended to be worked on at least one of the workstations, and / or an outlet storage area suitable for temporary storage of the parts worked, and / or
- the autonomous vehicle comprises a gripper, the gripper being configured to enter parts, workpieces, and / or covers adapted to close the openings;
- At least one of the workstations has a gripper adapted to seize the parts or parts worked;
- the system further comprises a device configured to transfer the workpieces or parts worked between the gripper of the autonomous vehicle and the gripper of said at least one of the workstations;
- the device configured to transfer the parts or parts worked is a robot or a device up and down;
- the device configured to transfer the parts or work pieces is embedded on said autonomous vehicle;
- the device configured to transfer the workpieces or parts worked is integral with the platform;
- the platform comprises removable slabs adapted to be selectively removed and put back in place, the removal of one of the slabs for creating one of said openings, and the replacement of one of the slabs allowing an autonomous vehicle to circulate on said one of the slabs;
- the autonomous vehicle ensures the path of parts between a storage area, a coin supply device, or a coin evacuation device, and at least one of the openings.
- the invention optionally includes a number of other features which will be more explicitly discussed below with respect to embodiments described with reference to the accompanying drawing, but not limiting.
- FIG. 1 is a schematic representation of a workshop equipped with a part transfer system according to the invention.
- FIG. 1 schematically shown a machine shop comprising a system 1 according to the invention, and a floor 2.
- the system 1 comprises for example six workstations 3 arranged on the floor
- Each workstation 3 may comprise a machine performing one or more operations on a part, for example by milling. It comprises a gripper 9 for receiving a part 10, 1 1, 17, possibly seize and / or manipulate on the machine and clamp.
- This gripper 9 can thus be passive or active. For example, it may be a mandrel.
- the system 1 comprises a platform 4 is placed above the workstations 3, away from the workstations 3, and for example 3.5 m from the ground.
- the system 1 also comprises, for example, two autonomous vehicles 5 traveling on the platform 4 and ensuring the handling of parts 10 to be operated on the workstations 3.
- the platform 4 is provided with openings 8, for example vertically through, located substantially vertically workstations 3, and through which the parts 10 are transferred from an autonomous vehicle 5 to one of the workstations 3 When they are not used, the openings 8 are advantageously closed by a cover 19 comprising an attachment point 20.
- the openings 8 are formed by hatches equipped with an articulated lid that folds to close the hatch.
- the autonomous vehicles 5 are advantageously electric and powered by an onboard battery. They can also be powered electrically by the ground or by an electrified net, for example disposed above the platform 4.
- a maintenance area may for example be defined around the autonomous vehicle 5 broken down, to which the other autonomous vehicles 5 in service no longer have access.
- An optional feed device 12 makes it possible to bring the parts 10 to be operated on at least one of the workstations 3 to the platform 4.
- the feed device 12 is positioned on the floor .
- the feeder 12 can deposit the parts 10 on an input storage area 6 where the parts 10 are stored temporarily before being operated on the workstation 3.
- the feed device 12 can also transfer the parts 10 directly to the autonomous vehicles 5.
- the feed device 12 shown in FIG. 1 is a system going up and down. It can also be a robot.
- the parts worked 1 1 on the workstations 3 can be placed on an outlet storage area 7 of the platform 4 before being evacuated.
- This output storage area may be distinct from or confused with the area of the input storage area 6.
- An optional evacuation device 13 makes it possible to evacuate worked pieces 1 1 from the platform.
- the latter can take the work pieces 1 1 waiting on the outlet storage area 7 or take them directly on a self-driving vehicle 5.
- the evacuation device 13 is positioned on the ground. It can also be attached to the platform.
- a single device 18 (shown in two places in FIG. 1) provides the two parts feeding functions. These devices 13, 18 may be of the up and down type. They can also be robots or any other known nature.
- the platform 4 may also include an intermediate storage area 16 in which lids 19 and / or rooms 17 are stored in transit between two workstations 3. According to one particular embodiment, this intermediate storage area 16 may be merged. with the input storage area 6 or the output storage area 7.
- the covers 19 can also be placed on a dedicated storage area not shown.
- the parts 17 are parts 10 being processed by the workstations 3, for example parts to be worked by workstations 3 performing different operations. In other words, the parts in transit 17 are partially worked parts.
- the zones 6, 7, 16 are advantageously delimited / marked on the platform 4.
- the platform 4 is advantageously modular in order to easily change the position of the openings 8 according to the desired changes in the number and position of the workstations.
- the platform 4 may for example consist of a metal structure with transverse and longitudinal crosses between which are placed removable slabs, for example flush.
- removable slabs for example flush.
- the implementation of the workshop is simplified, we can group the workstations by size or type of machines. It is the vehicles that will reach the respective machines according to the range of operation to be performed on the parts.
- the machining line can be modified and adapted to infinity, within the limits of the combinations of available machines and according to each production.
- the autonomous vehicles 5 provide the path on the platform 4 of the parts 10, 1 1, 17 between the storage areas 6, 7, 16, the feed device 12, 18, the evacuation device 13, 18, and the openings 8 placed substantially to the right of the work stations 3.
- the autonomous vehicles 5 can move on the platform 4 in all directions, avoiding other vehicles, openings 8 and a possible maintenance or storage area.
- Each autonomous vehicle 5 can advantageously transport one or more parts 10, 1 1, 17 at a time. In the case where at least two pieces are transported at a time, they can be placed on a tray (not shown) or any other means. The tray can then be manipulated by the gripper 14 of the autonomous vehicle. Alternatively, the tray, or any other means, is attached to the autonomous vehicle and the gripper 14 can place and remove the parts of the tray.
- the displacement of each of the autonomous vehicles 5 on the platform is for example made according to a path optimized by a computer program comprising one or more algorithms. It takes into account the position of the openings 8 as well as the position and the path of the other autonomous vehicles, as well as a possible maintenance or storage zone, in order to reduce the duration of the displacements and the distance traveled.
- the computer program also optimizes the flow of parts by limiting intermediate storage and choosing which storage areas to store. For workshops with many autonomous vehicles, the computer program optimizes the use of vehicles by assigning tasks to vehicles according to their positions on the platform and the journeys to be traveled, and taking into account their utilization rate. and the level of their battery.
- the computer program may include a self-learning system, for example by neural network, to optimize the productivity of the workshop according to operations carried out previously.
- the autonomous vehicles 5 also move the covers 19 which close the openings 8 between these openings and a storage area of the covers.
- the autonomous vehicles 5 comprise a gripper 14 for gripping and handling parts 10, 1 1, 17 and the covers 19 by their attachment point 20.
- the gripper 14 of the autonomous vehicles can also allow to maneuver the hinged covers.
- a gripper dedicated to articulated lids can also be provided.
- the openings 8 may be equipped with a means for operating the articulated covers without the intervention of an autonomous vehicle.
- a device 15 handling parts 10, 1 1, 17 allows the transfer of parts between the gripper 14 of an autonomous vehicle 5 and the gripper 9 of a workstation 3.
- This device 15 is shown in FIG. 1 boarded the autonomous vehicle. It can also be secured to the platform 4, by being placed on it or being fixed on its underside facing the workstations 3.
- the system 1 may comprise only 15 devices for handling parts on vehicles autonomous, only parts handling devices 5 integral with the platform 4, or a combination of both, some workstations 3 having their dedicated parts handling device 15.
- the feed device 12 directly feeds the first workstation 3 into parts 10, that is to say without passing them through the platform. Then, the parts handling devices 15, combined with the autonomous vehicles, ensure the routing of the workstation parts at the workstation.
- the workshop 1 may also not include evacuation device 13, the workpieces 1 1 being taken directly to the last workstation and evacuated by any means known in itself.
- the autonomous vehicles 5 may be provided with two or more grippers to treat very different pieces of nature. They can also be equipped with easily interchangeable grippers by manual or automatic operation.
- the autonomous vehicles 5 may also be provided with two or more parts handling systems 15 for treating very different parts or supplying workstations of very different characteristics.
- the handling device 15 can be telescopic.
- the telescopic handling device can extend to reach a workstation for laying a workpiece or for retrieving a workpiece.
- inspection operations may be performed after each workstation to verify that the part is compliant. If the inspected part does not comply, an adjustment of one or more of the workstations 3 is possibly carried out.
- the parts processing makes it possible to request a parts inspection at any time and on each of the workstations 3.
- One or more of the autonomous vehicles 5 can be configured to take the part to be inspected and make it available for the inspection operations. .
- the invention frees the space at ground level.
- An operator (not shown) has a clear space of conveyors, gantry feet, bases, robots and screen protectors.
- the operator can circulate easily around workstations without risk of collision with an autonomous vehicle. It can also easily work on the workstations 3, because their environment is not cluttered by ancillary equipment handling or storage parts.
- the floor area of workshop 1 is greatly reduced.
- the investment in a new machine shop can be made in stages: a single autonomous vehicle is sufficient for a very low rate. The number of vehicles is then adjusted according to the need of cadence.
- the system 1 described above has reduced ground dimensions.
- the system 1 limits the risk of accidents related to the movement of the parts 10, 17 between the workstations 3, and optimizes the flow of parts between the workstations. Finally, it facilitates access to the workstations 3 by the operator or operators of the workshop.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Intermediate Stations On Conveyors (AREA)
- Multi-Process Working Machines And Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1852315A FR3078957B1 (fr) | 2018-03-19 | 2018-03-19 | Systeme de transfert de pieces pour atelier |
PCT/EP2019/056620 WO2019179901A1 (fr) | 2018-03-19 | 2019-03-15 | Système de transfert de pièces pour atelier |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3768466A1 true EP3768466A1 (fr) | 2021-01-27 |
Family
ID=62222982
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19709762.9A Withdrawn EP3768466A1 (fr) | 2018-03-19 | 2019-03-15 | Système de transfert de pièces pour atelier |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3768466A1 (fr) |
FR (1) | FR3078957B1 (fr) |
MA (1) | MA52067A (fr) |
WO (1) | WO2019179901A1 (fr) |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06143067A (ja) * | 1992-10-29 | 1994-05-24 | Sando Yakuhin Kk | 高品質製品の製造プラント |
JPH08155761A (ja) * | 1994-12-08 | 1996-06-18 | Mazda Motor Corp | 生産設備 |
JPH09295292A (ja) * | 1996-04-30 | 1997-11-18 | Murata Mach Ltd | 把持装置 |
DE19737839C2 (de) * | 1997-08-29 | 2001-03-08 | Siemens Ag | Transportsystem |
JP2008100805A (ja) * | 2006-10-18 | 2008-05-01 | Ihi Corp | 基板保管庫 |
CN205870513U (zh) * | 2016-07-19 | 2017-01-11 | 广州明珞汽车装备有限公司 | 一种智能移动机械手 |
CN107309870A (zh) * | 2017-06-09 | 2017-11-03 | 浙江安控科技有限公司 | 一种机床传送agv上的手爪磁驱斥力调节装置及方法 |
CN107450542A (zh) * | 2017-08-09 | 2017-12-08 | 苏州阿甘机器人有限公司 | 一种搬运小型物料用的agv小车及其工作方法 |
-
2018
- 2018-03-19 FR FR1852315A patent/FR3078957B1/fr active Active
-
2019
- 2019-03-15 EP EP19709762.9A patent/EP3768466A1/fr not_active Withdrawn
- 2019-03-15 MA MA052067A patent/MA52067A/fr unknown
- 2019-03-15 WO PCT/EP2019/056620 patent/WO2019179901A1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
FR3078957A1 (fr) | 2019-09-20 |
WO2019179901A1 (fr) | 2019-09-26 |
MA52067A (fr) | 2021-05-19 |
FR3078957B1 (fr) | 2021-05-21 |
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