FR2594370A1 - Transfer machine for assembling various assembly components - Google Patents

Abstract

Automation. The transfer machine is characterised in that it comprises: - a bench 2 defining a guide channel supporting a coupling of at least two mechanism plates 4 held at a substantially constant separation parallel to the track by a rigid linkage 14 and comprising driving means 5 having reciprocating movement between at least two indexed stop positions (P1-P2) which are separated by a distance e equal to a submultiple of the separation of the mechanism plates, - and at least two groups G of workstations, the groups being arranged in relation to the indexed stop positions and each comprising at least two work units 46 which can move along a support and guide channel 47 and are associated with driving means 48 for movement between the said stop positions. Application to mounting and assembling mechanism parts.

Description

 The present invention relates to machines designed to ensure the automatic movement or transfer of parts, loads or various objects, between different installations or stations in which these parts, loads or objects undergo various operations or are subjected to operational phases of the process of transformation, construction, assembly or assembly.

 Although many applications may be concerned, the machine according to the present invention is, more particularly, intended to be used for the construction and / or the assembly of parts or subassemblies involving the assembly of a certain number of parts constitutive, as well as the execution of machining operations.

 To assume the above function, it is known to implement devices or robots constructed so as to be able to take charge, transfer and deposit at least one part, one charge or one object, of a presentation station at a second intervention station, these two stations being able to belong to a single or to two different intervention, production, manufacturing and assembly machines.

 These devices or robots necessarily include a motorized support to be moved between the two intervention stations and itself supporting at least one actuating motor, either of an articulated segment, or of a function member, such a gripper. This implies designing the device to take account of the support and the displacement of at least one motor member, the mass of which reduces the support capacity of the device.

 Such robots can be considered satisfactory for a transfer function, but cannot be used as active components capable, simultaneously, of contributing to the performance of an intervention, a machining or an assembly phase. within a complex machine which should allow the simultaneous unfolding of a large number of different operations entering the cycle of a transformation, assembly, assembly, machining process, etc.

 Another solution proposed by the prior art has been the constitution of a transfer machine comprising a closed circuit circulation lane reserved for parts support plates which are thus transported in front of work stations carried by the frame supporting the lane. traffic.

 In such machines, the plates can be connected to each other by joints in the manner of a chain or even be free while being independent of each other.

 The plates are therefore stopped simultaneously or independently under the workstations for the execution of successive elementary operations.

 Such machines are particularly well suited to the technical field of the invention since the work in time masks the diffa # i.t pOSv2S makes it possible to increase the yield and the production rate and to produce reliable and cheaper assemblies.

 However, it has been found that such machines do not lend themselves easily to the introduction of variants within the operating cycle for which they are designed. In particular, it is often difficult to introduce or eliminate an elementary phase in order to modify the manufacturing process and obtain a derived product. This is due to the fact that the structure of such machines lends itself poorly to the integration of derivative circuits reserved for the execution of operations not systematically programmed or for the periodic supply of additional elementary parts.

 The object of the invention is precisely to solve the above problem by proposing a new transfer machine, the design of which is based on the replacement of the fixed work stations of the usual transfer machines by mobile work stations which can be moved according to synchronized relationships that can be programmed according to the operations to be carried out so as to offer greater flexibility of adaptation and execution of particularly complex assemblies or sub-assemblies.

 Another object of the invention is to provide a new transfer machine designed so that each mobile working member can have, each time it must intervene the motorization exactly in relation to the operation to be executed.

 This design thus makes it possible to reduce the cost of manufacturing, maintaining, and operating such a machine, since it is no longer necessary, as in the usual technique, to assign to each working member the motorization taking into account the greatest power to be developed and which is thus unnecessarily present for all operations other than those requiring such power.

 Another object of the invention is to take advantage of the above construction technique to limit the mass of the moving members and thus reduce the subsequent operating and maintenance costs of the machine.

 Another object of the invention is to provide a new transfer machine having the particularity of allowing a particularly important spatial access to the right of each working position to facilitate interventions or intermediate operations of supply, removal, execution included in the operating cycle of the transfer machine or, possibly, introduced temporarily depending on the specific nature of the product, the assembly or sub-assembly to be produced.

To achieve the above objectives, the transfer machine is characterized in that it comprises
- a bench defining a guide track supporting
a coupling of at least two plates maintained at
substantially constant spacing parallel to the
track by a rigid connection and comprising means
alternating displacement drive between at
minus two indexed stop positions separated by
by a distance equal to a submultiple of the screen
many turntables,
- and at least two groups of work stations arranged
in relation to the indexed stop positions and
each comprising at least two work crews,
movable along a support and guide track
and associated with moving drive means
ment in relation to said stop positions.

 Various other characteristics will emerge from the description given below with reference to the appended drawings which show, by way of nonlimiting example, an embodiment of the subject of the invention.

 Fig. I is a schematic side elevation of a transfer machine according to the invention.

 Fig. 2 is a transverse view taken, along the line Il-Il of FIG. 1.

 Fig. 3 is a partial section taken on a larger scale, along line III-III of FIG. 1.

 Figs. 4 and 5 are sections taken respectively along lines IV-IV and V-V of FIG. 3.

 Fig. 6 is a sectional elevation taken along line VI-VI of FIG. 3 and showing on a larger scale, a detail of embodiment.

 Fig. 7 is a cross section taken on a larger scale along the line Vil-Vil of FIG. 2.

 Fig. 8 is a partial sectional elevation taken along the line Vili-Vili of FIG. 7.

 Fig. 9 is a cross section along the line IX-IX of FIG. 7.

 According to fig. I to 3, the transfer machine according to the invention comprises a frame I supporting a bench 2 delimiting a guide and support track 3 for a coupling of at least two workpiece carriers 4. In the example illustrated, the track 3 is straight, but it should be considered that a different geometrical conformation could be retained. Thus, by way of example, track 3 could be curved and cover any angular range.

 According to a preferred arrangement, illustrated in FIG. 1, the track 3 supports three plates 4 which are interconnected and kept at constant spacing, parallel to the track 3 on which they can be moved in alternating movements by a member or drive means 5. It is obvious that a construction involving a different number of plates 4 can also be chosen, the number of three being given for illustrative purposes only.

 Each plate 4 has an upper face erected or arranged for the adaptation and rapid change of a workpiece holder assembly 6 designed as a function of the specific character of the part or parts to be maintained, transformed, machined, assembled or assembled.

 Each plate 4 is slidably mounted on the track 3 which comprises a slide 7 of circular section fixed removably on frames 8 of the bench 2. Each plate cooperates with the slide 7 by at least one open ring 9 of the socket type, fixed on one of the corresponding side walls. Track 3 also includes a rail 10 carried by brackets 11 rising from the bench 2. Each plate 4 cooperates with the rail by at least one roller 12 of horizontal axis mounted on the face of the plate 4 opposite to that carrying the socket (s) 9. The rail 10 is associated with a rule 13 extending above the rollers 12 to constitute for the latter a stop opposing a large amplitude pivoting movement upwards of the plate 4 on slide 7.

 The various plates 4 are coupled together by a drawbar 14 imposing on them a substantially constant spacing such as that designated by the letter E in FIG. 1. The drawbar 14 is mounted with the possibility of sliding in bearings 15 and extends parallel to the track 3. The connection between the drawbar 14 and each plate 4 is ensured, as illustrated in FIG. 4, by a bi-directional elastic damper 16 comprising two helical springs 17-17a working in compression. These springs are threaded concentrically on the drawbar 14 and bear on either side of a bar 18 formed by each plate 4 and freely traversed by the rod 14. The springs 17 and 17a are held in place by two sockets 19 and 19a threaded and immobilized on the coupling part 14.The position of sockets 19 and 19a is adjustable to modify the pre-stress applied to the two opposing springs 17 and 17a.

 In a state of balance, the springs 17 and 17a impose a determined position on each plate 4 relative to the drawbar 14 while allowing relative movement of each plate when the bar is mobilized. The latitude of relative displacement is determined by the setting of the sockets 19-19a and the play that they each leave behind relative to the corresponding face of the bar 18.

 The purpose of relative displacement of each plate 4 relative to the drawbar 14 is apparent from the following.

 The coupling of the various plates 4 is associated with the drive means for reciprocating rectilinear displacement 5 which comprise, as shown in FIGS. 3 and 5, an electric motor-reduction unit 20 with two directions of rotation sanded by the bench 2. The output pinion 21 of the motor-reduction unit 20 attacks, directly or by means of a toothed belt 22, a pinion 23 carried by a vis-mera 24 mont22 in appropriate bearings rising from the bench 2. The mother screw 24 extends parallel to the track 3 and in the example illustrated, parallel to and under the slide 7.

The lead screw 24 cooperates with a nut 25 having an extension 26 made detachably secured to the drawbar 14.

The power supply of the electric geared motor group 20 is programmed so as to be able to drive the coupling of plates 4 moving along the track 3 between indexed stop positions P which are separated from each other d 'a distance equal to a submultiple of the spacing E of the plates. Fig. 1 shows an example of construction in which the drive means 5 is capable of controlling the movement of the coupling so that the plates 4 simultaneously occupy any one of three positions P1, P2, P3 successively separated by a distance e submultiple of spacing E. There are thus three working areas
Z ', Z ", Z"' corresponding to the three plates, each zone including the three indexed stop positions P1, P2 and P3.

 It must be considered that, depending on the working cycle of the machine, the means 5 can be controlled to control a forward and backward movement step by step of the plate hitch or a movement including, either to go or on the return, a double step.

 The means of the invention could also be used to determine a different number of indexed stop positions which may otherwise be occupied by a different number of plates 4.

 The position of adret of each plate in P1, P2 or P3 is established with precision by indexing means 27 which can be interposed between each plate and the track 3. These means 27 can comprise a jack 30 carried by the track 3 to right of each position P1 to P3 of each zone and responsible for controlling a spindle intended to be engaged in or removed from a hole presented by each plate 4. These indexing means can also be reversed.

The ~ track 3 also includes means 31 for supporting the mechanical stresses that can be developed at the right of positions P which define stop states during which work operations are executed on the parts carried by the plates 4. These means 31 include a pile or anvil 31 carried by the bench 2 in relation to each indexed stop position
P, Pl, P2 of each of the zones Z. Each pile is designed to cooperate with a heel or a sole 33 carried by the underside of each plate 4. The heel 33 of each plate 4 has two ramps # inclined in the direction of movement along track 3 as illustrated in fig. 6. These ramps make it possible for each direction of movement to make the pile 32 climb by the heel by producing a pivoting of small amplitude of the plate on the axis of the slide 17. Thus, the plate effectively rests on the pile 32 on the right from each position P. The pile 32 can also have ramps 35 for the same purpose. The pile 32 and the heel 33 can also be used to carry the indexing means 27.

 Track 3 and the coupling of n plates 4 together constitute with the associated means which are associated with them, a kind of workpiece conveyor between a point A of handling such as a feeding table and a point B for unloading such as a receiving table or an evacuation conveyor.

 The transfer machine also comprises a battery 40 of work stations 41 carried by a structure 42 of the frame 1. The stations 41 are organized into groups G of a number different or equal to that of the zones Z. In the present case, the work stations 41 are organized into three groups G ', G ", G"' corresponding to the three zones Z ', Z "and Z"'.

 In the example shown in fig. 1, the groups G of workstations are arranged above the zones Z but a different arrangement could be adopted.

 Each group G of workstations comprises as many function drive members 43 as there are positions P for each zone Z. In the present case, each group G therefore comprises three function drive members 43 which are carried so fixed by the superostructure 42 to be placed in positions pl, p2 and p3 directly above the positions P. These drive members 43 include an output shaft 44 directed vertically which can be driven in an alternating rectilinear movement as illustrated and / or alternative circular depending on the operation to be performed.

 The extreme groups G 'and G' '' further comprises a drive member 45 respectively assigned to the picking up and unloading of parts such as PO with respect to points A and B.

 Each group G also comprises at least one crew 46 mounted movable in displacement on a guide track 47 presented by the superstructure 42. In the example illustrated, the track 47 extends parallel and above the track 3. The crew 46 is associated with a drive member 48 capable of moving it along track 47 to bring it into contact with at least one of the function drive members 43.

 Each crew 46 comprises, as illustrated by FIGS. 7 and 8, a main carriage 60 on the upper face of which are mounted open bearings 61 cooperating with two slides 62 carried by the superstructure 42 and together forming the track 47.

 The carriage 60 supports a set of two vertical slides 63, mutually parallel and of direction perpendicular to that of the track 47. The vertical slides 63 are preferably cylindrical and constituted by independent elements fixed by embedding to extend towards the bottom from the underside of the carriage 60.

 The slides 63 provide the sliding support for a secondary carriage 64 provided with rings 65 threaded with free sliding on the slides 63. The secondary carriage 64 carries, - between the rings 65, a function member 66 constituted by a specific tool of ltope - ration to be executed and, for example, a gripper. The operation of this tool can be automatic or remotely controlled. -The specific tool 66 is not part of the invention because of the great possibility of adaptation, depending on the operations to be performed and the specific nature of the parts, charges or objects to be handled.

 The secondary carriage 64 is maintained in the normal high position on the runners 62 by means of a suspension member 67 rising from the upper face of the carriage 64 to pass through a central opening 68 formed in the main carriage 60. The suspension member 67 comprises a vertical extension 69, at the end of which are mounted lateral tabs 70 ensuring the support of bearings 71 of horizontal axes. The bearings 71 are, for example, provided four in number, as shown in FIG. 7 and constitute a kind of trolley cooperating with the upper face of a suspension rail 72 carried by the superstructure 42 to extend parallel to the slides 62. The rail 72 thus ensures the suspension and the maintenance, in the extreme high position , of the secondary chassis 64 relative to the main chassis 60, during the entire travel of movement of the latter along the track 47.

 The suspension member 67 also assumes an additional function of a temporary assembly device between the secondary carriage 64 and one of the drive members 43, 45. To this end, provision is made to provide the output shaft or the rod 44 of each motor member of a nose 73, the end of which carries a rail segment 74, with the same profile as the rail 72. The segment 74 is normally placed in a rest position of the motor member 43, 45, in an interruption provided by the rail 72 and in alignment with the latter.

The segment 74 reconstitutes, in a way, the continuity of the rail 72 by representing, however, a segment capable of being offset vertically from the plane of the latter by a measurement corresponding to the stroke of the drive member 43, 45.

 According to the organization illustrated in fig. 1, group G 'comprises a crew 46 which can cooperate with the fixed input drive member 45 and a fixed drive member 43. Likewise, groups G' and G "include a crew 46 which can be transferred to the following group G while the group G "'comprises a crew capable of cooperating with the output drive member 45. These different crews, carried by the same track 42, can be associated with the same drive member 48, while being joined by a bar d coupling 75 or have their own driving member 48.

 The operation of a moving assembly 46 is established as follows.

 From the position illustrated in fig. 8, the member, for example 45 for crew 46 of group G ', is supplied so as to cause the extension stroke of the shaft 44 to lower the rail segment 74 and thus authorize the sliding downwards by gravity of the carriage secondary 64 on the slides 63.

 The function member 66 is thus brought close to point A to ensure, for example, the handling of a part PO. When the gripping has been carried out, the power supply to the jack-45 is reversed, so that the retraction of the shaft 44 causes the carriage 64 to slide upwards on the slides 63. The secondary carriage 64 is thus returned to its original position .

 When this phase of the cycle has been completed, the displacement drive member 48 is supplied with power to cause the displacement of the moving element 46 in the direction of the arrow f1 (FIG. 7).

The main carriage 60 slides on the slides 62 by the open bearings 61 and, simultaneously, the trolley 71 rolls on the segment 74 which it leaves to cooperate with the rail 72. The mobile assembly 46 is thus brought to position p1 of group G 'in which the trolley is then brought to cooperate with the rail segment 74 carried by the shaft of the drive member 43 occupying the position p1 of group G'.

In this position which can possibly be indexed, the jack 43 is supplied to cause the extension stroke of the rod urging downward movement of the secondary carriage 64 which thus brings the piece PO on the plate 4 occupying the position P1 of the zoned
Z '.

 It should be noted that the temporary assembly member 67 is designed in such a way that the rollers 71 provide, by their lower generatrix and with the upper face of the extension 69 uP-éearte- ment corresponding, apart from play, the thickness of the segment 74. Thus, the drive member 43 can be used to exert a controlled pressure on the extension 69 and be used for the execution of a working operation in position P1 such as a conformation, stamping, nesting, assembly, etc.

 In this state, the part PO can then be moved from position P1 to position P2 by supplying 11 drive member 5 so as to move the coupling of the plates 4 in the corresponding direction. At the indexing position P2, an intermediate operation can take place following which the member 5 is for example again supplied with power to move the piece PO from the position P2 to the position P3 of the zone Z '.

 In this particular position, the second mobile assembly 46 of group G 'can then be controlled as described above, so as to take charge of the part PO carried by the plate 4. Following this cycle phase, the member 5 can be supplied in reverse to bring the plate 4 from zone Z ', either in position P2 if necessary, or directly in position P1.

Another phase of the cycle then consists in moving the second mobile work station 46 of group G 'along track 47 to bring it from position p3 of group G' to position p1 of station G ", that is that is to say directly below the plate 4 occupying the position P1 of the zone Z ". The part PO has thus been transferred and can be brought into position P2 of the zone Z "by supplying the drive means 5 moving the coupling of the plates
A similar operation can intervene successively until the mobile equipment 46 of group G "'picks up the piece PO carried by the plate 4 occupying the position P3 of zone Z"' and then brings it under the motor member 45 corresponding to the vertical position of point B. In this state, the motor member 45 can then be commanded to deposit the piece PO at point B.

Fig. 1 shows in relation to figs. 7 and 9, that according to a structural organization, it can be provided to mount or adapt in position p2 of each group G a mobile assembly 461 supported by a guide track 471 of the same design as track 47. Track 471 extends for example perpendicular to track 47, so as to allow an alternating movement of crew 461 between two stable positions in which it is associated, either with the drive member 43 occupying the position p2 on track 47, or with a member independent motor 431 carried by the superstructure 42 in alignment with the track 471. Such an arrangement makes it possible to take the piece PO brought into position P2 to make it undergo, outside the path defined by the track 47, any operation, or even, d '' on the piece PO occupying position P2 a sub-assembly or a complementary piece with which it must be assembled. In such a case, the crew 461 constitutes, with one of the driving members 43, 431, a work station 411. The same constituent bodies are in this case designated by the same references with the index
Of course, this structural arrangement can be implemented for all the p2 positions or for those of certain groups G only. Likewise, the orientation of the path (s) 471 may be different from that orthogonal shown in order to form branch branches which can be brought into systematic action during a manufacturing process or temporarily for a manufacturing range.

 On the basis of the operation described above, it can be understood that transformation, machining, mounting or assembly operations take place simultaneously in groups G and in zones Z for as many parts as the conveyor comprises of plates, given that the plates are simultaneously in the indexing position allowing the execution of an operation and can then be moved simultaneously to ensure at the same time the transfer of the different parts during work from any position P to a next position P from the same area or from an adjacent area.

 In addition to this advantage, it should be noted that the superimposed working groups allow significant access to track 3 to remain, so that it is possible to bring in any type of intervention or execution equipment and adapt, if necessary, additional working elements to meet the requirements of a particular manufacturing process.

 Another characteristic of the transfer machine lies in the fact that the workstations 41 of the different groups are designed so as to dissociate the driving work functions from the driving transfer functions. This dissociation, made possible by the existence of own drive members 43, 45 and 48 occupying fixed positions, makes it possible to confer on each drive member of function characteristics or operating parameters exactly suited to the operation to be executed, and to be able to thus have, for example, drive members 45 having a long stroke and developing a low power to perform the gripping, taking or unloading function. of a piece PO at points A and B and of driving members 43 with a shorter but more powerful stroke if it is necessary to carry out, at the positions P of each zone, a removal operation, but also simultaneously stamping, cutting, shaping, or assembling. The above advantages are also found for the 411 workstations formed by the crews 46 and the corresponding drive members.

 The fact of having drive members 43 or 45 in a fixed position also has the advantage of eliminating the alternating bending stresses which are imposed, in traditional constructions, on electric cables or connection hoses supplying energy to such motive organs. This results in greater reliability and longevity of operation of these drive members.

 The invention is not limited to the example described and shown, since various modifications can be made thereto without departing from its scope.

Claims (15)

 1 - Transfer machine of the type comprising a bench '(2) defining a guide track (3) for n plates (4) and comprising means making it possible to drive said plates along the path and to immobilize them by indexed positions, on the one hand, and a series of work stations (41-) arranged in relation to the indexed stop positions (P) which can be occupied by the plates, on the other hand,  characterized in that it includes:  - a bench (2) defining a guide track supporting  a coupling of at least two plates (4) maintained at  substantially constant spacing parallel to the  track by a rigid link (14) and comprising  means (5) for reciprocating movement  between at least two indexed stop positions (P1-F2)  separated by a distance (e) equal to a submultiple  the spacing of the plates  - and at least two groups G of work stations arranged  in relation to the indexed stop positions and  each comprising at least two work crews (46).  movable along a support and guide track (47)  and associated with moving drive means (48)  between said stop positions.  o -Machine transfer according to claim 1, characterized in that the rigid connection between at least the two plates comprises a drawbar (14) carried by sliding bearings (15) in a direction parallel to that of the track and associated with an alternating drive motor member (20).  3 - transfer machine according to claim 1 or 2, charac terisq in that each plate (4) of the hitch is connected to the rigid connection (14) by an elastic damper (17, 18, 19) bidirectional oriented parallel to the axis of the track.  4 - Transfer machine according to claim 1, characterized in that the guide track (14) comprises a slide (7) with which cooperates at least one ring (9) carried by each plate (4) and a rail (10) on which is supported and rolls at least ur roller (12) carried by each plate.  5 - transfer machine according to claim 1 or 2, characterized in that the motor member (20) is constituted by a geared motor group with two directions of rotation attacking a visor (24) parallel to the track and which carries a nut (25) fixed to the drawbar (14).  6 - transfer machine according to claim 1, characterized in that the bench (2) comprises, in relation to each stop position P -, indexing means (27) of a plate, comprising at least one motorized spindle capable of entering a complementary housing, these two cooperating members being indifferently presented by the plate and the bench.  7 - Transfer machine according to claim 1 or 6, characterized in that the bench (2) supports, in line with each indexed stop position P, a heap or anvil (32) with which a sole (33) cooperates ) carried by the underside of each plate (4).  8 - Transfer machine according to claim 1, characterized in that the groups G of the work stations are suspended from a support and guide track (47) superimposed on the bench (2).  9 - Transfer machine according to claim 1 or 8, characterized in that the support and guide path (47) of the groups of the work stations and that (3) of support and guide of the plates are rectilinear.  10 - Transfer machine according to claim 1, 8 or 9, characterized in that the support and guide track (47) of the workstation groups comprises track sections parallel to the support and guide track of the plates and track sections (471) of different orientation.  11 - Transfer machine according to claim 10, characterized in that each section of track of different orientation is occupied by a clean work station.  12 - Transfer machine according to claim 1, 8, 9, 10 and 11, characterized in that the track (47) for guiding and supporting the groups of work stations comprises, in relation to each indexed stop position P plates, an independent motorized member (43) in a fixed position, having in the track plane a means (67) of temporary assembly with at least one mobile work crew.  13 - Transfer machine according to claim 1, 8, 9, 10, 11 or 12, characterized in that each movable assembly comprises  - a main carriage (60) mounted on the track and  bearing a set of head rails (63)  different from that of the track,  - a secondary carriage {64) mounted with the slides  main carriage,  - a function member (66) carried by the carriage  secondary,  - And a member (67) for temporary assembly between  the secondary carriage and a drive unit  fixed position carried by the track.  14 - Transfer machine according to claim 13, characterized in that the temporary assembly member (67) also assumes a function of suspension of the secondary carriage (64) by cooperating with a rail ('4) extending parallel to the track and between two drive members.  15 - Transfer machine according to claim 14, characterized in that the temporary assembly member (67) comprises a secondary carriage (64) extending parallel to the direction of the slides of the main carriage, freely crossing the latter and carrying at the end a trolley (71) capable of cooperating with a complementary rail segment (74) adapted on the end of the movable part of the motorization members.  16 - Transfer machine according to one of claims 1 or 8 to 15, characterized in that the track (47) for support and guidance carries at least two groups G of workstations each having at least one work crew (46 ) mobile connected to the homologous crew by a tie rod (75).