FR2616133A2 - Rapid supply and positioning device and production system incorporating such a device - Google Patents

Rapid supply and positioning device and production system incorporating such a device Download PDF

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Publication number
FR2616133A2
FR2616133A2 FR8707975A FR8707975A FR2616133A2 FR 2616133 A2 FR2616133 A2 FR 2616133A2 FR 8707975 A FR8707975 A FR 8707975A FR 8707975 A FR8707975 A FR 8707975A FR 2616133 A2 FR2616133 A2 FR 2616133A2
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FR
France
Prior art keywords
product
variant
variants
handling
pallet
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
FR8707975A
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French (fr)
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FR2616133B2 (en
Inventor
Gerard Gros
Kazimir Laboch
Claude Terracol
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.)
Merlin Gerin SA
Original Assignee
Merlin Gerin SA
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
Priority claimed from FR8703287A external-priority patent/FR2612899B1/en
Application filed by Merlin Gerin SA filed Critical Merlin Gerin SA
Priority to FR8707975A priority Critical patent/FR2616133B2/en
Priority to EP19880420075 priority patent/EP0286546B1/en
Priority to DE19883872429 priority patent/DE3872429T2/en
Priority to ES88420075T priority patent/ES2034344T3/en
Publication of FR2616133A2 publication Critical patent/FR2616133A2/en
Application granted granted Critical
Publication of FR2616133B2 publication Critical patent/FR2616133B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • 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
    • B23Q7/003—Cyclically moving conveyors
    • 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
    • B23Q7/1426—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 with work holders not rigidly fixed to the transport devices
    • B23Q7/1478—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 with work holders not rigidly fixed to the transport devices using a conveyor comprising cyclically-moving means
    • B23Q7/1484—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 with work holders not rigidly fixed to the transport devices using a conveyor comprising cyclically-moving means with carrier means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/12—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using record carriers
    • G05B19/128—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using record carriers the workpiece itself serves as a record carrier, e.g. by its form, by marks or codes on it

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

The pilgrim-step supply device 11 is associated with several successive workstations P1 to P6 for treating several variants of product. A sensor 27 identifies the variant of product or the product taken up by the supply device and controls the manipulation device or devices 9.1 to 9.6 in order to ensure the corresponding operation or operations when the product is supplied to the conjugate (paired) station P1 to P6.

Description

DISPOSITIF RAPIDE D'AMENAGE ET DE POSITIONNEMENT ET SYSTEME DE
PRODUCTION INCORPORANT UN TEL DISPOSITIF
La présente addition vise à apporter un développement complémentaire à l'invention, objet du brevet principal, dans le domaine de la flexibilité
Le dispositif décrit dans le brevet principal se présente sous la forme d'un ensemble comprenant, un dispositif d'amenage et de positionnement du type "pas de pélerin" permettant de présenter successivement le produit à traiter dans une ou plusieurs positions-, et un ou plusieurs dispositifs de manipulation placés en regard de la ou des positions définies par le dispositif d'amenage.FAST FEEDING AND POSITIONING DEVICE AND SYSTEM
PRODUCTION INCLUDING SUCH A DEVICE
The present addition aims to provide a complementary development to the invention, subject of the main patent, in the field of flexibility.
The device described in the main patent is in the form of an assembly comprising, a feeding and positioning device of the "no pilgrim" type making it possible to successively present the product to be treated in one or more positions, and a or several handling devices placed opposite the position or positions defined by the feeding device.

Notons que, dans la présente addition comme dans le brevet principal, l'expression "dispositif de manipulation" est à prendre dans un sens général, et peut couvrir aussi bien, des dispositifs à fonction d'insertion, (manipulation de composants) que des dispositifs liés à des procédés divers tels que soudage, vissage, rivetage, sertissage, marquage ...etc (manipulations d'outils). Note that, in the present addition as in the main patent, the expression "manipulation device" is to be taken in a general sense, and may cover both devices with insertion function (manipulation of components) as well as devices linked to various processes such as welding, screwing, riveting, crimping, marking ... etc (tool manipulation).

La synchronisation électrique entre le dispositif d'amenage et le ou les dispositifs de manipulation permet d'éviter l'obligation de faire fonctionner simultanément tous ces dispositifs de façon systématique.The electrical synchronization between the feed device and the manipulation device (s) makes it possible to avoid the obligation to operate all of these devices simultaneously in a systematic manner.

Cette propriété est mise à profit dans la présente addition pour réaliser un poste d'assemblage flexible. Le besoin de flexibilité se traduit par le fait que les palettes se présentant sur le convoyeur d'amenée peuvent porter des produits différents, ou des variantes différentes d'un produit, ce qui revient au même, et que le traitement doit être adapté au type de produit.This property is taken advantage of in this addition to provide a flexible assembly station. The need for flexibility is reflected in the fact that the pallets presented on the supply conveyor can carry different products, or different variants of a product, which amounts to the same thing, and that the treatment must be adapted to the type. of product.

Le dispositif selon la présente invention est caractériçé en ce qu'il comporte un système de pilotage du fonctionnement de chaque dispositif de manipulation agencé pour commander le fonctionnement du dispositif de manipulation lorsqu un produit ou une palette portant le produit se présente devant lui, seulement si la variante de produit concerne ledit dispositif de manipulation.The device according to the present invention is characterized in that it comprises a system for controlling the operation of each handling device arranged to control the operation of the handling device when a product or a pallet carrying the product is presented in front of it, only if the product variant relates to said handling device.

Selon un mode de mise en oeuvre de l'invention les palettes, ou les produits eux-mêmes, portent un codage permettant l'identification automatique du produit ou de la variante par un capteur d'un type connu en soi, placé à l'amont du poste. Dans. le cas où le nombre de variantes devant recevoir un traitement différent est égal à n, ce qui motive la présence de n dispositifs de manipulation, il est possible d'affecter chacun de ces dispositifs à une des variantes de produit à traiter.According to one embodiment of the invention, the pallets, or the products themselves, carry a coding allowing the automatic identification of the product or of the variant by a sensor of a type known per se, placed at the upstream of the post. In. if the number of variants to receive a different treatment is equal to n, which motivates the presence of n handling devices, it is possible to assign each of these devices to one of the product variants to be treated.

L'identité de toute variante identifiée est avantageusement mise en mémoire dans le système de pilotage de l'ensemble., par exemple un automate programmable, et on peut suivre cette variante pendant son passage sur les n positions du dispositif d'amenage, et ne déclencher au moment voulu que le dispositif de manipulation qui la concerne, les autres étant laissés au repos quand ladite variante se présente devant eux. On réalise bien ainsi un système flexible, dans la mesure ou chaque variante reçoit le traitement spécifique qu'elle réclame, et ceci sans qu'il soit nécessaire de procéder à aucune modification ou réglage du système.The identity of any variant identified is advantageously stored in the control system of the assembly., For example a programmable automaton, and this variant can be followed during its passage over the n positions of the feeding device, and does not trigger at the desired time that the handling device which concerns it, the others being left at rest when said variant is presented before them. A flexible system is thus produced, insofar as each variant receives the specific treatment which it requires, and this without it being necessary to make any modification or adjustment of the system.

Une utilisation plus complexe d'un dispositif à n manipulateurs est possible en mixant les deux possibilités dont on dispose, en l'occurrence, effectuer plusieurs opérations successives sur le même produit et effectuer des opérations différentes sur des produits différents.A more complex use of a device with n manipulators is possible by mixing the two possibilities available, in this case, performing several successive operations on the same product and performing different operations on different products.

Ayant par exemple trois produits différents à traiter, comportant chacun deux opérations successives, on peut alors affecter deux manipulateurs à chaque produit, et les faire fonctionner chaque fois que ce produit se présente devant eux, chacun d'eux étant chargé d'une des deux opérations. On peut ainsi généraliser théoriquement à un nombre quelconque de produits et d'opérations mais on est limité en ce qui concerne l'augmentation du nombre n par des considérations d'ordre pratique, notamment la difficulté mécanique à réaliser un dispositif à pas de pèlerin très long, le problème de cumul d'aléas et le problème d'accès pour les opérations de maintenance. L'optimisation du nombre n est l'un des problèmes fondamentaux qui se pose au concepteur.Having for example three different products to be treated, each comprising two successive operations, we can then assign two manipulators to each product, and operate them each time this product is presented in front of them, each of them being responsible for one of the two operations. We can thus theoretically generalize to any number of products and operations, but we are limited as regards the increase in the number n by practical considerations, in particular the mechanical difficulty in making a device with a pilgrim's step very long, the problem of cumulative hazards and the problem of access for maintenance operations. Optimizing the number n is one of the fundamental problems facing the designer.

Il peut également se faire que deux ou plusieurs variantes présentent certaines opérations communes, auquel cas le ou les manipulateurs affectés à ces opérations interviendront sur l'ensemble de ces variantes
D'autres avantages et caractéristiques ressortiront plus clairement de la description qui va suivre d'un mode de mise en oeuvre de l'invention, donné à titre d'exemple non limitatif et représenté sur la figure unique qui est une vue schématique en plan d'un dispositif selon l'invention.It may also happen that two or more variants present certain common operations, in which case the manipulator (s) assigned to these operations will intervene on all of these variants
Other advantages and characteristics will emerge more clearly from the description which follows of an embodiment of the invention, given by way of nonlimiting example and represented in the single figure which is a schematic plan view of 'a device according to the invention.

Les mêmes numéros de référence sont utilisés pour désigner des éléments identiques ou analogues à ceux représentés sur les figures du brevet principal.The same reference numbers are used to designate elements identical or analogous to those shown in the figures of the main patent.

Sur la figure on reconnait le convoyeur 3 constitué par les deux courroies 4 et 5, qui est commun aux fonctions amenée et évacuation, ainsi que le produit 1 positionné sur la palette 2.In the figure we recognize the conveyor 3 constituted by the two belts 4 and 5, which is common to the supply and discharge functions, as well as the product 1 positioned on the pallet 2.

Le bloc mobile 11, animé du mouvement du pas de pèlerin à cycle rectangulaire, est allongé et comporte sept emplacements de palettes 2, ce qui signifie que le nombre maximum de postes de travail pouvant être desservis est égal à six. Le bloc il est représenté en position aval du cycle à pas de pèlerin. La longueur des supports fixes 16, 16' correspond au nombre desdites positions de travail, numérotées de Pi à P6. En regard de chaque position de travail est disposé un dispositif de manipulation 9.1 à 9.6. Il convient de noter que ces dispositifs de manipulation ou appareils doivent s'inscrire dans un encombrement en largeur inférieur au pas du dispositif d'amenage, ce qui explique la disposition dans le plan vertical de leurs moteurs d'entraianement 14.1 à 14.6.Pour la clarté du dessin, seul le dispositif de manipulation 9.3 est représenté en entier, les cinq autres étant représentés partiellement.The movable block 11, driven by the movement of the pilgrim's step with a rectangular cycle, is elongated and has seven pallet locations 2, which means that the maximum number of workstations that can be served is six. The block is shown in the downstream position of the pilgrim's cycle. The length of the fixed supports 16, 16 'corresponds to the number of said working positions, numbered from Pi to P6. Next to each working position is arranged a handling device 9.1 to 9.6. It should be noted that these handling devices or apparatuses must fit into a footprint in width less than the pitch of the feeding device, which explains the arrangement in the vertical plane of their drive motors 14.1 to 14.6. clarity of the drawing, only the handling device 9.3 is shown in full, the other five being shown partially.

Une palette 2 portant un type de produit 1 à traiter est représentée, en position d'attente adjacente au poste Pi, prête à être prise en charge par le bloc mobile 11 au cours du cycle à pas de pèlerin. A chaque dispositif de manipulation 9.1 à 9.6 est associé un dispositif d'alimentation, représenté par des bols vibrants 25.1 à 25.6 prolongés par des rails 26.1 à 26.6 permettant d'amener en position de prise les composants à insérer. Pour illustrer deux dispositions possibles, trois des rails 26.1 à 26.3 ont été placés longitudinale ment, et trois autres 26.4 à 26.6 transversalement par rapport aux manipulateurs 9.1 à 9.6. Bien entendu, tout autre type de système de distribution ou toute autre disposition peut être envisagé sans sortir du cadre de l'invention.A pallet 2 carrying a type of product 1 to be treated is shown, in the standby position adjacent to the station Pi, ready to be supported by the movable block 11 during the pilgrim step cycle. Each handling device 9.1 to 9.6 is associated with a feeding device, represented by vibrating bowls 25.1 to 25.6 extended by rails 26.1 to 26.6 allowing the components to be inserted to be taken into position. To illustrate two possible arrangements, three of the rails 26.1 to 26.3 have been placed longitudinally, and three others 26.4 to 26.6 transversely to the manipulators 9.1 to 9.6. Of course, any other type of distribution system or any other arrangement can be envisaged without going beyond the ambit of the invention.

Un capteur 27, placé en regard de la palette 2 en position d'attente, est conçu pour identifier la variante portée par la palette. Le capteur 27, par exemple optique, lit un code porté par le produit 1 ou la palette 2 et envoie ses informations au dispositif de pilotage de l'ensemble, qui peut être un automate programmable (non représenté). Cet automate reçoit les autres données, notamment de position du bloc 11, de présence d'une palette 2 et de composants à insérer et envoie à son tour en temps voulu des ordres de fonctionnement aux différents manipulateurs 9.1 9.6. A sensor 27, placed opposite the pallet 2 in the standby position, is designed to identify the variant carried by the pallet. The sensor 27, for example optical, reads a code carried by the product 1 or the pallet 2 and sends its information to the device for controlling the assembly, which can be a programmable controller (not shown). This automaton receives the other data, in particular of the position of the block 11, of the presence of a pallet 2 and of the components to be inserted and in turn sends operating orders in due time to the various manipulators 9.1 9.6.

Lorsque chaque variante de produit subit un seul traitement, le dispositif selon la figure 1 peut traiter six variantes 1.1 à 1.6 de produit. La variante 1.1 est par exemple traitée au poste de travail P1, l'automate programmable commandant le dispositif de manipulation 9.1 au premier cycle d'amenage à pas de pèlerin du bloc 11, amenant le produit 1.1 à l'emplacement Pi. Les autres dispositifs de manipulation 9.2 à 9.6 restent inactifs lorsque le produit 1.1 vient par la suite à leurs postes de travail P2 à
P6. D'une manière analogue, si on considère par exemple que le produit présent en face du capteur 27 est à traiter par le manipulateur 9.3, le système de pilotage réagira en envoyant à celui-ci une impulsion lui permettant d'effectuer un cycle quand la palette 2 se présentera devant lui.Par contre, les autres manipulateurs restent inactifs au passage de cette palette.When each variant of product undergoes a single treatment, the device according to FIG. 1 can treat six variants 1.1 to 1.6 of product. The variant 1.1 is for example processed at the workstation P1, the programmable controller controlling the handling device 9.1 in the first cycle of pilgrim feeding from the block 11, bringing the product 1.1 to the location Pi. The other devices 9.2 to 9.6 remain inactive when product 1.1 subsequently comes to their P2 workstations at
P6. In an analogous manner, if we consider for example that the product present in front of the sensor 27 is to be treated by the manipulator 9.3, the control system will react by sending to it a pulse allowing it to carry out a cycle when the Pallet 2 will appear in front of him; however, the other manipulators will remain inactive when passing this pallet.

Le système de sécurité mentionné dans le brevet principal à propos -de la distribution des composants doit évidemment être- conservé ici, à savoir que, si lorsque la palette 2 se trouve en face du manipulateur 9.2, le composant devant être inséré ne se trouve pas en position sous le manipulateur 9.3, le système doit s'immobiliser en position d'attente jusqu'à ce qu'il soit remédié à cette anomalie.The safety system mentioned in the main patent with regard to the distribution of the components must obviously be preserved here, namely that if, when the pallet 2 is in front of the manipulator 9.2, the component to be inserted is not found in position under manipulator 9.3, the system must come to a standstill until this fault is remedied.

Si une variante par exemple la variante 1.1 reçoit deux traitements successifs, ceux-ci seront effectués par deux dispositifs de manipulation par exemple 9.1 et 9.2 ou toute autre combinaison. Le nombre de postes de travail devra bien entendu être adapté au nombre d'opérations et au nombre de variantes. If a variant, for example, variant 1.1 receives two successive treatments, these will be carried out by two handling devices, for example 9.1 and 9.2 or any other combination. The number of workstations will of course have to be adapted to the number of operations and the number of variants.

L'association de plusieurs postes de travail à un dispositif d'amenage unique à pas de pèlerin et le pilotage automatique des différentes opérations ' assurent une flexibilité sans complication notable du système. La commande à pas de pèlerin est intégralement conservée, seule la longueur du bloc mobile 11 étant augmentée.The association of several workstations with a single feeding device with pilgrim steps and the automatic piloting of the various operations' ensure flexibility without any noticeable complication of the system. The pilgrim's step command is fully retained, only the length of the movable block 11 being increased.

L'invention s'étend bien entendu aux variantes de réalisation, notamment à celle dans laquelle la détection du produit serait réalisée d'une manière différente, par exemple à chaque poste de travail. The invention naturally extends to alternative embodiments, in particular to that in which the detection of the product would be carried out in a different manner, for example at each work station.

Claims (6)

REVENDICATIONS 1. Dispositif selon l'une quelconque des revendications du brevet principal, pour la desserte de plusieurs dispositifs de manipulation 9.1 à ,9.6 successifs et le traitement de plusieurs variantes de produits différentes, caractérisé en ce qu'il comporte un système de pilotage du fonctionnement de chaque dispositif de manipulation 9.1 à 9.6 agencé pour commander le fonctionnement du dispositif de manipulation lorsqu un produit (i) ou une palette (2) portant le produit se présente devant lui, seulement si la variante de produit concerne ledit dispositif de manipulation.1. Device according to any one of the claims of the main patent, for the service of several handling devices 9.1 to, 9.6 successive and the treatment of several variants of different products, characterized in that it comprises an operating control system of each handling device 9.1 to 9.6 arranged to control the operation of the handling device when a product (i) or a pallet (2) carrying the product is presented in front of it, only if the product variant relates to said handling device. 2. Dispositif selon la revendication 1, caractérisé en ce qu'il comporte un capteur d'identification (27) permettant d'identifier tout produit (1) ou palette (2) portant le produit qui se présente, et d'envoyer l'information au système -de pilotage de l'ensemble, lequel-donnera au moment voulu l'ordre d'action à celui ou ceux des dispositifs de manipulation (9.1 à 9.6) .concernés par la variante de produit portée par la palette.2. Device according to claim 1, characterized in that it comprises an identification sensor (27) making it possible to identify any product (1) or pallet (2) carrying the product which is presented, and to send the information to the overall control system, which will give the order of action at the appropriate time to that or those of the handling devices (9.1 to 9.6). concerned by the product variant carried by the pallet. 3. Dispositif selon la revendication 2, caractérisé en ce que chaque variante à traiter ne doit recevoir qu'une opération, le nombre de dispositifs de manipulation (9.1 à 9.6) à prévoir étant alors égal au nombre de variantes à traiter.3. Device according to claim 2, characterized in that each variant to be treated must receive only one operation, the number of handling devices (9.1 to 9.6) to be provided then being equal to the number of variants to be treated. 4. Dispositif selon la revendication 2, caractérisé en ce que tout ou partie des variantes à traiter comportent plusieurs opérations, une telle variante nécessitant alors la présence d'une pluralité de dispositifs de manipulation, correspondant au nombre d'opérations quelle comporte.4. Device according to claim 2, characterized in that all or part of the variants to be treated comprise several operations, such a variant then requiring the presence of a plurality of handling devices, corresponding to the number of operations which it comprises. 5. Dispositif selon la revendication 4, caractérisé en ce que certaines opérations peuvent être communes à deux ou plusieurs variantes, tout dispositif de manipulation (9.1 à 9.6) affecté à une telle opération devenant lui-même commun aux variantes concernées.  5. Device according to claim 4, characterized in that certain operations can be common to two or more variants, any handling device (9.1 to 9.6) assigned to such an operation becoming itself common to the variants concerned. 6. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que l'absence de composant au point de préhension d'un dispositif de manipulation entraîne l'immobilisation du système général lorsqu'une variante de produit concernée par ledit dispositif de manipulation se présente en amont de celui-ci. 6. Device according to any one of the preceding claims, characterized in that the absence of a component at the gripping point of a handling device results in the immobilization of the general system when a variant of product concerned by said handling device occurs upstream of it.
FR8707975A 1987-03-06 1987-06-05 FAST FEEDING AND POSITIONING DEVICE AND PRODUCTION SYSTEM INCLUDING SUCH A DEVICE Expired - Lifetime FR2616133B2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR8707975A FR2616133B2 (en) 1987-03-06 1987-06-05 FAST FEEDING AND POSITIONING DEVICE AND PRODUCTION SYSTEM INCLUDING SUCH A DEVICE
EP19880420075 EP0286546B1 (en) 1987-03-06 1988-03-03 Production system with a fast device for feeding and positioning with rectangular motion
DE19883872429 DE3872429T2 (en) 1987-03-06 1988-03-03 PRODUCTION SYSTEM WITH A QUICK DEVICE FOR FEEDING AND POSITIONING WITH RECTANGULAR MOVEMENT.
ES88420075T ES2034344T3 (en) 1987-03-06 1988-03-03 PRODUCTION SYSTEM WITH RAPID FEEDING AND POSITIONING DEVICE WITH RECTANGULAR KINEMATICS.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8703287A FR2612899B1 (en) 1987-03-06 1987-03-06 FAST FEEDING AND POSITIONING DEVICE
FR8707975A FR2616133B2 (en) 1987-03-06 1987-06-05 FAST FEEDING AND POSITIONING DEVICE AND PRODUCTION SYSTEM INCLUDING SUCH A DEVICE

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FR2616133A2 true FR2616133A2 (en) 1988-12-09
FR2616133B2 FR2616133B2 (en) 1994-03-04

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2652292A2 (en) * 1987-03-06 1991-03-29 Merlin Gerin Rapid conveying and positioning device and production system incorporating such a device

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