FR2787372A1 - Robotic gripping mechanism for the manipulation of body parts during motor vehicle assembly, comprises a pneumatic jack powered by an on-board electrical compressor unit - Google Patents

Robotic gripping mechanism for the manipulation of body parts during motor vehicle assembly, comprises a pneumatic jack powered by an on-board electrical compressor unit Download PDF

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Publication number
FR2787372A1
FR2787372A1 FR9816195A FR9816195A FR2787372A1 FR 2787372 A1 FR2787372 A1 FR 2787372A1 FR 9816195 A FR9816195 A FR 9816195A FR 9816195 A FR9816195 A FR 9816195A FR 2787372 A1 FR2787372 A1 FR 2787372A1
Authority
FR
France
Prior art keywords
gripping mechanism
body parts
vehicle assembly
manipulation
motor 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.)
Granted
Application number
FR9816195A
Other languages
French (fr)
Other versions
FR2787372B1 (en
Inventor
Michel Beffrieu
Benjamin Dawidowicz
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.)
Individual
Original Assignee
Individual
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 to FR9816195A priority Critical patent/FR2787372B1/en
Application filed by Individual filed Critical Individual
Priority to MXPA01005592A priority patent/MXPA01005592A/en
Priority to PCT/FR1999/003224 priority patent/WO2000037211A1/en
Priority to CN99814222A priority patent/CN1329532A/en
Priority to AU17845/00A priority patent/AU1784500A/en
Priority to CA002350682A priority patent/CA2350682A1/en
Priority to CZ20012075A priority patent/CZ20012075A3/en
Priority to KR1020017007316A priority patent/KR20010086100A/en
Priority to PL99355485A priority patent/PL355485A1/en
Priority to EP99961125A priority patent/EP1140418A1/en
Priority to EA200100518A priority patent/EA200100518A1/en
Priority to SI9920103A priority patent/SI20574A/en
Priority to TR2001/01660T priority patent/TR200101660T2/en
Priority to JP2000589308A priority patent/JP2002532327A/en
Publication of FR2787372A1 publication Critical patent/FR2787372A1/en
Application granted granted Critical
Publication of FR2787372B1 publication Critical patent/FR2787372B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
    • B23P2700/50—Other automobile vehicle parts, i.e. manufactured in assembly lines

Abstract

The gripping mechanism comprises of a support that is integrated into a robotic system and a mechanical means for clamping assorted body sections and parts. The gripping mechanism is controlled by a pneumatic jack assembly that is in turn powered by a electric compressor that is incorporated as part of the robotic assembly. The compressor assembly is supplied with electrical power from a fixed source that has a programmable control system.

Description

W I () Dispositif de préhension robotisé pour la manipulation de pièces deW I () Robotic gripping device for handling workpieces

carrosserie dans une installation d'assemblage de véhicules La présente invention concerne un dispositif de préhension robotisé pour la manipulation de pièces de carrosserie dans une installation d'assemblage de véhicules, du type comprenant un support solidaire d'un robot et des moyens mécaniques de serrage et/ou de centrage commandés par au moins un vérin pneumatique, lesdits moyens pouvant occuper une position stable de serrage et/ou de centrage et une position stable de libération de la ou des pièces à assembler. La robotisation des chaînes d'assemblage de carrosserie de véhicules automobiles est devenue prépondérante du fait des  The present invention relates to a robotic gripping device for handling body parts in a vehicle assembly installation, of the type comprising a support secured to a robot and mechanical clamping means and / or centering controlled by at least one pneumatic cylinder, said means being able to occupy a stable position for tightening and / or centering and a stable position for releasing the part or parts to be assembled. Robotization of motor vehicle body assembly lines has become dominant due to the

avantages technologiques et économiques qu'elle présente.  technological and economic advantages it presents.

Cette robotisation est essentiellement utilisée pour le soudage ou la manutention avec ou sans géométrie des pièces  This robotization is mainly used for welding or handling with or without geometry of the parts

) de carrosserie au moyen de pinces de soudage ou de mains de préhension.  ) bodywork by means of welding tongs or gripping hands.

2 27873722 2787372

La pince de soudage peut être montée sur un robot qui l'amène périodiquement, selon un programme informatisé, à un emplacement de soudage o elle effectue le soudage programmé de pièces préalablement amenées à cet emplacement, puis le robot ramène la pince de soudage à une position de repos. Une autre technologie consiste à disposer les pinces de soudage à des emplacements fixes auxquels un robot amène périodiquement les pièces à souder, ces pièces étant  The welding clamp can be mounted on a robot which periodically brings it, according to a computerized program, to a welding location where it carries out the programmed welding of parts previously brought to this location, then the robot brings the welding clamp to a rest position. Another technology consists in placing the welding tongs at fixed locations to which a robot periodically brings the parts to be welded, these parts being

1) maintenues par un dispositif de préhension.  1) held by a gripping device.

C'est à cette dernière technologie que se réfère la présente invention. Dans tous les cas, la multiplication des sources d'énergie, énergie électrique pour la commande des robots et énergie pneumatique ou hydraulique pour la commande des organes solidaires du robot, pince de soudage dans le premier cas ou dispositif de préhension dans le second cas, présente des inconvénients aussi bien pour la conception que pour  It is to this latter technology that the present invention refers. In all cases, the multiplication of energy sources, electrical energy for controlling the robots and pneumatic or hydraulic energy for controlling the components integral with the robot, welding tongs in the first case or gripping device in the second case, has drawbacks both for design and for

l'exploitation des chaines d'assemblage.  the operation of assembly lines.

Une solution évidente consiste à utiliser l'énergie électrique, indispensable pour la commande des robots,  An obvious solution is to use electrical energy, essential for controlling robots,

également pour la commande des organes portés par le robot.  also for controlling the components carried by the robot.

C'est ainsi qu'on a vu apparaître des pinces de soudage à commande électrique, dont la mise au point a été longue et délicate. Cette solution, dans le cas de dispositifs de préhension robotisés, présente cependant divers inconvénients liés en particulier au mode de fonctionnement à deux positions  This is how we saw the appearance of electrically controlled welding tongs, the development of which was long and delicate. This solution, in the case of robotic gripping devices, however has various drawbacks linked in particular to the two-position operating mode

stables des moyens mécaniques de serrage et/ou de centrage.  stable mechanical tightening and / or centering means.

En outre, le montage de moteurs électriques embarqués et leur alimentation par l'intermédiaire de variateurs et systèmes d'asservissement posent des problèmes de poids et d'encombrement et remettent en question toute la structure  In addition, the mounting of on-board electric motors and their power supply via variators and servo systems pose problems of weight and space and challenge the entire structure.

3 27873723 2787372

porteuse robotisée. De plus, l'électrification entraîne un  robotic carrier. In addition, electrification leads to

surcoût par rapport aux commandes à fluide traditionnellement utilisées.  additional cost compared to the fluid controls traditionally used.

La présente invention vise à résoudre ces problèmes de  The present invention aims to solve these problems of

manière simple, économique et efficace, en permettant en outre l'équipement de dispositifs de préhension existants.  simple, economical and efficient way, while also allowing the equipment of existing gripping devices.

A cet effet, le dispositif de préhension selon l'invention 1W est caractérisé par le fait que ledit vérin pneumatique est alimenté par un compresseur électrique embarqué alimenté en courant électrique à partir d'une source fixe et commandé de  To this end, the gripping device according to the invention 1W is characterized in that said pneumatic cylinder is supplied by an on-board electric compressor supplied with electric current from a fixed source and controlled from

manière programmée.programmed way.

L'utilisation d'un compresseur électrique embarqué permet de supprimer toute source externe d'alimentation en fluide alors même que la commande des moyens mécaniques de serrage et/ou centrage est faite, de manière éprouvée et traditionnelle,  The use of an on-board electric compressor makes it possible to eliminate any external source of fluid supply even though the control of the mechanical tightening and / or centering means is done, in a proven and traditional manner,

par au moins un vérin pneumatique.by at least one pneumatic cylinder.

2) Le poids et le prix du compresseur embarqué peuvent être relativement bas, du fait que les pressions nécessaires au déplacement des moyens mécaniques dans leurs deux positions  2) The weight and the price of the on-board compressor can be relatively low, because the pressures necessary to move the mechanical means in their two positions

sont relativement faibles, de l'ordre de quelques bars.  are relatively small, on the order of a few bars.

En outre, le vérin pneumatique n'étant actif que lors du passage de la position de serrage à la position de desserrage et inversement, on peut prévoir que l'alimentation électrique du compresseur est commandée pour être interrompue dans les  In addition, the pneumatic cylinder being active only when passing from the clamping position to the loosening position and vice versa, it can be provided that the electrical supply to the compressor is controlled to be interrupted in the

3 positions de serrage, de desserrage ou de pression.  3 tightening, loosening or pressure positions.

L'invention facilite en outre la commande de l'ensemble du dispositif de préhension, à partir d'une source d'alimentation électrique unique et par une baie  The invention further facilitates the control of the entire gripping device, from a single electrical power source and through a rack.

programmable.programmable.

4 27873724 2787372

La présente invention s'applique à d'autres types de fixation  The present invention applies to other types of fixing

que le soudage telles que le clinchage ou le rivetage.  than welding such as clinching or riveting.

) 2787372) 2787372

Claims (2)

REVENDICATIONS 1. Dispositif de préhension robotisé pour la manipulation de pièces de carrosserie dans une installation d'assemblage de véhicules, du type comprenant un support solidaire d'un robot et des moyens mécaniques de serrage et/ou de centrage commandés par au moins un vérin pneumatique, lesdits moyens pouvant occuper une position stable de serrage et/ou de centrage et une position stable de libération de la ou des pièces à assembler, caractérisé par le fait que ledit vérin pneumatique est alimenté par un compresseur électrique embarqué alimenté en courant électrique à partir d'une source fixe et commandé de manière programmée.15  1. Robotic gripping device for handling body parts in a vehicle assembly installation, of the type comprising a support integral with a robot and mechanical clamping and / or centering means controlled by at least one pneumatic cylinder , said means being able to occupy a stable clamping and / or centering position and a stable position for releasing the part or parts to be assembled, characterized in that said pneumatic cylinder is supplied by an on-board electric compressor supplied with electric current from from a fixed source and programmed control. 15 2. Dispositif de préhension selon la revendication 1, caractérisé en ce l'alimentation électrique du compresseur est commandée pour être interrompue dans les positions de2. Gripping device according to claim 1, characterized in that the power supply to the compressor is controlled to be interrupted in the positions of serrage, de desserrage ou de pression.  tightening, loosening or pressing.
FR9816195A 1998-12-22 1998-12-22 ROBOTIC GRIPPING DEVICE FOR HANDLING BODY PARTS IN A VEHICLE ASSEMBLY INSTALLATION Expired - Fee Related FR2787372B1 (en)

Priority Applications (14)

Application Number Priority Date Filing Date Title
FR9816195A FR2787372B1 (en) 1998-12-22 1998-12-22 ROBOTIC GRIPPING DEVICE FOR HANDLING BODY PARTS IN A VEHICLE ASSEMBLY INSTALLATION
EA200100518A EA200100518A1 (en) 1998-12-22 1999-12-21 AUTOMATED CAPTURAL DEVICE FOR TRANSPORTATION OF BODY PARTS IN INSTALLATIONS FOR ASSEMBLY OF CARS
CN99814222A CN1329532A (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation
AU17845/00A AU1784500A (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation
CA002350682A CA2350682A1 (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation
CZ20012075A CZ20012075A3 (en) 1998-12-22 1999-12-21 Robotic device for handling body parts when assembling motor vehicles
KR1020017007316A KR20010086100A (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation
PL99355485A PL355485A1 (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation
MXPA01005592A MXPA01005592A (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation.
PCT/FR1999/003224 WO2000037211A1 (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation
SI9920103A SI20574A (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation
TR2001/01660T TR200101660T2 (en) 1998-12-22 1999-12-21 A robotized gripping device for installing / removing body parts in a motor vehicle assembly facility
JP2000589308A JP2002532327A (en) 1998-12-22 1999-12-21 Robotized capture device for operation of body parts in vehicle assembly equipment
EP99961125A EP1140418A1 (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9816195A FR2787372B1 (en) 1998-12-22 1998-12-22 ROBOTIC GRIPPING DEVICE FOR HANDLING BODY PARTS IN A VEHICLE ASSEMBLY INSTALLATION

Publications (2)

Publication Number Publication Date
FR2787372A1 true FR2787372A1 (en) 2000-06-23
FR2787372B1 FR2787372B1 (en) 2001-02-16

Family

ID=9534288

Family Applications (1)

Application Number Title Priority Date Filing Date
FR9816195A Expired - Fee Related FR2787372B1 (en) 1998-12-22 1998-12-22 ROBOTIC GRIPPING DEVICE FOR HANDLING BODY PARTS IN A VEHICLE ASSEMBLY INSTALLATION

Country Status (14)

Country Link
EP (1) EP1140418A1 (en)
JP (1) JP2002532327A (en)
KR (1) KR20010086100A (en)
CN (1) CN1329532A (en)
AU (1) AU1784500A (en)
CA (1) CA2350682A1 (en)
CZ (1) CZ20012075A3 (en)
EA (1) EA200100518A1 (en)
FR (1) FR2787372B1 (en)
MX (1) MXPA01005592A (en)
PL (1) PL355485A1 (en)
SI (1) SI20574A (en)
TR (1) TR200101660T2 (en)
WO (1) WO2000037211A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4256947A (en) * 1977-06-06 1981-03-17 Ettore De Candia Car body welding assembly system
US4367998A (en) * 1979-09-13 1983-01-11 United Kingdom Atomic Energy Authority Manipulators
US4494687A (en) * 1983-03-21 1985-01-22 Comau S.P.A. Expanded car body welding assembly system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4256947A (en) * 1977-06-06 1981-03-17 Ettore De Candia Car body welding assembly system
US4367998A (en) * 1979-09-13 1983-01-11 United Kingdom Atomic Energy Authority Manipulators
US4494687A (en) * 1983-03-21 1985-01-22 Comau S.P.A. Expanded car body welding assembly system

Also Published As

Publication number Publication date
TR200101660T2 (en) 2002-04-22
SI20574A (en) 2001-12-31
JP2002532327A (en) 2002-10-02
CA2350682A1 (en) 2000-06-29
EA200100518A1 (en) 2001-12-24
AU1784500A (en) 2000-07-12
CN1329532A (en) 2002-01-02
CZ20012075A3 (en) 2002-05-15
EP1140418A1 (en) 2001-10-10
PL355485A1 (en) 2004-05-04
MXPA01005592A (en) 2003-07-14
WO2000037211A1 (en) 2000-06-29
KR20010086100A (en) 2001-09-07
FR2787372B1 (en) 2001-02-16

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