FR2838107A1 - Pallet supporting frames for robot placing of automobile bodywork sides comprises frame support blocks fixed on pallet, each frame comprising two arms carrying sphere supported on corresponding blocks - Google Patents

Pallet supporting frames for robot placing of automobile bodywork sides comprises frame support blocks fixed on pallet, each frame comprising two arms carrying sphere supported on corresponding blocks Download PDF

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Publication number
FR2838107A1
FR2838107A1 FR0204372A FR0204372A FR2838107A1 FR 2838107 A1 FR2838107 A1 FR 2838107A1 FR 0204372 A FR0204372 A FR 0204372A FR 0204372 A FR0204372 A FR 0204372A FR 2838107 A1 FR2838107 A1 FR 2838107A1
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FR
France
Prior art keywords
pallet
frames
studs
supported
arms
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Withdrawn
Application number
FR0204372A
Other languages
French (fr)
Inventor
Alain Corrias
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.)
GROUPE ITI
Original Assignee
GROUPE ITI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GROUPE ITI filed Critical GROUPE ITI
Priority to FR0204372A priority Critical patent/FR2838107A1/en
Publication of FR2838107A1 publication Critical patent/FR2838107A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B23K37/0426—Fixtures for other work
    • B23K37/0435—Clamps
    • 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
    • B23K37/0426—Fixtures for other work
    • B23K37/0435—Clamps
    • B23K37/0443—Jigs
    • 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
    • B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
    • 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 two frames (2) supported by the pallet (1) are located symmetrically above the pallet and form an acute angle (a) between them. The frames are supported by four blocks (3) fixed on the pallet and each frame comprises two arms (4) carrying a sphere (5) supported on the corresponding blocks. Two of the four blocks comprise an upwards widened conical surface receiving the corresponding sphere and the other blocks comprise a V-section surface receiving the sphere of the other arms.

Description

positionnement pour le lien (20).positioning for the link (20).

Palette supportant deux cadres métalliques destinés à être traités par exemple par un robot La présente invention concerne une palette pour supporter deux cadres métalliques destinés à mettre en géométrie des côtés de caisse de carrosserie  Pallet supporting two metallic frames intended to be treated for example by a robot The present invention relates to a pallet to support two metallic frames intended to put in geometry sides of bodywork body

devant être soudés par des robots.  to be welded by robots.

Ces cadres métalliques peuvent supporter par o exemple des côtés latéraux de carrosserie d' automobile sur lesquels il est nécessaire d' ajouter et de fixer par soudage ou autres, diverses pièces métalliques telles que des renforts, supports  These metal frames can support, for example, lateral sides of automobile bodywork on which it is necessary to add and fix by welding or other, various metal parts such as reinforcements, supports.

d'accessoires et analogues.accessories and the like.

Ces aj outs sont réalisés au moyen de robots pilotés par des logiciels pour agir en des endroits précis et prédéterminés des cadres métalliques précités. Sur la chaîne de fabrication en grande série du site de production d'automobiles, les cadres supportés par les palettes sont présentés successivement devant les robats. Il est par conséquent nécessaire que la position des cadres par rapport à un système d'axes orthogonaux XYZ soit définie avec une grande précision, par exemple plus ou moins 2 dixièmes de millimètre pour que les deux cadres d'une palette ainsi que les cadres des palettes successives soient traités d'une manière identique par les robots placés de chaque côté de la palette. Le fait de placer deux cadres sur une même palette permet d' assembler un côté de caisse droit et gauche sur une même 1igneD  These aj outs are carried out by means of robots controlled by software to act in precise and predetermined locations of the aforementioned metal frames. On the mass production line of the automobile production site, the frames supported by the pallets are presented successively in front of the valves. It is therefore necessary that the position of the frames relative to a system of orthogonal axes XYZ be defined with great precision, for example more or less 2 tenths of a millimeter so that the two frames of a pallet as well as the frames of the successive pallets are treated identically by the robots placed on each side of the pallet. The fact of placing two frames on the same pallet makes it possible to assemble a side of right and left box on the same 1D

Pour satisfaire les conditions exposces ci-  To meet the conditions set out below

dessus, il faut que les cadres soient disposés sur la palette d'une manière symétrique par rapport à un plan perpendiculaire à la palette. I1 faut également que ces cadres soient supportés d'une manière réglable précisément pour satisfaire les impératifs  above, the frames must be arranged on the pallet in a symmetrical manner with respect to a plane perpendicular to the pallet. These frames must also be supported in an adjustable manner precisely to meet the requirements

de précision.precision.

Le but de la présente invention est de proposer  The purpose of the present invention is to provide

o une solution pour satisfaire aux exigences précitées.  o a solution to meet the above requirements.

L' invention vise ainsi une palette comportant deux cadres métalliques destinés à mettre en  The invention thus relates to a pallet comprising two metal frames intended for placing

géométrie des côtés de caisse de carrosserie.  geometry of the bodywork sides.

Suivant l' invention, cette palette est caractérisée en ce que les deux cadres sont disposés symétriquement au-dessus de la palette par rapport à un plan perpendiculaire à cette palette et forment entre eux un angle aigu divergeant vers la palette et sont supportés par quatre plots fixés sur la palette, chaque cadre comportant près de son bord inférieur deux bras faisant saillie vers l'extérieur et portant chacun une sphère prenant appui sur le plot correspondant fixé sur la palette, deux des quatre plots situés de part et d'autre dudit plan de symétrie comportant une surface conique évasée vers le haut recevant la sphère correspondante desdits bras et les deux autres plots comportant une surface de section en V évasée vers le haut dont l'arête inférieure est parallèle audit plan de symétrie,  According to the invention, this pallet is characterized in that the two frames are arranged symmetrically above the pallet with respect to a plane perpendicular to this pallet and form between them an acute angle diverging towards the pallet and are supported by four studs fixed on the pallet, each frame comprising near its lower edge two arms projecting outwards and each carrying a sphere bearing on the corresponding stud fixed on the pallet, two of the four studs located on either side of said plane of symmetry comprising a conical surface flared upward receiving the corresponding sphere of said arms and the other two studs comprising a surface of V-shaped section flared upward whose lower edge is parallel to said plane of symmetry,

recevant la sphère des deux autres bras en saillie.  receiving the sphere from the other two projecting arms.

Le fait que l'une des paires de bras alignés perpendiculairement au plan de symétrie des cadres comporte une sphère en appui sur un cône permet comme dans le cas d'une articulation à rotule d'effectuer un réglage suivant les trois axes X, Y. Z. Le fait que l'autre paire de bras comporte une sphère en appui sur une surface de section en V  The fact that one of the pairs of arms aligned perpendicular to the plane of symmetry of the frames has a sphere bearing on a cone allows, as in the case of a ball joint, to make an adjustment along the three axes X, YZ Le causes the other pair of arms to have a sphere resting on a V-shaped surface

permet d'effectuer un réglage suivant deux axes XY.  allows adjustment along two XY axes.

Ces possibilités de réglage permettent de définir avec une grande précision (par exemple inférieure à 0,2 mm) la position des deux cadres sur chaque palette et sur les palettes successives, ce qui permet aux robots d'exécuter les opérations préprogrammées et répétitives dans d'excellentes o conditions afin d'obtenir une qualité de production  These adjustment possibilities make it possible to define with great precision (for example less than 0.2 mm) the position of the two frames on each pallet and on the successive pallets, which allows the robots to carry out the preprogrammed and repetitive operations in d '' excellent o conditions in order to obtain a quality of production

parfaitement reproductible.perfectly reproducible.

Selon une version préférce de l' invention, les deux cadres sont supportés à leur partie supérieure par deux supports de section en V axialement espacés, intercalés entre les bords supérieurs des deux cadres et sur lesquels sont en appui les deux faces  According to a preferred version of the invention, the two frames are supported at their upper part by two axially spaced V-shaped section supports, interposed between the upper edges of the two frames and on which the two faces are supported.

intérieures adjacentes des deux cadres.  adjacent interior of the two frames.

Ces supports de section en V permettent de maintenir les deux cadres suivant un angle aigu correspondant à l' angle formé par les deux faces latérales de chaque support de section en V. De préférence également, les quatre sphères desUits bras en saillie sont bloquces sur les plots correspondants par des vis traversant verticalement les sphères respectives, vissées dans les plots et  These V-section supports make it possible to maintain the two frames at an acute angle corresponding to the angle formed by the two lateral faces of each V-section support. Preferably also, the four spheres of the said projecting arms are locked on the corresponding studs by screws vertically passing through the respective spheres, screwed into the studs and

dont la tête prend appui sur chacune des sphères.  whose head rests on each of the spheres.

D'autres caractéristiques et avantages de la présente invention apparaîtront plus clairement à la  Other characteristics and advantages of the present invention will appear more clearly on

lecture de la description suivante de plusieurs  reading the following description of several

réalisations préférées de l' invention en référence aux dessins annexés correspondants dans lesquels: - la figure 1 est une vue en élévation et en bout d'une palette selon l' invention supportant deux cadres métalliques; q - la figure 2 est une vue latérale de la palette supportant les deux cadres; - la figure 3 est une vue à échelle agrandie du détail A de la figure 2; - la figure 4 est une vue à échelle agrandie du  preferred embodiments of the invention with reference to the corresponding accompanying drawings in which: - Figure 1 is an elevational view at the end of a pallet according to the invention supporting two metal frames; q - Figure 2 is a side view of the pallet supporting the two frames; - Figure 3 is an enlarged view of detail A of Figure 2; - Figure 4 is an enlarged view of the

détail B de la figure 2.detail B of figure 2.

Dans la réalisation représentée sur les figures 1 et 2, la palette 1 supporte deux cadres métalliques o 2 destinés à supporter sur leur face latérale 2a dirigée vers l'extérieur un côté de caisse de carrosserle. Dans l'exemple représenté, ces deux cadres 2 sont constitués par des côtés de carrosserie  In the embodiment shown in Figures 1 and 2, the pallet 1 supports two metal frames o 2 intended to support on their lateral face 2a directed outwards a side of bodywork body. In the example shown, these two frames 2 are constituted by body sides

d' automobile.automobile.

Les deux cadres 2 sont disposés symétriquement au-dessus de la palette 1 par rapport à un plan P perpendiculaire à cette palette. De plus, ces deux cadres forment entre eux un angle aigu a divergeant  The two frames 2 are arranged symmetrically above the pallet 1 with respect to a plane P perpendicular to this pallet. In addition, these two frames form an acute to diverging angle between them.

vers la palette 1.to palette 1.

Par ailleurs, les deux cadres sont supportés par les deux plots 3 fixés sur la palette 1, chaque cadre 2 comportant près de son bord inférieur 2b deux bras 4 faisant saillie vers l'extérieur et portant une sphère 5 prenant appui (voir également les figures 3 et 4) sur les plots 3 correspondants fixés sur la  Furthermore, the two frames are supported by the two studs 3 fixed on the pallet 1, each frame 2 having near its lower edge 2b two arms 4 projecting outwards and carrying a sphere 5 bearing (see also the figures 3 and 4) on the corresponding 3 studs fixed on the

palette 2.palette 2.

Deux des quatre plots 3 situés de part et d'autre du plan de symétrie P comportent comme on le voit plus en détail sur la figure 3 une surface conique 6 évasée vers le haut recevant la sphère 5  Two of the four studs 3 located on either side of the plane of symmetry P comprise, as can be seen in more detail in FIG. 3, a conical surface 6 flared upwards receiving the sphere 5

correspondante desdits bras 4.corresponding of said arms 4.

Les deux autres plots 3 comportent une surface de section en V 7 évasée vers le haut dont l'arête est parallèle au plan de symétrie P recevant la  The other two studs 3 have a V-shaped cross-section surface 7 flared upwards, the edge of which is parallel to the plane of symmetry P receiving the

sphère 5 des deux autres bras en saillie 4.  sphere 5 of the other two projecting arms 4.

Les deux premiers plots 3 sont par exemple ceux situés à l' avant des cadres et les deux autres plots, c'est-à-dire ceux qui comportent une surface de section en V sont par exemple situés près du bord  The first two studs 3 are for example those located at the front of the frames and the other two studs, that is to say those which have a V-shaped section surface are for example located near the edge

arrière des cadres 2.rear of frames 2.

On voit également sur la figure 1 que les deux cadres 2 sont supportés à leur partie supérieure par o deux supports 9 de section V axialement espacés, intercalés entre les bords supérieurs 2c de deux cadres 2. Les deux faces intérieures adjacentes 2d des deux cadres sont en appui sur ces supports 9 de section en V. Les quatre sphères 5 des bras en saillie 4 sont bloquées sur les plots correspondants 3 par des vis traversant les sphères respectives 5 verticalement et vissées dans les plots 3. En outre, la tête 10a  It can also be seen in FIG. 1 that the two frames 2 are supported at their upper part by o two supports 9 of section V axially spaced, inserted between the upper edges 2c of two frames 2. The two adjacent inner faces 2d of the two frames are resting on these supports 9 of V-section. The four spheres 5 of the projecting arms 4 are locked on the corresponding studs 3 by screws passing through the respective spheres 5 vertically and screwed into the studs 3. In addition, the head 10a

des vis 10 prend appui sur chacune des sphères 5.  screws 10 rests on each of the spheres 5.

Le fait que les deux cadres reposent sur deux des plots 3 par une sphère prenant appui sur un cane permet de régler la position suivant trois X Y Z. Le fait que les deux autres plots comportent une surface de section en V dans laquelle prend appui la sphère 5 permet un réglage suivant les deux axes X et Y. D'autre part, les supports supérieurs 9 de section en V permettent de définir avec précision  The fact that the two frames rest on two of the studs 3 by a sphere bearing on a cane makes it possible to adjust the position according to three XY Z. The fact that the other two studs have a V-shaped surface in which the sphere bears 5 allows adjustment along the two axes X and Y. On the other hand, the upper supports 9 of V-shaped section allow precise definition

l' angle a compris entre les deux cadres.  the angle included between the two frames.

Les dispositions ci-dessus permettent de définir avec une très grande précision, par exemple inférieure à 0,2 mm la position des cadres par rapport à trois axes X, Y et Z. Par conséquent cette disposition permet aux robats destinés à traiter ou à appliquer des soudures sur les faces 2a des deux cadres d'agir avec une grande précision dans les  The above arrangements make it possible to define with very great precision, for example less than 0.2 mm, the position of the frames with respect to three axes X, Y and Z. Consequently this arrangement allows the valves intended for treating or applying welds on the faces 2a of the two frames to act with great precision in the

endroits prédéterminés desdits cadres 2.  predetermined locations of said frames 2.

Claims (2)

REVENDICATIONS 1 - Palette (1) supportant deux cadres mAtalliques (2) destinAs Atre traits sur leur face s latArale (2a) dirige vers 1'extrieur, notamment par un robot, caractArise en ce que les deux cadres (2) sont disposs symAtriquement au-dessus de la palette (1) par rapport un plan (P) perpendiculaire cette palette et forment entre eux un angle aigu (a) 0 divergeant vers la palette (1) et sont supports par quatre plots (3) fixs sur la palette (1), chaque cadre (2) comportant prs de son bord infArieur (2b) deux bras (4) faisant saillie vers l'extArieur et portant chacun une sphAre (5) prenant appui sur les plots (3) correspondants fixs sur la palette (1), deux des quatre plots (3) situAs de part et d'autre dudit plan de symAtrie (P) comportant une surface conique (6) Avase vers le haut recevant la sphAre (5) correspondante desdits bras (4) et les deux autres plots (3) comportent une surface de section en V (7) Avase vers le haut dont l'arAte (8) infArieure est parallle audit plan de symAtrie (P), recevant la  1 - Pallet (1) supporting two metallic frames (2) intended to be treated on their lateral side (2a) directed towards the outside, in particular by a robot, characterized in that the two frames (2) are arranged symmetrically above the pallet (1) relative to a plane (P) perpendicular to this pallet and form between them an acute angle (a) 0 diverging towards the pallet (1) and are supported by four studs (3) fixed on the pallet (1 ), each frame (2) comprising near its lower edge (2b) two arms (4) projecting towards the exterior and each carrying a sphere (5) bearing on the corresponding studs (3) fixed on the pallet (1 ), two of the four studs (3) located on either side of said plane of symmetry (P) comprising a conical surface (6) Avase upwards receiving the corresponding sphere (5) of said arms (4) and the other two studs (3) have a V-shaped section surface (7) Avase upwards, the lower edge (8) of which is parallel to said plane of symmetry (P), receiving the sphAre (5) des deux autres bras en saillie (4).  sphere (5) of the other two projecting arms (4). 2s 2 - Palette selon la revendication 1, caractArisAb en ce que les deux cadres (2) sont supports leur partie supArieure par deux supports (9) de section en V axialement espacs, intercalAs entre les bords supArieurs (2c) des deux cadres (2) et sur lesquels sont en appui les deux faces  2s 2 - Pallet according to claim 1, caractArisAb in that the two frames (2) are supported their upper part by two supports (9) of V-section axially spaced, interposed between the upper edges (2c) of the two frames (2 ) and on which the two faces are supported intArieures adjacentes (2d) des deux cadres.  adjacent interiors (2d) of the two frames. 3 - Palette selon l'une des revendications 1 ou  3 - Pallet according to one of claims 1 or 2, caractArise en ce que les quatre sphres (5) 3s desdits bras en saillie (4) sont bloques sur les plots correspondents (3) par des vis (10) traversant verticalement les spheres respectives (5), vissces dans les plots (3) et dont la tote (lea) prend appui  2, caractArise in that the four spheres (5) 3s of said projecting arms (4) are locked on the corresponding studs (3) by screws (10) vertically passing through the respective spheres (5), screwed in the studs (3 ) and whose tote (lea) is supported sur chacune des spheres.on each of the spheres. s 4 - Palette selon l'une quelconque des  s 4 - Pallet according to any one of revendications 1 à 3, caractérisce en ce que les  Claims 1 to 3, characterized in that the cadres métalliques (2) supportent des côtés de caisse  metal frames (2) support body sides de carrosserie d' automobile.automobile body shop.
FR0204372A 2002-04-08 2002-04-08 Pallet supporting frames for robot placing of automobile bodywork sides comprises frame support blocks fixed on pallet, each frame comprising two arms carrying sphere supported on corresponding blocks Withdrawn FR2838107A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR0204372A FR2838107A1 (en) 2002-04-08 2002-04-08 Pallet supporting frames for robot placing of automobile bodywork sides comprises frame support blocks fixed on pallet, each frame comprising two arms carrying sphere supported on corresponding blocks

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Application Number Priority Date Filing Date Title
FR0204372A FR2838107A1 (en) 2002-04-08 2002-04-08 Pallet supporting frames for robot placing of automobile bodywork sides comprises frame support blocks fixed on pallet, each frame comprising two arms carrying sphere supported on corresponding blocks

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FR2838107A1 true FR2838107A1 (en) 2003-10-10

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FR0204372A Withdrawn FR2838107A1 (en) 2002-04-08 2002-04-08 Pallet supporting frames for robot placing of automobile bodywork sides comprises frame support blocks fixed on pallet, each frame comprising two arms carrying sphere supported on corresponding blocks

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2714652A1 (en) * 1993-12-30 1995-07-07 Renault Automation Positioner for several different pieces in bench mark
USRE35605E (en) * 1987-12-10 1997-09-16 Nissan Motor Co., Ltd. Work positioning device for assembly line
US6193046B1 (en) * 1996-12-25 2001-02-27 Nissan Motor Co., Ltd. Transfer apparatus transferring body side of automotive vehicle and transfer method thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USRE35605E (en) * 1987-12-10 1997-09-16 Nissan Motor Co., Ltd. Work positioning device for assembly line
FR2714652A1 (en) * 1993-12-30 1995-07-07 Renault Automation Positioner for several different pieces in bench mark
US6193046B1 (en) * 1996-12-25 2001-02-27 Nissan Motor Co., Ltd. Transfer apparatus transferring body side of automotive vehicle and transfer method thereof

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