WO2000037211A1 - Robotized gripping device for handling body parts in a motor vehicle assembly installation - Google Patents

Robotized gripping device for handling body parts in a motor vehicle assembly installation Download PDF

Info

Publication number
WO2000037211A1
WO2000037211A1 PCT/FR1999/003224 FR9903224W WO0037211A1 WO 2000037211 A1 WO2000037211 A1 WO 2000037211A1 FR 9903224 W FR9903224 W FR 9903224W WO 0037211 A1 WO0037211 A1 WO 0037211A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping device
body parts
clamping
vehicle assembly
assembly installation
Prior art date
Application number
PCT/FR1999/003224
Other languages
French (fr)
Inventor
Michel Beffrieu
Original Assignee
Dawidowicz, Armand
Menage, Christine
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 Dawidowicz, Armand, Menage, Christine filed Critical Dawidowicz, Armand
Priority to EA200100518A priority Critical patent/EA200100518A1/en
Priority to AU17845/00A priority patent/AU1784500A/en
Priority to CA002350682A priority patent/CA2350682A1/en
Priority to KR1020017007316A priority patent/KR20010086100A/en
Priority to MXPA01005592A priority patent/MXPA01005592A/en
Priority to SI9920103A priority patent/SI20574A/en
Priority to JP2000589308A priority patent/JP2002532327A/en
Priority to EP99961125A priority patent/EP1140418A1/en
Publication of WO2000037211A1 publication Critical patent/WO2000037211A1/en

Links

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

Definitions

  • Robotic gripping device for handling body parts in a vehicle assembly installation
  • the present invention relates to a 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 a 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.
  • This robotization is mainly used for welding or handling with or without geometry of the bodywork parts by means of welding tongs or gripping hands.
  • 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 held by a gripping device.
  • the present invention aims to solve these problems in a simple, economical and efficient manner, while also allowing the equipment of existing gripping devices.
  • the gripping device 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 in a programmed manner.
  • an on-board electric compressor makes it possible to eliminate any external source of fluid supply even though the control of the mechanical clamping and / or centering means is made, in a proven and traditional manner, by at least one pneumatic cylinder.
  • the weight and the price of the on-board compressor can be relatively low, because the pressures necessary for moving the mechanical means in their two positions are relatively low, of the order of a few bars.
  • 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 power supply to the compressor is controlled so as to be interrupted in the clamping, loosening positions. or pressure.
  • the invention further facilitates the control of the entire gripping device, from a single electrical power source and by a programmable bay.
  • the present invention applies to other types of fixing than welding such as clinching or riveting.

Abstract

The invention concerns a robotized gripping device for handling body parts in a motor vehicle assembly installation, comprising a support integral with a robot and mechanical means for clamping and/or centring controlled by at least a pneumatic jack, said means capable of taking up a stable position for clamping and/or centring and a stable position for releasing the part(s) to be assembled. The invention is characterised in that said pneumatic jack is powered by an incorporated electric compressor supplied with electric power from a fixed source with programmed control. The invention is applicable to installations assembling vehicle body parts.

Description

Dispositif de préhension robotisé pour la manipulation de pièces de carrosserie dans une installation d'assemblage de véhiculesRobotic gripping device for handling body parts in a vehicle assembly installation
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 mécanigues de serrage et/ou de centrage commandés par au moins un vérin pneumatigue, 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.The present invention relates to a 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 a 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.
La robotisation des chaînes d'assemblage de carrosserie de véhicules automobiles est devenue prépondérante du fait des avantages technologigues et économigues gu'elle présente.The robotization of automobile vehicle body assembly lines has become preponderant due to the technological and economic advantages that it presents.
Cette robotisation est essentiellement utilisée pour le soudage ou la manutention avec ou sans géométrie des pièces de carrosserie au moyen de pinces de soudage ou de mains de préhension. La pince de soudage peut être montée sur un robot gui 1 ' amène périodiguement , selon un programme informatisé, à un emplacement de soudage où 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.This robotization is mainly used for welding or handling with or without geometry of the bodywork parts by means of welding tongs or gripping hands. 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.
Une autre technologie consiste à disposer les pinces de soudage à des emplacements fixes auxquels un robot amène périodiguement les pièces a souder, ces pièces étant maintenues par un dispositif de préhension.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 held by a gripping device.
C'est à cette dernière technologie que se réfère la présente invention.It is to this latter technology that the present invention refers.
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 l'exploitation des chaînes d'assemblage.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 for both the design and the operation of assembly lines.
Une solution évidente consiste à utiliser l'énergie électrique, indispensable pour la commande des robots, également pour la commande des organes portés par le robot. C'est ainsi gu ' on a vu apparaître des pinces de soudage à commande électrigue, dont la mise au point a été longue et délicate.An obvious solution consists in using electrical energy, essential for controlling the robots, also for controlling the organs carried by the robot. This is how we saw the appearance of electrically controlled welding tongs, the development of which was long and delicate.
Cette solution, dans le cas de dispositifs de préhension robotisés, présente cependant divers inconvénients liés en particulier au mode de fonctionnement à deux positions stables des moyens mécaniques de serrage et/ou de centrage. 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 porteuse robotisée. De plus, 1 ' électrification entraîne un surcoût par rapport aux commandes à fluide traditionnellement utilisées.This solution, in the case of robotic gripping devices, however has various drawbacks linked in particular to the operating mode with two stable positions of the mechanical clamping and / or centering means. 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. robotic carrier. In addition, electrification involves an additional cost compared to the fluid controls traditionally used.
La présente invention vise à résoudre ces problèmes de manière simple, économique et efficace, en permettant en outre l'équipement de dispositifs de préhension existants.The present invention aims to solve these problems in a simple, economical and efficient manner, while also allowing the equipment of existing gripping devices.
A cet effet, le dispositif de préhension selon l'invention 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 manière programmée.To this end, the gripping device according to the invention 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 in a programmed manner.
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, par au moins un vérin pneumatique.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 clamping and / or centering means is made, in a proven and traditional manner, by at least one pneumatic cylinder.
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 sont relativement faibles, de l'ordre de quelques bars.The weight and the price of the on-board compressor can be relatively low, because the pressures necessary for moving the mechanical means in their two positions are relatively low, of 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 positions de serrage, de desserrage ou de pression.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 power supply to the compressor is controlled so as to be interrupted in the clamping, loosening positions. or pressure.
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 programmable. La présente invention s'appligue à d'autres types de fixation que le soudage telles que le clinchage ou le rivetage. The invention further facilitates the control of the entire gripping device, from a single electrical power source and by a programmable bay. The present invention applies to other types of fixing than welding such as clinching or riveting.

Claims

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.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.
2. Dispositif de préhension selon la revendication 1, caractérisé en ce l'alimentation électrique du compresseur est commandée pour être interrompue dans les positions de serrage, de desserrage ou de pression. 2. Gripping device according to claim 1, characterized in that the electrical supply to the compressor is controlled so as to be interrupted in the clamping, loosening or pressure positions.
PCT/FR1999/003224 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation WO2000037211A1 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
EA200100518A EA200100518A1 (en) 1998-12-22 1999-12-21 AUTOMATED CAPTURAL DEVICE FOR TRANSPORTATION OF BODY PARTS IN INSTALLATIONS FOR ASSEMBLY OF CARS
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
KR1020017007316A KR20010086100A (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.
SI9920103A SI20574A (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor vehicle assembly installation
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 (2)

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
FR98/16195 1998-12-22

Publications (1)

Publication Number Publication Date
WO2000037211A1 true WO2000037211A1 (en) 2000-06-29

Family

ID=9534288

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR1999/003224 WO2000037211A1 (en) 1998-12-22 1999-12-21 Robotized gripping device for handling body parts in a motor 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
FR2787372A1 (en) 2000-06-23
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
KR20010086100A (en) 2001-09-07
FR2787372B1 (en) 2001-02-16

Similar Documents

Publication Publication Date Title
FR2791309A1 (en) MOTOR VEHICLE PADDLE TRIM
WO2014188781A1 (en) Harness support structure of automatic two-wheeled vehicle
UA81872C2 (en) Trunnion type clamp for low voltage cable
WO2016001507A1 (en) Device for clamping parts intended to be joined
US20060197270A1 (en) Retaining device for work pieces, having removable electronic control unit
FR2563798A1 (en) STRUCTURE FOR MOUNTING PIECES OF A BICYCLE ON ITS FRAMEWORK
WO2000037211A1 (en) Robotized gripping device for handling body parts in a motor vehicle assembly installation
FR2852451B1 (en) SYSTEM FOR ELECTRICALLY CONNECTING AND FASTENING AT LEAST ONE DRIVER ON A SUPPORT PART
JP2007083302A (en) Parts welding device for projection bolt or the like
US20220285822A1 (en) Fastening system for a modular antenna
US20090183914A1 (en) Electrical Guide Section for Cable Leadthroughs
FR2841702B1 (en) ELECTRIC ACTUATOR PROVIDED WITH A CONNECTING PART
EP0853369A3 (en) A system for connecting an electrical cable at a predetermined angle to a terminal of electrical apparatus, in particular an alternator for a motor vehicle
JPH10230890A (en) Motor-assisted bicycle
JP3462583B2 (en) Work vehicle battery support structure
WO2008081090A1 (en) Mounting assembly for educational use
KR200266345Y1 (en) corner omitted
JP2006347497A (en) Cable supporting structure for small boat
CN205779866U (en) Middle-opening pump coupling guard
JP2014065140A (en) Screw fastening machine with cartridge
JPH04125481U (en) cable clamp
KR0140552Y1 (en) Power steering pipe mounting structure in a car
JPS6329741Y2 (en)
TNSN98136A1 (en) CONNECTION ACCESSORY FOR DERIVATIVE CABLE TO BE CONNECTED TO A MAIN CABLE, AND BYPASS CONNECTOR PROVIDED WITH SUCH A CONNECTION ACCESSORY
JPH0414863Y2 (en)

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 99814222.0

Country of ref document: CN

ENP Entry into the national phase

Ref document number: 2000 17845

Country of ref document: AU

Kind code of ref document: A

AK Designated states

Kind code of ref document: A1

Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
ENP Entry into the national phase

Ref document number: 2350682

Country of ref document: CA

Ref document number: 2350682

Country of ref document: CA

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2000 589308

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 17845/00

Country of ref document: AU

WWE Wipo information: entry into national phase

Ref document number: PA/a/2001/005592

Country of ref document: MX

WWE Wipo information: entry into national phase

Ref document number: 200100518

Country of ref document: EA

WWE Wipo information: entry into national phase

Ref document number: PV2001-2075

Country of ref document: CZ

Ref document number: 2001/01660

Country of ref document: TR

WWE Wipo information: entry into national phase

Ref document number: 1020017007316

Country of ref document: KR

WWE Wipo information: entry into national phase

Ref document number: 09868687

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 1999961125

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 9920103

Country of ref document: SI

WWP Wipo information: published in national office

Ref document number: 1020017007316

Country of ref document: KR

WWP Wipo information: published in national office

Ref document number: 1999961125

Country of ref document: EP

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

WWP Wipo information: published in national office

Ref document number: PV2001-2075

Country of ref document: CZ

WWR Wipo information: refused in national office

Ref document number: PV2001-2075

Country of ref document: CZ

WWW Wipo information: withdrawn in national office

Ref document number: 1999961125

Country of ref document: EP

WWW Wipo information: withdrawn in national office

Ref document number: 1020017007316

Country of ref document: KR