WO2019179901A1

WO2019179901A1 - Parts transfer system for workshop

Info

Publication number: WO2019179901A1
Application number: PCT/EP2019/056620
Authority: WO
Inventors: Brice BRYON; Jean-Michel KRAUSS
Original assignee: Fives Cinetic
Priority date: 2018-03-19
Filing date: 2019-03-15
Publication date: 2019-09-26
Also published as: EP3768466A1; FR3078957B1; MA52067A; FR3078957A1

Abstract

The invention relates to a parts transfer system (1) for a workshop, comprising: work stations (3) designed for working parts (10); a platform (4) extending above the work stations (3) and in which openings (8) are made; and at least one autonomous vehicle (5) that can circulate on the platform (4) and transfer the parts (10), to or from at least one work station (3), through at least one of said openings (8).

Description

Workshop transfer system

The invention relates to the field of industrial parts manufacturing workshops, including machine shops. More particularly, the invention relates to workpiece transfer systems for workshops.

To facilitate the description of the invention, we will describe, later, the application thereof in a machine shop mechanical parts knowing that the invention finds applications in any type of workshop where operations are performed successively on different workstations on parts, or sets of parts.

Generally, a machine shop includes one or more machining lines, each consisting of several machines to perform different operations on a part (turning, milling, roller burnishing, drilling, tapping rectification, superfinishing ...). A machining range of a part gives the order in which the machining operations are performed and thus the path of the workpiece in the machining line. This range of machining can be different from one room to another. Thus, the path of a room in the workshop can take different paths. Likewise, the machines used and the order in which the parts are operated on these machines vary according to the machining range.

Parts are moved along the machining line by various means that can be manual or partially or fully automated. For example, the parts can be placed on carts pushed by an operator, from station to station, or placed in a tray deposited on an autonomous autonomous vehicle (AGV).

According to the state of the art, the movement of parts between the machining machines is performed by operators or machines located at ground level. Operators or handling equipment must be moved with care to avoid accidents. It requires a large footprint with delimited and secure path areas.

At the foot of the machines, there can be temporary storage areas for parts before machining and / or, after machining. Parts gripping equipment may also be present for the establishment and / or removal of parts of the machine. These temporary storage areas and these gripping equipment can have a large footprint, and make access to the machines more difficult for operators.

An object of the invention is thus to reduce the footprint of the workshops equipped with a system according to the invention.

For this purpose, the subject of the invention is a workpiece transfer system for a workshop comprising: - workstations configured to work parts, and to obtain work pieces,

- a platform extending over workstations and in which openings are provided, and

- At least one autonomous vehicle adapted to travel on the platform and to transfer the parts, to or from at least one of said workstations, through at least one of said openings.

In the rest of the description, we mean:

"Parts" parts that are intended for a workstation to be worked on. They may be rough parts intended for a first workstation or parts partially worked in transit between two workstations.

"Parts Worked": Parts leaving a workstation.

According to some embodiments, the workshop further comprises one or more of the following features, taken in isolation or in any technically feasible combination:

- The system according to the invention comprises a feeding device for bringing the parts at the platform;

the system according to the invention comprises an evacuation device for evacuating the worked parts of the platform;

- the platform includes:

an input storage zone adapted for temporary storage of parts intended to be worked on at least one of the workstations, and / or an outlet storage area suitable for temporary storage of the parts worked, and / or

o an intermediate storage area adapted for temporary storage of parts in transit between two workstations;

- The autonomous vehicle comprises a gripper, the gripper being configured to enter parts, workpieces, and / or covers adapted to close the openings;

- At least one of the workstations has a gripper adapted to seize the parts or parts worked;

- The system further comprises a device configured to transfer the workpieces or parts worked between the gripper of the autonomous vehicle and the gripper of said at least one of the workstations; - The device configured to transfer the parts or parts worked is a robot or a device up and down;

- The device configured to transfer the parts or work pieces is embedded on said autonomous vehicle;

the device configured to transfer the workpieces or parts worked is integral with the platform;

the platform comprises removable slabs adapted to be selectively removed and put back in place, the removal of one of the slabs for creating one of said openings, and the replacement of one of the slabs allowing an autonomous vehicle to circulate on said one of the slabs;

- the input storage area and the output storage area are combined; and

the autonomous vehicle ensures the path of parts between a storage area, a coin supply device, or a coin evacuation device, and at least one of the openings.

The invention optionally includes a number of other features which will be more explicitly discussed below with respect to embodiments described with reference to the accompanying drawing, but not limiting.

The invention will be better understood on reading the description which follows, given solely by way of example and with reference to the appended drawing.

In the accompanying drawing, FIG. 1 is a schematic representation of a workshop equipped with a part transfer system according to the invention.

Referring to the scheme of FIG. 1, schematically shown a machine shop comprising a system 1 according to the invention, and a floor 2.

The system 1 comprises for example six workstations 3 arranged on the floor

2.

Each workstation 3 may comprise a machine performing one or more operations on a part, for example by milling. It comprises a gripper 9 for receiving a part 10, 1 1, 17, possibly seize and / or manipulate on the machine and clamp. This gripper 9 can thus be passive or active. For example, it may be a mandrel.

The system 1 comprises a platform 4 is placed above the workstations 3, away from the workstations 3, and for example 3.5 m from the ground. The system 1 also comprises, for example, two autonomous vehicles 5 traveling on the platform 4 and ensuring the handling of parts 10 to be operated on the workstations 3. The platform 4 is provided with openings 8, for example vertically through, located substantially vertically workstations 3, and through which the parts 10 are transferred from an autonomous vehicle 5 to one of the workstations 3 When they are not used, the openings 8 are advantageously closed by a cover 19 comprising an attachment point 20.

In alternative embodiment (not shown), the openings 8 are formed by hatches equipped with an articulated lid that folds to close the hatch.

The autonomous vehicles 5 are advantageously electric and powered by an onboard battery. They can also be powered electrically by the ground or by an electrified net, for example disposed above the platform 4.

Thus, in case of failure of one of the autonomous vehicles 5celui-ci does not block the passage at floor 2 of the workshop. Troubleshooting the broken down vehicle does not block production. A maintenance area may for example be defined around the autonomous vehicle 5 broken down, to which the other autonomous vehicles 5 in service no longer have access.

An optional feed device 12 makes it possible to bring the parts 10 to be operated on at least one of the workstations 3 to the platform 4. In the example shown, the feed device 12 is positioned on the floor .

According to one variant, it could also be integral with the platform. The feeder 12 can deposit the parts 10 on an input storage area 6 where the parts 10 are stored temporarily before being operated on the workstation 3.

The feed device 12 can also transfer the parts 10 directly to the autonomous vehicles 5.

The feed device 12 shown in FIG. 1 is a system going up and down. It can also be a robot.

Once finished, the parts worked 1 1 on the workstations 3 can be placed on an outlet storage area 7 of the platform 4 before being evacuated. This output storage area may be distinct from or confused with the area of the input storage area 6.

An optional evacuation device 13 makes it possible to evacuate worked pieces 1 1 from the platform. The latter can take the work pieces 1 1 waiting on the outlet storage area 7 or take them directly on a self-driving vehicle 5. In the example shown, the evacuation device 13 is positioned on the ground. It can also be attached to the platform. According to a variant not shown, a single device 18 (shown in two places in FIG. 1) provides the two parts feeding functions. These devices 13, 18 may be of the up and down type. They can also be robots or any other known nature.

Note that we mean by robot, a multi-axis robot or a multi-axis robotic arm.

The platform 4 may also include an intermediate storage area 16 in which lids 19 and / or rooms 17 are stored in transit between two workstations 3. According to one particular embodiment, this intermediate storage area 16 may be merged. with the input storage area 6 or the output storage area 7. The covers 19 can also be placed on a dedicated storage area not shown. The parts 17 are parts 10 being processed by the workstations 3, for example parts to be worked by workstations 3 performing different operations. In other words, the parts in transit 17 are partially worked parts.

The zones 6, 7, 16 are advantageously delimited / marked on the platform 4.

The platform 4 is advantageously modular in order to easily change the position of the openings 8 according to the desired changes in the number and position of the workstations.

The platform 4 may for example consist of a metal structure with transverse and longitudinal crosses between which are placed removable slabs, for example flush. Thus, in the case of adding a workstation to modify a manufacturing range, simply remove a slab to obtain an opening 8 above this new workstation.

The implementation of the workshop is simplified, we can group the workstations by size or type of machines. It is the vehicles that will reach the respective machines according to the range of operation to be performed on the parts. The machining line can be modified and adapted to infinity, within the limits of the combinations of available machines and according to each production.

The autonomous vehicles 5 provide the path on the platform 4 of the parts 10, 1 1, 17 between the storage areas 6, 7, 16, the feed device 12, 18, the evacuation device 13, 18, and the openings 8 placed substantially to the right of the work stations 3. The autonomous vehicles 5 can move on the platform 4 in all directions, avoiding other vehicles, openings 8 and a possible maintenance or storage area. Each autonomous vehicle 5 can advantageously transport one or more parts 10, 1 1, 17 at a time. In the case where at least two pieces are transported at a time, they can be placed on a tray (not shown) or any other means. The tray can then be manipulated by the gripper 14 of the autonomous vehicle. Alternatively, the tray, or any other means, is attached to the autonomous vehicle and the gripper 14 can place and remove the parts of the tray.

The displacement of each of the autonomous vehicles 5 on the platform is for example made according to a path optimized by a computer program comprising one or more algorithms. It takes into account the position of the openings 8 as well as the position and the path of the other autonomous vehicles, as well as a possible maintenance or storage zone, in order to reduce the duration of the displacements and the distance traveled. The computer program also optimizes the flow of parts by limiting intermediate storage and choosing which storage areas to store. For workshops with many autonomous vehicles, the computer program optimizes the use of vehicles by assigning tasks to vehicles according to their positions on the platform and the journeys to be traveled, and taking into account their utilization rate. and the level of their battery. The computer program may include a self-learning system, for example by neural network, to optimize the productivity of the workshop according to operations carried out previously.

The autonomous vehicles 5 also move the covers 19 which close the openings 8 between these openings and a storage area of the covers. The autonomous vehicles 5 comprise a gripper 14 for gripping and handling parts 10, 1 1, 17 and the covers 19 by their attachment point 20. The gripper 14 of the autonomous vehicles can also allow to maneuver the hinged covers. A gripper dedicated to articulated lids can also be provided. Alternatively, the openings 8 may be equipped with a means for operating the articulated covers without the intervention of an autonomous vehicle.

A device 15 handling parts 10, 1 1, 17 allows the transfer of parts between the gripper 14 of an autonomous vehicle 5 and the gripper 9 of a workstation 3. This device 15 is shown in FIG. 1 boarded the autonomous vehicle. It can also be secured to the platform 4, by being placed on it or being fixed on its underside facing the workstations 3. The system 1 may comprise only 15 devices for handling parts on vehicles autonomous, only parts handling devices 5 integral with the platform 4, or a combination of both, some workstations 3 having their dedicated parts handling device 15.

In an alternative embodiment, the feed device 12 directly feeds the first workstation 3 into parts 10, that is to say without passing them through the platform. Then, the parts handling devices 15, combined with the autonomous vehicles, ensure the routing of the workstation parts at the workstation.

The workshop 1 may also not include evacuation device 13, the workpieces 1 1 being taken directly to the last workstation and evacuated by any means known in itself.

Also alternatively, the autonomous vehicles 5 may be provided with two or more grippers to treat very different pieces of nature. They can also be equipped with easily interchangeable grippers by manual or automatic operation.

The autonomous vehicles 5 may also be provided with two or more parts handling systems 15 for treating very different parts or supplying workstations of very different characteristics.

According to an alternative embodiment, the handling device 15 can be telescopic. For example, the telescopic handling device can extend to reach a workstation for laying a workpiece or for retrieving a workpiece.

During the manufacture of a part, inspection operations may be performed after each workstation to verify that the part is compliant. If the inspected part does not comply, an adjustment of one or more of the workstations 3 is possibly carried out. The parts processing makes it possible to request a parts inspection at any time and on each of the workstations 3. One or more of the autonomous vehicles 5 can be configured to take the part to be inspected and make it available for the inspection operations. .

As shown in Fig.1, the invention frees the space at ground level. An operator (not shown) has a clear space of conveyors, gantry feet, bases, robots and screen protectors. The operator can circulate easily around workstations without risk of collision with an autonomous vehicle. It can also easily work on the workstations 3, because their environment is not cluttered by ancillary equipment handling or storage parts. The floor area of workshop 1 is greatly reduced. The investment in a new machine shop can be made in stages: a single autonomous vehicle is sufficient for a very low rate. The number of vehicles is then adjusted according to the need of cadence.

Thanks to the characteristics described above, the system 1 described above has reduced ground dimensions. In addition, the system 1 limits the risk of accidents related to the movement of the parts 10, 17 between the workstations 3, and optimizes the flow of parts between the workstations. Finally, it facilitates access to the workstations 3 by the operator or operators of the workshop.

Claims

A system (1) for transferring parts for a workshop, the system (1) comprising:

- Workstations (3) configured to work parts (10, 17) and to obtain workpieces (1 1),

- a platform (4) extending above the work stations (3) and in which openings (8) are arranged, and

- At least one autonomous vehicle (5) adapted to circulate on the platform (4) and to transfer the parts (10, 17) or workpieces (1 1), to or from at least one of said workstations (3), through at least one of said openings (8), said autonomous vehicle (5) comprising a gripper (14) configured to grip the pieces (10, 17) and / or the work pieces (1 1).

2.- System (1) according to claim 1, characterized in that it comprises a feeding device (12) for bringing the parts (10) at the platform (4).

3.- System (1) according to claim 1 or 2, characterized in that it comprises an evacuation device (13) for discharging the worked parts (1 1) of the platform (4).

4 - System (1) according to any one of claims 1 to 3, characterized in that the platform (4) comprises:

an input storage zone (6) adapted for temporary storage of the parts (10) intended to be worked on at least one of the workstations (3), and / or

an outlet storage area (7) adapted for temporary storage of the worked pieces (1 1), and / or

- An intermediate storage area (16) adapted for temporary storage of parts (17) in transit between two workstations (3).

5.- System (1) according to any one of claims 1 to 4, characterized in that the gripper (14) is configured to grasp lids (19) adapted to close the openings (8).

6. System (1) according to any one of the preceding claims, characterized in that at least one of the workstations (3) has a gripper (9) adapted to grip the parts (10, 17) or the parts worked (1 1).

7.- System (1) according to claim 6, characterized in that it further comprises a device (15) configured to transfer the parts (10, 17) or workpieces (1 1) between the gripper (14) of the autonomous vehicle (5) and the gripper (9) of said at least one of the workstations (3).

8. System (1) according to the preceding claim, characterized in that the device (15) is a robot or a device up and down.

9. System (1) according to claim 7 or 8, characterized in that the device (15) is embedded on said autonomous vehicle (5).

10.- System (1) according to claim 7 or 8, characterized in that the device (15) is integral with the platform (4).

1 1 .- System (1) according to any one of the preceding claims, characterized in that the platform (4) comprises slabs (21) removable adapted to be selectively removed and put back in place, the removal of one of the slabs (21) for creating one of said openings (8), and the replacement of one of the slabs (21) allowing an autonomous vehicle (5) to flow on said one of the slabs (21).