WO2023144474A1

WO2023144474A1 - Device for manipulating turnable parts

Info

Publication number: WO2023144474A1
Application number: PCT/FR2022/052492
Authority: WO
Inventors: Juan Jose Areal; David ALDEA ALONSO; Natalia CANCELA ESTEVEZ; Maria del Carmen Fernandez Gonzalez
Original assignee: Psa Automobiles Sa; CTAG-Fundacion para la Promocion de la Innovacion, Investigacion y Desarrollo Tecnologico Industria
Priority date: 2022-01-28
Filing date: 2022-12-22
Publication date: 2023-08-03
Also published as: FR3132239B1; FR3132239A1

Abstract

The invention relates to a manipulating device (DM) tasked with manipulating parts (PE) having two opposing surfaces (F1, F2) that can be differentiated by a recognition device (DR). This manipulating device (DM) includes a main arm (BP) comprising a coupler (CP) that is able to be coupled to a surface (F1, F2), oriented towards said coupler, of a part (PE) placed on a first support (S1). The manipulating device also includes an electric motor (ME1) to which a gripper (PP1) is coupled, said gripper being able to grip a part (PE) coupled to the coupler (CP). The motor rotates the gripper (PP1) by 180° in order to cause the gripped part (PE) to turn through half a revolution after the coupler (CP) has been decoupled, when the recognition device (DR) requires this.

Description

DESCRIPTION

TITLE: ROLL-UP PARTS HANDLING DEVICE

Technical field of the invention

The present invention claims the priority of French application 2200761 filed on January 28, 2022, the content of which (text, drawings and claims) is incorporated herein by reference.

The invention relates to devices for handling parts.

State of the art

In certain technical fields, such as assembly or storage, for example, parts located on (or in) a support (possibly a container) must be grasped in order to be moved to a chosen location. This input is generally ensured by at least one gripper of a manipulation device that may be part of a robot or an articulated arm of a robot.

Sometimes, the parts are installed "in bulk" on (in) the support and therefore the gripping gripper and the articulated arm of which this gripper possibly forms part must be controlled precisely so that their respective positions in space allow their gripping and their shift. This control is ensured by commands resulting from an analysis of images, acquired in the zone comprising the parts to be handled and transported by at least one camera of a recognition device, and intended to allow the position to be determined in a repository chosen for each part.

It often happens that the pieces have two opposite and distinguishable faces and that they must be moved to a chosen location with a specific orientation of these opposite faces. However, it may happen that one of the parts is initially placed on (in) the support with a bad initial orientation of its opposite faces, and therefore that it arrives at the chosen place with a bad orientation of its opposite faces. . We are then forced to provide, in addition to the manipulation device or of the possible robot, a technician or a dedicated workstation to locally perform a half-turn reversal of the part allowing it to have the correct orientation of its opposite faces, which induces an additional cost, a slowing down of assembly, and possibly unwanted clutter or a very monotonous task.

The aim of the invention is therefore in particular to improve the situation.

Presentation of the invention

In particular, it proposes for this purpose a handling device for coins having two opposite faces which can be differentiated by a recognition device.

This handling device is characterized by the fact that it comprises a main arm comprising:

- a coupler suitable for coupling to a face, oriented towards it, of a part placed on a first support, and

- at least one electric motor to which is coupled a gripper suitable for gripping a part coupled to the coupler and arranged to rotate the gripper through 180° in order to cause a reversal of a half turn of the gripped part after decoupling of the coupler, when the recognition device requires it.

Thanks to this manipulation device with part reversal capability, there is no longer any need for a technician or a dedicated workstation to locally perform a half-turn reversal of a part having its opposite faces badly oriented. , which avoids additional cost, a slowdown in assembly, and unwanted bulk or a very monotonous task.

The manipulation device according to the invention may comprise other characteristics which may be taken separately or in combination, and in particular:

- Its coupler may be capable of coupling to another face of the seized part, oriented towards it after the reversal;

- in the presence of parts that are at least partially metallic, its coupler can be of the electromagnetic type and suitable for coupling to one face of a part by magnetic attraction;

- its main arm can comprise two remote electric motors, to which are respectively coupled two grippers capable of grasping in a synchronized manner two opposite ends of a part coupled to the coupler and arranged to drive the grippers in rotation through 180° and in a synchronized manner in order to causing the seized part to turn over half a turn after it has been uncoupled from the coupler, when the recognition device so requires;

- It may comprise a second support coupled to the main arm and to which each electric motor is fixedly fixed;

- in the presence of the first and last options, it may include a translation device secured to the main arm and capable of translating the second support relative to the main arm in order either to bring each gripper closer to the part coupled to the coupler in order to grasp it, then turning it over, then releasing it after it has been recoupled to the coupler, or moving each gripper away from the part recoupled to the coupler.

The invention also proposes a robot suitable for moving parts having two opposite and distinguishable faces, and comprising at least one handling device of the type presented above.

For example, this robot can also comprise at least one articulated arm to which the manipulation device is secured.

The invention also proposes an installation, on the one hand, allowing the movement of parts, initially placed on a first support, and each having opposite and distinguishable faces, and, on the other hand, comprising:

- a manipulation device of the type presented above or a robot of the type presented above, and

- a recognition device comprising at least one camera intended to observe the faces of the parts oriented towards it and to acquire images of the faces, and a processing device comprising at least one processor and a memory arranged to perform operations consisting in analyzing each image acquired in order to determine each piece to be turned over by the handling device.

For example, the processor and memory can also be arranged to perform operations consisting in analyzing each image acquired in order to determine a position in a chosen reference frame of each part.

Brief description of figures

Other characteristics and advantages of the invention will become apparent on examination of the detailed description below, and of the appended drawings (obtained in CAD/DAO (“Computer-Aided Design/Computer-Aided Drawing”)), of where the apparently discontinuous character of certain lines and certain levels of gray), on which:

[Fig. 1] schematically illustrates, in a perspective view, an installation for moving parts comprising a robot equipped with an embodiment of a handling device according to the invention,

[Fig. 2] schematically illustrates, in a perspective view, the manipulation device of FIG. 1, not attached to the robot and placed in an initial state before a reversal phase,

[Fig. 3] schematically illustrates, in a perspective view, the manipulation device of FIG. 1, not secured to the robot and placed in a first intermediate state after coupling of a part to be turned over during a turning phase,

[Fig. 4] schematically illustrates, in a perspective view, the manipulation device of FIG. 1, not secured to the robot and placed in a second intermediate state after downward translation of its second support with a view to gripping the part coupled during of a reversal phase,

[Fig. 5] schematically illustrates, in a perspective view, the handling device of Figure 1, not secured to the robot and placed in a third intermediate state after the gripping of the part coupled by its two grippers during a reversal phase,

[Fig. 6] schematically illustrates, in a perspective view, the manipulation device of FIG. 1, not secured to the robot and placed in a fourth intermediate state after additional downward translation of its second support to decouple the gripped part from the coupler during a reversal phase, [Fig. 7] schematically illustrates, in a perspective view, the handling device of FIG. 1, not secured to the robot and placed in a fifth intermediate state during the reversal of the part seized by its two clamps during a reversal phase,

[Fig. 8] schematically illustrates, in a perspective view, the handling device of Figure 1, not attached to the robot and placed in a sixth intermediate state after the reversal of the part gripped by its two clamps during a reversal phase,

[Fig. 9] schematically illustrates, in a perspective view, the handling device of Figure 1, not secured to the robot and placed in a seventh intermediate state after additional upward translation of its second support to recouple the part seized and returned to the coupler , then release of the returned and recoupled part by the two clamps, during a reversal phase, and

[Fig. 10] schematically illustrates, in a perspective view, the manipulation device of FIG. 1, not secured to the robot and placed in a final state of a reversal phase after upward translation of its second support to move it away from the part returned and recoupled, before moving this part.

Detailed description of the invention

The object of the invention is in particular to propose a handling device DM intended to allow handling, with a possible reversal, of parts PE having two opposite and differentiable faces F1 and F2.

In what follows, it is considered, by way of non-limiting example, that the PE parts are intended to form part of vehicles, possibly of the automobile type. But the invention is not limited to this type of part. It concerns any part having two opposite and differentiable faces and which must be handled and moved between a support (possibly a container) and a chosen location (possibly an assembly station or 'storage).

There is schematically illustrated in Figure 1 an embodiment of a manipulation device DM according to the invention, located at least temporarily close to a first support S1 on (in) which are placed parts PE, having two opposite and distinguishable faces F1 and F2, and to be the subject of manipulation (with possible reversal) and displacement .

In the example illustrated without limitation in FIG. 1, the manipulation device DM is part of a robot RM, and more precisely of an articulated arm BA of this robot RM. But a manipulation device DM according to the invention may not be part of a robot or else may be part of a robot but not of an articulated arm of this robot. The RM robot may possibly be mobile in order to be able to move in an automated manner on the support which supports it.

Furthermore, in the example illustrated without limitation in FIG. 1, the robot RM (and therefore the handling device DM) is (are) part of an installation IN allowing the movement of the parts PE when they are initially placed on the first support S1, and further comprising a recognition device DR. This recognition device DR comprises at least one camera CO and a processing device DT1. The camera CO is intended to observe the first F1 and second F2 visible faces of the parts PE oriented towards it and to acquire images of these visible faces F1, F2. For example, the camera CO can be secured to a bracket PS by being oriented towards the first support S1. The processing device DT1 comprises at least one processor PR1 and one memory MD arranged to carry out operations consisting in analyzing each acquired image in order to determine each part PE to be the subject of a reversal by the manipulation device DM.

The processor PR1 can, for example, be a digital signal processor (or DSP (“Digital Signal Processor”)). This processor PR1 can comprise integrated (or printed) circuits, or else several integrated (or printed) circuits connected by wired or wireless connections. By integrated (or printed) circuit is meant any type of device capable of performing at least one electrical or electronic operation. The memory MD is active in order to store instructions for the implementation by the processor PR1 of the analysis of the acquired images. The processing device DT1 can therefore be made in the form of a combination of electrical or electronic circuits or components (or "hardware") and software modules (or "software"). By way of example, it may be a microcontroller.

As illustrated in FIGS. 1 to 10, a manipulation device DM, according to the invention, notably comprises a main arm BP, comprising a coupler CP, and at least one electric motor MEj, to which a clamp PPj is coupled.

In the example illustrated without limitation in FIG. 1, the main arm BP is part of the robot RM, and more precisely of the articulated arm BA of this robot RM, which allows its movement in (three-dimensional) space. The main arm BP therefore comprises a first end E1 which is fixedly secured to the articulated arm BA, and a second end E2 opposite its first end E1.

The coupler CP is capable of temporarily coupling to the first F1 or second F2 face which is oriented towards it (CP) and which is part of a part PE placed on a first support S1. The coupling of the PE part to the CP coupler is shown in Figure 3.

In the example illustrated without limitation in Figures 1 to 10, the coupler CP is fixedly attached to the second end E2 of the main arm BP in order to facilitate coupling to each part PE to be moved. But in a variant not shown, the coupler CP could be fixedly attached to an intermediate part of the main arm BP located between its first E1 and second E2 ends.

The (each) gripper PPj is capable of gripping a part PE which is temporarily coupled to the coupler CP. For example, and as illustrated without limitation in Figures 1 to 10, each gripper PPj can comprise two plates mounted to rotate on the same axis or on axes parallel to each other and folded towards each other during a seizure of PE part. The rotational drive of the two plates of a PPj gripper in opposite directions can, for example, be ensured by an electric motor coupled to a small mechanical mechanism.

The (each) electric motor MEj is arranged to drive the gripper PPj (which is coupled to it) in rotation through 180° in order to cause a reversal of a half-turn of the gripped part PE after decoupling of the coupler CP, when the recognition device DR of the installation IN requires it (because it detected by its analyzes of acquired images that it did not have the correct orientation of its first F1 and second F2 faces).

Of course, when the recognition device DR has detected by its analyzes of acquired images that a part PE to be entered had the correct orientation of its first F1 and second F2 faces on the first support S1, it does not require the reversal , and therefore this part PE is coupled to the coupler CP then moved (here by the robot RM) to the chosen location where it must be delivered.

The manipulation device DM therefore makes it possible to couple a first F1 or second F2 visible face of a part PE to the coupler CP, then, when the face object of the coupling is not the one desired, to return this part PE after it has been decoupled from the coupler CP so that its visible face is the one desired. Then, the part PE can be moved (here by the robot RM) to a chosen location while remaining coupled to the handling device DM, in order to be delivered with the correct orientation of its first F1 and second F2 opposite faces.

Consequently, thanks to the handling device DM with PE part turning capability, there is no longer any need for a technician or a dedicated workstation to locally perform a half-turn turning of a PE part having its opposite faces F1 and F2 badly oriented, which avoids an additional cost, a slowing down of the assembly, and an undesired size or a very monotonous task.

It will be noted that in the example illustrated without limitation in FIGS. 1 to 10, the main arm BP comprises two remote electric motors ME1 and ME2 (j=1 or 2), to which two grippers PP1 and PP2 are respectively coupled. These two grippers PP1 and PP2 are capable of gripping two opposite ends of a part PE coupled to the coupler CP in a synchronized manner, because they are controlled simultaneously. In addition, the two electric motors ME1 and ME2 are arranged to drive the grippers PP1 and PP2 in rotation through 180° and in a synchronized manner in order to cause the reversal by half a turn of the part PE seized after its decoupling from the coupler CP , when the recognition device DR requires it. It will be understood that the synchronized control of the two electric motors ME1 and ME2 and of the two associated grippers PP1 and PP2 is ensured by the processing device DT1 of the recognition device DR (and more precisely by its processor PR1 and memory MD).

In a variant embodiment not shown, the main arm BP could comprise only one electric motor MEj to which a single gripper PPj is coupled.

For example, the CP coupler may be suitable for coupling to the other face F1 or F2 of the gripped PE part, which is now oriented towards it (CP) after the flip. The part PE, object of the reversal, is therefore again coupled to the coupler CP which holds it until it is delivered to the chosen location, now having the correct orientation of its first F1 and second F2 opposite faces. But in a variant embodiment, the part PE, object of the reversal, could remain gripped by each gripper PPj until it is delivered to the chosen location with the correct orientation of its first F1 and second F2 opposite faces. .

Also, for example, when the PE parts are at least partially metallic, the coupler CP can be of the electromagnetic type and suitable for coupling to a first F1 or second F2 visible face of a PE part by magnetic attraction. But other coupling modes can be envisaged, and in particular suction coupling. It should be noted that a coupling by suction is particularly suitable in the case where the PE parts are made without metallic material.

It will also be noted, as illustrated without limitation in FIGS. 1 to 10, that the manipulation device DM can also comprise a second support S2 coupled to the main arm BP and to which each electric motor MEj is fixedly attached. For example, and as illustrated, this second support S2 may comprise a bar installed substantially perpendicular to the main arm BP and comprising two opposite ends to which are fixedly fixed and respectively two small auxiliary arms to which are fixedly fixed and respectively the two electric motors MEj with their PPj pliers. Here, the two small auxiliary arms are substantially perpendicular to the bar, but this is not OBLIGATORY.

It will also be noted, as illustrated without limitation in FIGS. 1 to 10, that the manipulation device DM can also comprise a translation device DT2 secured to the main arm BP and able to translate the second support S2 with respect to the main arm BP. This translation is intended either to bring each gripper PPj closer to the part PE coupled to the coupler CP in order to grasp it, then to turn it over, then to release it after its recoupling to the coupler CP, or to move each gripper PPj away from the part PE once it has been recoupled to the CP coupler.

The approach of each gripper PPj to the part PE coupled to the coupler CP is illustrated in Figures 3 and 4. The gripping of the part PE coupled to the coupler CP is illustrated in Figure 5. The reversal of the part PE by each gripper PPj (here after its decoupling from the coupler CP by an additional translation (see figure 6)) is illustrated in figures 7 and 8. The release of the part PE by each gripper PPj (here after its recoupling to the coupler CP by an additional translation) is illustrated in Figure 9. The distance of each clamp PPj from the part PE recoupled to the coupler CP and released is illustrated in Figure 10.

It will also be noted that in the embodiment which is described and illustrated here, the part PE is decoupled from the coupler CP by an additional translation (here downwards (see FIG. 6)) after having been gripped by each gripper PPj and before d be turned over, and in this case the part PE is recoupled to the coupler CP by another additional translation (here upwards (see FIG. 9)) after having been turned over by each gripper PPj. But in a variant embodiment not illustrated, it is the reversal of the part PE by each gripper PPj which could cause the decoupling and recoupling of the part PE from/to the coupler CP.

The translation device DT2 can, for example, comprise an endless screw coupled to the main arm BP and driven in rotation with respect to the latter (BP) by an electric motor fixedly secured to the main arm BP, and a base provided with a threaded through hole traversed by the endless screw (in order to cause its translation by screwing), to which the bar of the second support S2 is fixedly fixed, and translating on two guide rods parallel fixedly fixed to the main arm BP. But in a variant embodiment not shown, the translation device DT2 could, for example, comprise a rack and pinion mechanism driving the second support S2 in translation.

Claims

1 . Handling device (DM) for coins (PE) having two opposite faces (F1, F2) which can be differentiated by a recognition device (DR), characterized in that it comprises a main arm (BP) comprising i) a coupler (CP) suitable for coupling to a face (F1, F2), oriented towards it (CP), of a part (PE) placed on a first support (S1), and ii) at least one electric motor (MEj ) to which is coupled a gripper (PPj) capable of gripping a workpiece (PE) coupled to said coupler (CP) and arranged to drive said gripper (PPj) in rotation through 180° in order to cause said coin (PE) seized after decoupling said coupler (CP), when said recognition device (DR) so requires.

2. Device according to claim 1, characterized in that said coupler (CP) is capable of coupling to another face (F1, F2) of said part (PE) gripped, oriented towards it (CP) after said reversal.

3. Device according to claim 1 or 2, characterized in that in the presence of parts (PE) at least partially metallic, said coupler (CP) is of the electromagnetic type and suitable for coupling to a face (F1, F2) of one piece (PE) by magnetic attraction.

4. Device according to one of claims 1 to 3, characterized in that said main arm (BP) comprises two remote electric motors (MEj), to which are respectively coupled two grippers (PPj) capable of gripping two opposite ends in a synchronized manner of a workpiece (PE) coupled to said coupler (CP) and arranged to drive in rotation through 180° and in a synchronized manner said grippers (PPj) in order to cause said reversal by a half-turn of said workpiece (PE) gripped after its decoupling from said coupler (CP), when said recognition device (DR) so requires.

5. Device according to one of claims 1 to 4, characterized in that it comprises a second support (S2) coupled to said main arm (BP) and to which each electric motor (MEj) is fixedly secured.

6. Device according to the combination of claims 2 and 5, characterized in that it comprises a translation device (DT2) secured to said main arm (BP) and adapted to translate said second support (S2) relative to said main arm (BP) in order either to bring each gripper (PPj) closer to said part (PE) coupled to said coupler (CP) with a view to grasping it, then turning it over, then releasing it after recoupling it to said coupler (CP), or to move each gripper (PPj) away from said part (PE) recoupled to said coupler (CP).

7. Robot (RM) capable of moving parts (PE) having two opposite and differentiable faces (F1, F2), characterized in that it further comprises at least one manipulation device (DM) according to one of claims previous ones.

8. Robot according to claim 7, characterized in that it further comprises at least one articulated arm (BA) to which said manipulation device (DM) is secured.

9. Installation (IN) for moving parts (PE), initially placed on a first support (S1), and each having opposite and differentiable faces (F1, F2), characterized in that it comprises i) a device handling device (DM) according to one of Claims 1 to 6 or else a robot (RM) according to Claim 7 or 8, and ii) a recognition device (DR) comprising at least one camera (CO) intended to observe the said faces (F1, F2) of the parts (PE) oriented towards it (CO) and to acquire images of said faces (F1, F2), and a processing device (DT1) comprising at least one processor (PR1) and a memory ( MD) arranged to carry out operations consisting in analyzing each image acquired in order to determine each part (PE) to be the subject of a reversal by said manipulation device (DM).

10. Installation according to claim 9, characterized in that said processor (PR1) and memory (MD) are arranged to perform operations consisting in analyzing each image acquired in order to determine a position in a chosen reference frame of each part (PE).