EP1807246A1 - Workstation assembly and modular workstation therefor - Google Patents

Workstation assembly and modular workstation therefor

Info

Publication number
EP1807246A1
EP1807246A1 EP05814839A EP05814839A EP1807246A1 EP 1807246 A1 EP1807246 A1 EP 1807246A1 EP 05814839 A EP05814839 A EP 05814839A EP 05814839 A EP05814839 A EP 05814839A EP 1807246 A1 EP1807246 A1 EP 1807246A1
Authority
EP
European Patent Office
Prior art keywords
workstation
robot
work station
platform
face
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Withdrawn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
EP05814839A
Other languages
German (de)
French (fr)
Inventor
François Malatier
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.)
ABB France SAS
Original Assignee
ABB France SAS
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 ABB France SAS filed Critical ABB France SAS
Publication of EP1807246A1 publication Critical patent/EP1807246A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • 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
    • B23P21/004—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 the units passing two or more work-stations whilst being composed
    • 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

Definitions

  • the present invention relates to a set of superposed modular stations and a corresponding modular workstation, used for example in a workshop or a production line of auto ⁇ mobile bodies.
  • the installation of a car body manufacturing line using robots generally requires the production of a concrete slab in which are provided passages for electrical cables and pressurized fluid conduits. and are dis ⁇ posed means for fixing robots and different tools according to plans provided by the designer of the production line.
  • the installation conditions on the site are not always optimal so that the installation is relatively long and that there is a risk of errors when positioning the robots or the outlets of the passages of cables or conduits on the site .
  • EP-A-266 056 a robotic device comprising a frame extending over a first manipulator and carrying a second manipulator.
  • the two manipulators each have a limited number of degrees of freedom but their dispo ⁇ sition allows the robotic device to replace a bot ro ⁇ "" d ⁇ sp ⁇ santr ⁇ d " ⁇ r ⁇ n rTôTnbre" "s" up ⁇ ⁇ rTe ⁇ r of " ⁇ ⁇ e ⁇ ⁇ ⁇ ⁇ of IES ⁇ " "rib ⁇ rte".
  • Such an arrangement therefore does not make it possible to reduce the floor area of a production line and does not allow to simplify the passage of cables and other conduits.
  • An object of the invention is to provide a means for a reliable and fast installation of robots in a relatively small footprint.
  • a set of at least one lower work station and an upper work station which are superimposed comprising a structure carrying robots comprising platforms. lower and upper forms which are connected by at least one bracing element and which respectively have an upper face and a lower face and each of which is fixed at least one robot, the upper work station comprising a support structure robot comprising at least one lower platform on an upper face of which is fixed at least one ro ⁇ bot, at least one of the workstations being associated with a transfer member parts between the workstations.
  • the invention also relates to a modular workstation for the realization of such an assembly.
  • the modular working station comprises a support structure of robots having upper and lower platforms are connected by at least one bracing element d 1 and which possess respectively a lower face and an upper face to each des- ⁇ TI ⁇ s " ⁇ ⁇ ⁇ STR "fxxe â ⁇ ⁇ ⁇ mo ⁇ ns IGI ⁇ " ⁇ ⁇ r lD ⁇ E ⁇
  • the workstation can be manufactured and equipped directly at the designer thereof, to be delivered delivered to the customer where the installation will be relatively fast.
  • the workstation has a small footprint by its structure in superimposed platforms that allows its implementation on a limited floor space and facilitates its transport.
  • FIG. 1 is a diagrammatic perspective view of a work station according to the invention
  • FIG. 2 is a schematic view in elevation of this work station in a production line
  • FIG. 3 is a schematic elevational view of a stack of work stations according to the invention.
  • FIG. 4 is a view similar to that of Figure 3 of a stack of workstations according to a variant of the invention.
  • the invention is here described in application to the realization of a production line of automotive car ⁇ parts. It goes without saying that the invention is not limited to such an application and can be used for the production of assembly lines of vehicles or parts of vehicles, or for any other product manufactured industrially.
  • Workstation 1 has a structure carrier generally designated 2 having a lower platform 3 and an upper platform 4 between which extend columns 5 forming elements d 1 bridging of the lower and upper platforms 3, 4.
  • the platform lower 3 has an upper face 6 on which is fixed a handling robot 7 and a tooling symbolized 8.
  • the upper platform 4 has a lower face 9 to which is fixed a handling robot 10 and a tool symbolized in 11.
  • the tools 8 and 11 are known in themselves and are for example tools for grinding, gluing, welding or other.
  • the handling robots 7 and 10 of known types in themselves, are here six-axis robots having a hand provided with a gripping member of the workpieces.
  • the platforms 3, 4 are here rectan ⁇ gular shape and the same dimensions.
  • the workstation 1 is here open on its four sides 12, 13, 14, 15.
  • the side 15 forms the input side of the workpieces.
  • the side 12 forms the output side of the work ⁇ parts.
  • Side 13 allows service technicians access to the workstation and introduce new equipment or robots into the workstation.
  • FIG. 2 shows a manufacturing line comprising two adjoining work stations 1 identified respectively by the letters a and b.
  • Each workpiece (not shown) is extracted from a conveyor 17 by the handling robot 7a which brings it to the tool 8a.
  • the room is recovered by the handling robot 10a which discharge them through the side of - Release-Vlcrnsrr ⁇ ies ⁇ ⁇ giving "" dTe ⁇ air ⁇ robot compassion ⁇ û ' ⁇ ⁇ ⁇ t ⁇ bH 7LD the inlet side 11b of the station Ib.
  • the handling robot 7b places the part in the tool 8b where it is recovered by the handling robot 10b which evacuates the workpiece by the outlet side 12b and deposits it in a conveyor 18.
  • the conveyors 17 and 18 are known in themselves.
  • Figure 3 is shown a stack of work stations la, Ib, the work station being the lower work station and the work station Ib is the upper work station. It is understood that the workstation is dimensioned to support the work station Ib and is arranged to allow the attachment of the work station Ib.
  • the platforms 4b and 3a are fixed to one another. by conventional means.
  • the transfer of the parts from the output side 12a of the workstation 1a to the input side 15b of the workstation 1b is provided by the handling robot 9a which gives the part to the handling robot 7b.
  • the workpiece is evacuated from the work station Ib by means of the handling robot 9b which installs the workpiece on a suspended conveyor 19, known in itself.
  • Such sets of stacked workstations can be joined together to form a production line extending vertically and horizontally.
  • the workstation gené ⁇ generally designated 21, which extends under a workstation generally designated 51, comprises a carrier structure 22 comprising lower and upper platforms 23, 24 separated by columns 25.
  • the platform 23 has an upper surface 26 on which is fixed a handling robot 27 and an outiiiage - 2-8 ⁇
  • the upper platform 24 has a lower surface 29 to which a handling robot is attached.
  • the tools 28 and 31 are here respectively a sizing gun and a welding clamp.
  • the input and output of the workstation 21 are provided on the same side 32 thereof.
  • the upper platform 24 has an upper surface 33 which is provided with column fixing means 34 supporting an upper platform 35.
  • These fixing means are for example tapped holes in the upper platform 24 from the sur ⁇ upper face 33 and centering studs or fastening flanges integral with the upper surface 33 of the upper platform 24.
  • the upper platform 35 On the upper surface 33 of the upper platform 24 of the workstation 21 are also fixed a handling robot 36, a welding robot 37, a tool 38 and a tool 39 such as a table and a tool punching respectively.
  • the upper platform 35 has a lower surface 40 to which is fixed a handling robot 41.
  • the upper platform 35 also has an upper surface 42 on which are fixed a handling robot 43, a tool 44, such as a welding clamp, and a handling robot 45. It is understood that the elements referenced 33 to 45 form the work station 51 whose lower platform is formed by the upper platform 24 of the work station 21.
  • the production line thus formed further comprises a conveyor for supplying parts 46 and a suspended conveyor for evacuating parts 47.
  • the production line further comprises an elevator 48 which extends along one side from workstation 21 opposite side 3-2 -.-
  • Each workpiece is extracted from the con ⁇ voyeur 46 by the handling robot 27 which brings it to the tool 28 and then presents it to the handling robot 30.
  • the handling robot 30 grasps the part and brings it into the machine. 31. Once the operation is performed by the tooling 31, the handling robot 30 leaves the workstation 21 piece by the side 32 so that it is grasped by the handling robot 36.
  • the robot handling 36 deposits the piece on the tool 38 so that it is welded by the welding robot 37.
  • the handling robot 36 then leaves the workstation part 51 to present it to the handling robot 43.
  • the handling robot 45 then grabs the part to the handling robot 41 which puts the piece into the tool 39 before suspending the latter to the conveyor 47 or to deposit it in the elevator 48.
  • the number and type of robots, as well as the number and type of tools equipping the workstation, can be modified depending on the operations to be performed.
  • the invention is not limited to the embodiment described and one can bring va ⁇ rants of realization without departing from the scope of 1 inven ⁇ tion as defined by the claims.
  • the platforms may have different shapes and different dimensions en ⁇ they and / or compared to those shown.
  • -P-1- has-forms-in-fee-rméd-i-ai-res-may - in-or-lie between the upper and lower platforms.
  • the columns can be height adjustable.
  • higher work stations can be made simply by fixing a robot and possibly a tool on the upper surface of the upper platform of the workstation 1 which forms the workstation in ⁇ lower .
  • This robot can serve as a transfer member of the parts of the lower workstation to the upper working sta ⁇ tion or it is possible to mount a dedicated transfer member on one of the workstations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention relates to an assembly consisting of at least one lower workstation (1) and an upper workstation thereon, wherein the lower workstation includes a carrier construction for robots (2) comprising lower and upper panels (3, 4) joined together via at least one bracing element (5) and having an upper surface (6) and a lower surface (9), respectively, at least one robot (7) is attached to each of said panels, the upper workstation includes a robot carrier construction comprising at least one lower panel with a robot attached to the upper surface thereof, and at least one of the workstations is associated with a member for transferring workpieces between the workstations. The invention further relates to a modular workstation for producing said assembly.

Description

Ensemble de stations de travail et station de travail modulaire correspondante Set of workstations and corresponding modular workstation
La présente invention concerne un ensemble de stations modulaires superposées et une station de travail modulaire correspondante, utilisables par exemple dans un atelier ou une ligne de fabrication de carrosseries auto¬ mobiles.The present invention relates to a set of superposed modular stations and a corresponding modular workstation, used for example in a workshop or a production line of auto¬ mobile bodies.
ARRIERE PLAN DE L'INVENTIONBACKGROUND OF THE INVENTION
L'installation d'une ligne de fabrication de car- rosseries automobiles utilisant des robots nécessite gé¬ néralement la réalisation d'une dalle de béton dans la¬ quelle sont ménagés des passages pour les câbles électri¬ ques et les conduits de fluide sous pression et sont dis¬ posés des moyens de fixation des robots et des différents outillages selon des plans fournis par le concepteur de la ligne de fabrication.The installation of a car body manufacturing line using robots generally requires the production of a concrete slab in which are provided passages for electrical cables and pressurized fluid conduits. and are dis¬ posed means for fixing robots and different tools according to plans provided by the designer of the production line.
Les conditions d'installation sur le site ne sont pas toujours optimales de sorte que l'installation est relativement longue et qu'il existe un risque d'erreurs lors du positionnement des robots ou des débouchés des passages de câbles ou de conduits sur le site.The installation conditions on the site are not always optimal so that the installation is relatively long and that there is a risk of errors when positioning the robots or the outlets of the passages of cables or conduits on the site .
En outre, la réalisation de la ligne de fabrica¬ tion peut engendrer des perturbations au niveau des li¬ gnes de fabrication voisines. Par ailleurs, ce type d'installation nécessite une surface au sol généreuse.In addition, the realization of the production line may cause disturbances in neighboring manufacturing lines. In addition, this type of installation requires a generous floor space.
Il est en outre connu du document EP-A-266 056 un dispositif robotique comportant un bâti s 'étendant au- dessus d'un premier manipulateur et portant un deuxième manipulateur. Les deux manipulateurs disposent chacun d'un nombre limité de degrés de liberté mais leur dispo¬ sition permet au dispositif robotique de remplacer un ro¬ bot""d±spσsantr~d"rαn~rTôTnbre""s"up^rTeύr~dë"~^é^ïes^~^dë^""ribërte". Un tel agencement ne permet donc pas de diminuer la sur- face au sol d'une ligne de fabrication et ne permet pas de simplifier le passage de câbles et autres conduits.It is further known from EP-A-266 056 a robotic device comprising a frame extending over a first manipulator and carrying a second manipulator. The two manipulators each have a limited number of degrees of freedom but their dispo¬ sition allows the robotic device to replace a bot ro¬ "" d ± spσsantr ~ d "~ r αn rTôTnbre""s" up ~ ^ rTeύr of "~ ^ e ^ ^ ~ ^ of IES ^""ribërte". Such an arrangement therefore does not make it possible to reduce the floor area of a production line and does not allow to simplify the passage of cables and other conduits.
OBJET DE L'INVENTIONOBJECT OF THE INVENTION
Un but de 1 ' invention est de fournir un moyen permettant une installation fiable et rapide de robots dans un encombrement relativement réduit.An object of the invention is to provide a means for a reliable and fast installation of robots in a relatively small footprint.
BREVE DESCRIPTION DE L'INVENTIONBRIEF DESCRIPTION OF THE INVENTION
A cet effet, on prévoit, selon l'invention, un ensemble d'au moins une station de travail inférieure et d'une station de travail supérieure qui sont superposées, la station de travail inférieure comprenant une structure porteuse de robots comportant des plates-formes infé¬ rieure et supérieure qui sont reliées par au moins un élément d'entretoisement et qui possèdent respectivement une face supérieure et une face inférieure et à chacune desquelles est fixé au moins un robot, la station de tra¬ vail supérieure comprenant une structure porteuse de ro¬ bot comportant au moins une plate-forme inférieure sur une face supérieure de laquelle est fixé au moins un ro¬ bot, au moins une des stations de travail étant associée à un organe de transfert des pièces entre les stations de travail.For this purpose, according to the invention, there is provided a set of at least one lower work station and an upper work station which are superimposed, the lower work station comprising a structure carrying robots comprising platforms. lower and upper forms which are connected by at least one bracing element and which respectively have an upper face and a lower face and each of which is fixed at least one robot, the upper work station comprising a support structure robot comprising at least one lower platform on an upper face of which is fixed at least one ro¬ bot, at least one of the workstations being associated with a transfer member parts between the workstations.
Il est ainsi possible de faire des lignes de fa¬ brication ayant une faible emprise au sol tout en simpli¬ fiant les réseaux de distribution d'énergie qui peuvent passer par la structure des stations de travail.It is thus possible to make fa¬ ing lines having a low grip on the ground while simpli¬ relying energy distribution networks that can pass through the structure of workstations.
L'invention a également pour objet une station de travail modulaire pour la réalisation d'un tel ensemble. La station de travail modulaire comprend une structure porteuse de robots comportant des plates-formes supé- rieure et inférieure qui sont reliées par au moins un élément d1entretoisement et qui possèdent respectivement une face inférieure et une face supérieure à chacune des- φïëTIës"~ë~sTr"fxxe^âι^moαns~IGi"~r^lDθ:E^The invention also relates to a modular workstation for the realization of such an assembly. The modular working station comprises a support structure of robots having upper and lower platforms are connected by at least one bracing element d 1 and which possess respectively a lower face and an upper face to each des- φïëTIës "~ ë ~ STR "fxxe âι ^ ^ moαns IGI ~" ~ ^ r lDθ E ^
Ainsi, la station de travail peut être fabriquée et équipée directement chez le concepteur de celle-ci, pour être ensuite livrée montée chez le client où l'ins¬ tallation sera relativement rapide. En outre, la station de travail présente un encombrement réduit de par sa structure en plates-formes superposées qui permet son im- plantation sur une surface au sol limitée et qui facilite son transport .Thus, the workstation can be manufactured and equipped directly at the designer thereof, to be delivered delivered to the customer where the installation will be relatively fast. In addition, the workstation has a small footprint by its structure in superimposed platforms that allows its implementation on a limited floor space and facilitates its transport.
D'autres caractéristiques et avantages de l'in¬ vention ressortiront à la lecture de la description qui suit de modes de réalisation particuliers non limitatifs de l'invention.Other features and advantages of the invention appear on reading the following description of particular non-limiting embodiments of the invention.
BREVE DESCRIPTION DES DESSINSBRIEF DESCRIPTION OF THE DRAWINGS
II sera fait référence aux dessins annexés, parmi lesquels :Reference will be made to the appended drawings, among which:
- la figure 1 est une vue schématique en perspec- tive d'une station de travail conforme à l'invention,FIG. 1 is a diagrammatic perspective view of a work station according to the invention,
- la figure 2 est une vue schématique en éléva¬ tion de cette station de travail dans une ligne de pro¬ duction,FIG. 2 is a schematic view in elevation of this work station in a production line,
- la figure 3 est une vue schématique en éléva- tion d'un empilement de stations de travail selon l'in¬ vention,FIG. 3 is a schematic elevational view of a stack of work stations according to the invention,
- la figure 4 est une vue analogue à celle de la figure 3 d'un empilement de stations de travail selon une variante de l'invention. DESCRIPTION DETAILLEE DE L'INVENTION- Figure 4 is a view similar to that of Figure 3 of a stack of workstations according to a variant of the invention. DETAILED DESCRIPTION OF THE INVENTION
L'invention est ici décrite en application à la réalisation d'une ligne de fabrication de pièces de car¬ rosserie automobile. Il va de soi que l'invention n'est pas limitée à une telle application et peut être utilisée pour la réalisation de lignes d'assemblage de véhicules ou parties de véhicules, ou pour tout autre produit fa¬ briqué de façon industrielle.The invention is here described in application to the realization of a production line of automotive car¬ parts. It goes without saying that the invention is not limited to such an application and can be used for the production of assembly lines of vehicles or parts of vehicles, or for any other product manufactured industrially.
"La.—station—"de—travail"—conforme"" à 1 ' rnvent±on- porte la référence générale 1 dans les figures 1 et 2. La station de travail 1 comporte une structure porteuse généralement désignée en 2 comportant une plate¬ forme inférieure 3 et une plate-forme supérieure 4 entre lesquelles s'étendent des colonnes 5 formant des éléments d1entretoisement des plates-formes inférieure et supé- rieure 3, 4. La plate-forme inférieure 3 possède une face supérieure 6 sur laquelle est fixé un robot de manuten¬ tion 7 et un outillage symbolisé en 8. La plate-forme su¬ périeure 4 possède une face inférieure 9 à laquelle est fixé un robot de manutention 10 et un outillage symbolisé en 11. Les outillages 8 et 11 sont connus en eux-mêmes et sont par exemple des outillages de meulage, de collage, de soudage ou autre. Les robots de manutention 7 et 10, de types connus en eux-mêmes, sont ici des robots six axes ayant une main pourvue d'un organe de préhension des pièces à travailler.The work station "-conforms " to the general reference 1 in FIGS. 1 and 2. Workstation 1 has a structure carrier generally designated 2 having a lower platform 3 and an upper platform 4 between which extend columns 5 forming elements d 1 bridging of the lower and upper platforms 3, 4. The platform lower 3 has an upper face 6 on which is fixed a handling robot 7 and a tooling symbolized 8. The upper platform 4 has a lower face 9 to which is fixed a handling robot 10 and a tool symbolized in 11. The tools 8 and 11 are known in themselves and are for example tools for grinding, gluing, welding or other. The handling robots 7 and 10, of known types in themselves, are here six-axis robots having a hand provided with a gripping member of the workpieces.
Les plates-formes 3, 4 sont ici de forme rectan¬ gulaire et de mêmes dimensions. La station de travail 1 est ici ouverte sur ses quatre côtés 12, 13, 14, 15. Le côté 15 forme le côté d'entrée des pièces à travailler. Le côté 12 forme le côté de sortie des pièces travail¬ lées. Le côté 13 permet aux techniciens de maintenance d'accéder à la station de travail et d'introduire dans la station de travail de nouveaux équipements ou de nouveaux robots. Sur le côté 14 et fixé un escalier 16 permettant d'accéder à la plate-forme supérieure 4.The platforms 3, 4 are here rectan¬ gular shape and the same dimensions. The workstation 1 is here open on its four sides 12, 13, 14, 15. The side 15 forms the input side of the workpieces. The side 12 forms the output side of the work¬ parts. Side 13 allows service technicians access to the workstation and introduce new equipment or robots into the workstation. On the side 14 and fixed a staircase 16 to access the upper platform 4.
On peut voir à la figure 2 une ligne de fabrica¬ tion comportant deux stations de travail 1 accolées iden¬ tifiées respectivement par les lettres a et b.FIG. 2 shows a manufacturing line comprising two adjoining work stations 1 identified respectively by the letters a and b.
Chaque pièce à travailler (non représentée) est extraite d'un convoyeur 17 par le robot de manutention 7a qui l'amène à l'outillage 8a. La pièce est récupérée par le robot de manutention 10a qui les évacuent par le côté de--sortie-Vlcrnsrr~ïes~^donnant""air~rôbôt dTe~mâήû'ïïëϋ~tïbH~7lD du côté d'entrée 11b de la station de travail Ib. Le ro- bot de manutention 7b met la pièce dans l'outillage 8b où elle est récupérée par le robot de manutention 10b qui évacue la pièce travaillée par le côté de sortie 12b et la dépose dans un convoyeur 18. Les convoyeurs 17 et 18 sont connus en eux-mêmes. A la figure 3 est représenté un empilement de stations de travail la, Ib, la station de travail la étant la station de travail inférieure et la station de travail Ib étant la station de travail supérieure. On comprend que la station de travail la est dimensionnée pour pouvoir supporter la station de travail Ib et est agencée pour permettre la fixation de la station de tra¬ vail Ib. Les plates-formes 4b et 3a sont fixées l'une à l'autre par des moyens classiques. Le transfert des piè¬ ces du côté de sortie 12a de la station de travail la vers le côté d'entrée 15b de la station de travail Ib est assuré par le robot de manutention 9a qui donne la pièce au robot de manutention 7b. La pièce est évacuée de la station de travail Ib par 1 ' intermédiaire du robot de ma¬ nutention 9b qui installe la pièce sur un transporteur suspendu 19, connu en lui-même.Each workpiece (not shown) is extracted from a conveyor 17 by the handling robot 7a which brings it to the tool 8a. The room is recovered by the handling robot 10a which discharge them through the side of - Release-Vlcrnsrr ~ ies ~ ^ giving "" dTe ~ air ~ robot mâήû 'ïïëϋ ~ ~ tïbH 7LD the inlet side 11b of the station Ib. The handling robot 7b places the part in the tool 8b where it is recovered by the handling robot 10b which evacuates the workpiece by the outlet side 12b and deposits it in a conveyor 18. The conveyors 17 and 18 are known in themselves. In Figure 3 is shown a stack of work stations la, Ib, the work station being the lower work station and the work station Ib is the upper work station. It is understood that the workstation is dimensioned to support the work station Ib and is arranged to allow the attachment of the work station Ib. The platforms 4b and 3a are fixed to one another. by conventional means. The transfer of the parts from the output side 12a of the workstation 1a to the input side 15b of the workstation 1b is provided by the handling robot 9a which gives the part to the handling robot 7b. The workpiece is evacuated from the work station Ib by means of the handling robot 9b which installs the workpiece on a suspended conveyor 19, known in itself.
De tels ensembles de stations de travail empilées peuvent être accolés pour former une ligne de production s 'étendant verticalement et horizontalement.Such sets of stacked workstations can be joined together to form a production line extending vertically and horizontally.
Il est représenté à la figure 4 une variante de l'empilement ci-dessus.It is shown in Figure 4 a variant of the stack above.
Dans cette variante, la station de travail géné¬ ralement désignée en 21, qui s'étend sous une station de travail généralement désignée en 51, comporte une struc¬ ture porteuse 22 comprenant des plates-formes inférieure et supérieure 23, 24 séparées par des colonnes 25.In this variant, the workstation gené¬ generally designated 21, which extends under a workstation generally designated 51, comprises a carrier structure 22 comprising lower and upper platforms 23, 24 separated by columns 25.
La plate-forme 23 possède une surface supérieure 26 sur laquelle est fixé un robot de manutention 27 et un outiiiage--2-8τThe platform 23 has an upper surface 26 on which is fixed a handling robot 27 and an outiiiage - 2-8τ
La plate-forme supérieure 24 a une surface infé- rieure 29 à laquelle sont fixés un robot de manutention 30 et un outillage 31. Les outillages 28 et 31 sont ici respectivement un pistolet d'encollage et une pince de soudage.The upper platform 24 has a lower surface 29 to which a handling robot is attached. The tools 28 and 31 are here respectively a sizing gun and a welding clamp.
L'entrée et la sortie de la station de travail 21 sont ménagées du même côté 32 de celle-ci.The input and output of the workstation 21 are provided on the same side 32 thereof.
La plate-forme supérieure 24 possède une surface supérieure 33 qui est pourvue de moyens de fixation de colonnes 34 supportant une plate-forme supérieure 35. Ces moyens de fixation sont par exemple des taraudages ménagés dans la plate-forme supérieure 24 depuis la sur¬ face supérieur 33 et des plots de centrage ou des brides de fixation solidaires de la surface supérieure 33 de la plate-forme supérieure 24.The upper platform 24 has an upper surface 33 which is provided with column fixing means 34 supporting an upper platform 35. These fixing means are for example tapped holes in the upper platform 24 from the sur¬ upper face 33 and centering studs or fastening flanges integral with the upper surface 33 of the upper platform 24.
Sur la surface supérieure 33 de la plate-forme supérieure 24 de la station de travail 21 sont également fixés un robot de manutention 36, un robot de soudage 37, un outillage 38 et un outillage 39 tels qu'une table de dépose et un outil de poinçonnage respectivement. La plate-forme supérieure 35 a une surface inférieure 40 a laquelle est fixé un robot de manutention 41. La plate¬ forme supérieure 35 a également une surface supérieure 42 sur laquelle sont fixés un robot de manutention 43, un outillage 44, tel qu'une pince de soudage, et un robot de manutention 45. On comprend que les éléments référencés 33 a 45 forment la station de travail 51 dont la plate¬ forme inférieure est formée par la plate-forme supérieure 24 de la station de travail 21.On the upper surface 33 of the upper platform 24 of the workstation 21 are also fixed a handling robot 36, a welding robot 37, a tool 38 and a tool 39 such as a table and a tool punching respectively. The upper platform 35 has a lower surface 40 to which is fixed a handling robot 41. The upper platform 35 also has an upper surface 42 on which are fixed a handling robot 43, a tool 44, such as a welding clamp, and a handling robot 45. It is understood that the elements referenced 33 to 45 form the work station 51 whose lower platform is formed by the upper platform 24 of the work station 21.
La ligne de production ainsi formée comprend en outre un convoyeur d'amenée des pièces 46 et un convoyeur suspendu d'évacuation des pièces 47. La ligne de produc¬ tion comprend en outre un ascenseur 48 qui s'étend le long d'un côté de la station de travail 21 opposé au côté 3-2-.-The production line thus formed further comprises a conveyor for supplying parts 46 and a suspended conveyor for evacuating parts 47. The production line further comprises an elevator 48 which extends along one side from workstation 21 opposite side 3-2 -.-
Le fonctionnement de la ligne de production va maintenant être décrit. Chaque pièce à travailler est extraite du con¬ voyeur 46 par le robot de manutention 27 qui l'amène à l'outillage 28 puis la présente au robot de manutention 30. Le robot de manutention 30 saisit la pièce et l'amène dans l'outillage 31. Une fois l'opération réalisée par l'outillage 31, le robot de manutention 30 sort la pièce de la station de travail 21 par le côté 32 pour que celle-ci soit saisie par le robot de manutention 36. Le robot de manutention 36 dépose la pièce sur l'outillage 38 pour que celle-ci soit soudée par le robot de soudage 37. Le robot de manutention 36 sort ensuite la pièce de la station de travail 51 pour la présenter au robot de manutention 43. Le robot de manutention 43 amène la pièce à l'outillage 44. Le robot de manutention 45 saisit en- suite la pièce pour la passer au robot de manutention 41 qui met la pièce dans l'outillage 39 avant de suspendre celle-ci au convoyeur 47 ou de déposer celle-ci dans l'ascenseur 48.The operation of the production line will now be described. Each workpiece is extracted from the con¬ voyeur 46 by the handling robot 27 which brings it to the tool 28 and then presents it to the handling robot 30. The handling robot 30 grasps the part and brings it into the machine. 31. Once the operation is performed by the tooling 31, the handling robot 30 leaves the workstation 21 piece by the side 32 so that it is grasped by the handling robot 36. The robot handling 36 deposits the piece on the tool 38 so that it is welded by the welding robot 37. The handling robot 36 then leaves the workstation part 51 to present it to the handling robot 43. The robot The handling robot 45 then grabs the part to the handling robot 41 which puts the piece into the tool 39 before suspending the latter to the conveyor 47 or to deposit it in the elevator 48.
Il va de soi que l'agencement des lignes de fa- brication ci-dessus décrites n'est pas optimisé et ne sert qu'à mieux faire comprendre l'invention.It goes without saying that the arrangement of the manufacturing lines described above is not optimized and serves only to better understand the invention.
Le nombre et le type de robots, de même que le nombre et le type d'outillages équipant la station de travail, peuvent être modifiés en fonction des opérations à réaliser.The number and type of robots, as well as the number and type of tools equipping the workstation, can be modified depending on the operations to be performed.
Bien entendu, l'invention n'est pas limitée au mode de réalisation décrit et on peut y apporter des va¬ riantes de réalisation sans sortir du cadre de 1 ' inven¬ tion tel que défini par les revendications. En particulier, les plates-formes peuvent avoir des formes différentes et des dimensions différentes en¬ tre elles et/ou par rapport à celles représentées.Of course, the invention is not limited to the embodiment described and one can bring va¬ rants of realization without departing from the scope of 1 inven¬ tion as defined by the claims. In particular, the platforms may have different shapes and different dimensions en¬ they and / or compared to those shown.
-Des—p-1-a-t-es—formes—i-n-fee-rméd-i-ai-res—peuvent--en—ou-t-r-e- s'étendre entre les plates-formes supérieure et infé- rieure. Les colonnes peuvent être de hauteur réglable.-P-1-has-forms-in-fee-rméd-i-ai-res-may - in-or-lie between the upper and lower platforms. The columns can be height adjustable.
En référence aux figures 1 et 2, des stations de travail supérieures peuvent être réalisées simplement en fixant un robot et éventuellement un outillage sur la surface supérieure de la plate-forme supérieure de la station de travail 1 qui forme la station de travail in¬ férieure. Ce robot peut servir d'organe de transfert des pièces de la station de travail inférieure vers la sta¬ tion de travail supérieure ou il est possible de monter un organe de transfert dédié sur l'une des stations de travail . With reference to FIGS. 1 and 2, higher work stations can be made simply by fixing a robot and possibly a tool on the upper surface of the upper platform of the workstation 1 which forms the workstation in¬ lower . This robot can serve as a transfer member of the parts of the lower workstation to the upper working sta¬ tion or it is possible to mount a dedicated transfer member on one of the workstations.

Claims

REVENDICATIONS
1. Ensemble d'au moins une station de travail in¬ férieure (1, 21) et d'une station de travail supérieure (51) qui sont superposées, la station de travail infé¬ rieure comprenant une structure porteuse de robots (2, 22) comportant des plates-formes inférieure et supérieure (3, 4 ; 23, 24 ; 24,35) qui sont reliées par au moins un élément d'entretoisement (5 ; 25 ; 34) et qui possèdent respectivement une face supérieure (6 ; 26 ; 33) et une face inférieure (9 ; 29 ; 40) et à chacune desquelles est fixé au moins un robot (7, 10 ; 27, 30 ; 36, 37, 41) , la station de travail supérieure comprenant une structure porteuse de robot comportant au moins une plate-forme in- férieure (34) sur une face supérieure (33) de laquelle est fixé au moins un robot (37) , au moins une des sta¬ tions de travail étant associée à un organe de transfert (48) des pièces entre les stations de travail.1. A set of at least one workstation (1, 21) and an upper workstation (51) which are superposed, the infre¬ workstation comprising a robot-carrying structure (2, 22) having lower and upper platforms (3, 4; 23, 24; 24, 35) which are connected by at least one spacer element (5; 25; 34) and which respectively have an upper face (6; 26, 33) and a lower face (9; 29; 40) and to each of which is fixed at least one robot (7, 10; 27, 30; 36, 37, 41), the upper work station comprising a structure robot carrier comprising at least one lower platform (34) on an upper face (33) of which is fixed at least one robot (37), at least one of the working sta¬ tions being associated with a body of transferring (48) parts between the workstations.
2. Ensemble selon la revendication 1, dans lequel la plate-forme inférieure de la station de travail supé¬ rieure (51) et la plate-forme supérieure de la station de travail inférieure (21) sont formées par une même plate¬ forme (24) .2. The assembly of claim 1, wherein the lower platform of the upper work station (51) and the upper platform of the lower work station (21) are formed by the same platform ( 24).
3. Ensemble selon la revendication 1 ou la reven- dication 2, dans lequel la structure porteuse de la sta¬ tion de travail supérieure (51) comporte une plate-forme supérieure (35) reliée à la plate-forme inférieure (24) par au moins un élément d'entretoisement (34) et sur une face inférieure (35) de laquelle et fixé au moins un ro- bot (41) .3. An assembly according to claim 1 or claim 2, wherein the carrier structure of the upper work station (51) comprises an upper platform (35) connected to the lower platform (24) by at least one bracing element (34) and on a lower face (35) of which and fixed at least one bot (41).
4. Station de travail modulaire (1, 21, 51) pour la réalisation d'un ensemble selon l'une des revendica¬ tions—l—à—3-,—comprenant—une-structure—por-teuse_--de_r-obots. (2, 22) comportant des plates-formes inférieure et supé- rieure (3, 4 ; .23, 24 ; 24,35) qui sont reliées par au moins un élément d1entretoisement (5 ; 25 ; 34) et qui possèdent respectivement une face supérieure (6 ; 26 ; 33) et une face inférieure (9 ; 29 ; 40) et à chacune desquelles est fixé au moins un robot (7, 10 ; 27, 30 ; 36, 37, 41) .4. Modular workstation (1, 21, 51) for producing an assembly according to one of the revendica¬ tions-1-to-3 -, - comprising-a-por-teuse-structure _-- de_r- obots. (2, 22) having lower and upper platforms (3, 4; 23, 24, 24, 35) which are connected by least one member of one spacer (5; 25; 34) and which respectively have an upper face (6; 26; 33) and an underside (9; 29; 40) and each of which is attached at least one robot (7 , 10, 27, 30, 36, 37, 41).
5. Station de travail selon la revendication 4, caractérisée en ce qu'elle comprend une entrée latérale (15) de pièces à travailler.5. Workstation according to claim 4, characterized in that it comprises a lateral inlet (15) of workpieces.
6. Station de travail selon la revendication 4 ou la revendication 5, caractérisée en ce qu'elle comprend une sortie latérale (12) de pièces travaillées.6. Workstation according to claim 4 or claim 5, characterized in that it comprises a lateral outlet (12) of worked parts.
7. Station de travail selon la revendication 4, caractérisée en ce qu'elle est agencée pour pouvoir sup¬ porter une station de travail (16) de même type. 7. Workstation according to claim 4, characterized in that it is arranged to sup¬ port a work station (16) of the same type.
8. Station de travail selon la revendication 4, caractérisée en ce que la plate-forme supérieure (24) a une face supérieure (33) pourvue de moyens de fixation d'au moins un robot (36, 37) et d'au moins un élément d1entretoisement (34) destiné à supporter une plate-forme supérieure (35) .Work station according to claim 4, characterized in that the upper platform (24) has an upper face (33) provided with means for attaching at least one robot (36, 37) and at least one a member of one spacer (34) for supporting an upper platform (35).
9. Station de travail selon la revendication 7 ou la revendication 8, caractérisée en ce qu'elle comprend un organe de transfert (48) des pièces entre les stations de travail. 9. Workstation according to claim 7 or claim 8, characterized in that it comprises a transfer member (48) parts between the work stations.
10. Station de travail selon la revendication 9, caractérisée en ce que l'organe de transfert est le robot (7) fixé sous la plate-forme supérieure (4) de la station de travail inférieure (1) .10. Work station according to claim 9, characterized in that the transfer member is the robot (7) fixed under the upper platform (4) of the lower work station (1).
11. Station de travail selon la revendication 9, caractérisée en ce que l'organe de transfert est un as¬ censeur (48) s 'étendant sur un côté de la station de tra¬ vail inférieure (21) .11. Workstation according to claim 9, characterized in that the transfer member is a censor (48) extending on one side of the lower work station (21).
1-2——S-tat-i-on—de-—t-ravai-1—selon—la--revendication—4-r caractérisée en ce qu'elle est pourvue latéralement d'un organe d'accès (16) à la plate-forme supérieure. 13. Station de travail selon la revendication 4, caractérisée en ce que la plate-forme supérieure (24) a une surface supérieure (33) sur laquelle est fixée au moins un robot (36, 37) . 1-2 - S-tat-i-on-de-ravai-1-according-the-claim-4- r characterized in that it is provided laterally with an access member (16 ) to the upper platform. Work station according to claim 4, characterized in that the upper platform (24) has an upper surface (33) to which at least one robot (36, 37) is attached.
EP05814839A 2004-11-02 2005-10-27 Workstation assembly and modular workstation therefor Withdrawn EP1807246A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0411639A FR2877248B1 (en) 2004-11-02 2004-11-02 MODULAR WORK STATION
PCT/FR2005/002692 WO2006048535A1 (en) 2004-11-02 2005-10-27 Workstation assembly and modular workstation therefor

Publications (1)

Publication Number Publication Date
EP1807246A1 true EP1807246A1 (en) 2007-07-18

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EP05814839A Withdrawn EP1807246A1 (en) 2004-11-02 2005-10-27 Workstation assembly and modular workstation therefor

Country Status (4)

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EP (1) EP1807246A1 (en)
JP (1) JP2008517783A (en)
FR (1) FR2877248B1 (en)
WO (1) WO2006048535A1 (en)

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CN113070624B (en) * 2021-04-09 2022-07-26 碧源建工有限公司 Regularization steel stair welding frock of marking time

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JPS58143926A (en) * 1982-02-22 1983-08-26 Brother Ind Ltd Assembling apparatus
JPS5997822A (en) * 1982-11-26 1984-06-05 Toyoda Mach Works Ltd Automatic assembling system
JPS6263053A (en) * 1985-09-17 1987-03-19 Takeuchi Tsutae Cubic cnc working apparatus
GB8625350D0 (en) * 1986-10-23 1986-11-26 Emi Plc Thorn Robotic manipulator arrangement
JPH02274485A (en) * 1989-04-14 1990-11-08 Mitsubishi Electric Corp Robot device for industrial use
JPH05138464A (en) * 1991-11-20 1993-06-01 Pfu Ltd Automatic assembling line
JP3205820B2 (en) * 1992-12-28 2001-09-04 ヤマハ発動機株式会社 Unit casting machine
JP2002036071A (en) * 2000-07-24 2002-02-05 Hirata Technical Co Ltd Stacked robot line

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Also Published As

Publication number Publication date
JP2008517783A (en) 2008-05-29
WO2006048535A1 (en) 2006-05-11
FR2877248B1 (en) 2008-05-02
FR2877248A1 (en) 2006-05-05

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