EP1946888A1 - Device for storing and dispensing continuous work belts for a robotic installation - Google Patents

Device for storing and dispensing continuous work belts for a robotic installation Download PDF

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Publication number
EP1946888A1
EP1946888A1 EP07291630A EP07291630A EP1946888A1 EP 1946888 A1 EP1946888 A1 EP 1946888A1 EP 07291630 A EP07291630 A EP 07291630A EP 07291630 A EP07291630 A EP 07291630A EP 1946888 A1 EP1946888 A1 EP 1946888A1
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EP
European Patent Office
Prior art keywords
fingers
band
positioning
support
arm
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Granted
Application number
EP07291630A
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German (de)
French (fr)
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EP1946888B1 (en
Inventor
Carole Denise Marthe L'helgoualch
Paul Alexandre Pereira
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Safran Aircraft Engines SAS
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SNECMA SAS
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Publication of EP1946888A1 publication Critical patent/EP1946888A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18—Accessories

Definitions

  • the present invention relates to a device for storing and dispensing endless working belts, in particular abrasive belts, for a machining installation comprising a robot arm.
  • the robotic arm is equipped with one or more working bands that must be regularly replaced to change the type of bands to use or to replace a worn band with a new one.
  • a machining facility comprising an endless abrasive belt dispenser comprising a plurality of web support trays mounted in a vertical cage with a vertically and horizontally movable system for moving the trays one after the other out of the cage to drive them near a robot arm.
  • a disadvantage of this dispenser is its complexity and the high number of operations to be performed for the change of an abrasive belt on the robot, so that the band changes are long and may require the intervention of an operator.
  • the invention aims in particular to provide a simple, effective and economical solution to this problem.
  • a device for storing and dispensing endless working belts for a robotic installation comprising means for supporting a plurality of working strips and means for positioning these strips on the support means, characterized in that the support and positioning means comprise a support rotating about a vertical axis and carrying radial arms each equipped with means for positioning a working band, and means for rotating the rotary support stepwise, to bring about successively each arm in a tape mounting station on a robot arm.
  • the change of a band on a robot arm is carried out quickly and with a minimum of operations, since it suffices to rotate the support of the radial arms of a fraction of a turn to bring a new band into a gripping position of this band by the robot arm.
  • the device comprises for example twelve radial arms regularly distributed around the vertical axis.
  • the means for positioning a band comprise retractable fingers, guided in housing of the arms and engaged in the ends of the strips, and return springs urging these fingers towards their holding position. bands.
  • the positioning fingers are engaged in the band carried by the radial arm and allow to maintain this band in a position in which the band is weakly tensioned, so that the bands are stored on the radial arms in the same position. It is therefore no longer necessary for an operator to check that the tapes are well positioned in the device.
  • the retractable fingers are constantly stressed in their position of holding the strips by the return springs.
  • the upper ends of the positioning fingers of a strip form bearing surfaces on which the lower ends of two pulleys of a robot arm are applied, for the retraction of the fingers and the mounting of the band on the pulleys. of the robot.
  • the mounting of a band on the robot arm is done automatically by moving the robot arm so that the pulleys are supported on the fingers to cause the retraction of the fingers and the release of a band.
  • the pulleys of the robot arm which are engaged in the ends of the strip are then spaced apart from one another so that the band is stretched between the pulleys.
  • the robot arm can then take the tape and perform machining operations.
  • Each radial arm comprises for example a form plate elongated support supporting the edges of a strip and having at its ends passage holes of the positioning fingers.
  • This plate preferably comprises an elongated guide slot extending between the two edges of the strip, to allow the descent of a portion of the robot arm and facilitate the positioning thereof when the arm pulleys are spaced apart.
  • the device comprises at least one sensor for detecting the presence of working bands on the radial arms.
  • the sensor can detect the presence of a band on the radial arm located in the tape mounting station on the robot arm. If this radial arm does not carry a band, the rotating support is rotated by one step so that a new radial arm is located in the mounting station and the sensor detects the presence of a band on the arm. If there is still no tape, the operation is repeated until a tape is located in the editing station.
  • An operator can intervene on the device to install new bands. This operation can also be performed by a PLC.
  • FIG. 1 schematically represents an embodiment of the device 10 according to the invention of storage and distribution of endless working belts for a machining installation comprising a robot arm 40.
  • the device 10 comprises a plurality of support arms 12 and positioning strips, which extend radially about a vertical axis 14 and which are regularly distributed around the axis 14.
  • the radial arms 12 are fixed by screws 15 or the like on a circular plate 16 driven in stepwise rotation about the axis 14 by motor means.
  • the device also comprises a base for supporting and guiding the plate 16 in rotation.
  • the radial arms 12 are twelve in number and the plate is rotated step by step in steps of 30 °.
  • the working strips can be of any type and are for example abrasive belts.
  • the strips mounted on the robot arm 40 must regularly be replaced, in particular to replace a worn band with a new one.
  • the stepwise rotation of the plate 16 is controlled by a control unit of the robot arm so that the plate is rotated according to the band requirements of the robot arm.
  • the device also comprises one or more detectors 17 for the presence of bands on the radial arms 12, these detectors transmitting signals to the control unit of the robot arm.
  • Each radial arm 12 comprises means for supporting a band 18 and means for positioning this band on the support means so that this band can be taken directly by the robot arm without requiring the intervention of an operator.
  • the positioning means comprise a parallelepipedal casing 20 of elongated shape having a large upper face 22 having at its longitudinal ends two orifices 24 for the passage of two retractable cylindrical fingers 26, the band 18 being intended to be wound around these fingers 26.
  • the fingers 26 extend substantially parallel and at a distance from one another, the distance between the fingers being such that the strip 18 wound on the fingers is in an elongated or slightly stretched state and comprises in this state two large portions substantially rectilinear band, parallel to each other, and close to each other.
  • Return springs (schematically represented by the dotted lines 28) are housed in the housing 20 and extend between the lower face of the housing and the lower ends of the fingers 24 so as to urge these fingers towards the outside of the housing, in their position of maintaining a band. Means are provided for limiting the stroke of the fingers inwardly and outwardly of the housing through the orifices 24.
  • the upper ends of the fingers 26 form bearing surfaces on which a robot arm can rest, as will be described in more detail in the following.
  • the means for supporting a band on the radial arm 12 comprises a flat plate 30 of elongate shape which has substantially the same dimensions in width and length as the upper face 22 of the housing 20, and which is fixed above and below distance from this face by means of screws 32.
  • the distance between the plate 30 and the face 22 of the housing is determined for example by tubes 34 of predetermined length engaged around the screws and interposed between the plate 30 and the upper face 22 of the case 20.
  • the plate 30 comprises at its longitudinal ends two orifices 36 for passing fingers 26, the inner diameter of these orifices being greater than the outside diameter of the fingers.
  • the fingers 26 are axially displaceable between a first and a second position and are permanently biased in the first position by the return springs 28.
  • the fingers 26 have been driven under the plate 30 and are no longer engaged in the strip 18 which is placed on the plate and which is then free to be carried by a robot arm.
  • the distance between the plate and the housing 20 is such that the fingers are no longer protruding on the plate when the fingers are in their second position.
  • the robot arm 40 represented partially and very schematically in figure 4 , comprises a jack 42 whose cylinder 44 is fixed to the robot arm and whose piston 46 is connected to a driven pulley 48 which is mounted free to rotate about an axis perpendicular to the longitudinal axis of the jack.
  • the robot arm further comprises a driving pulley 50 which extends parallel to the first pulley, behind the jack, and whose axis is parallel to the axis of the cylinder 42. This pulley 50 is rotated by a motor carried by the robot arm.
  • a first step of mounting a strip 18 on the robot arm shown in FIG. figure 4 , the cylinder 42 of the robot arm is in a retracted position in which the distance between the axes of the pulleys 48, 50 is substantially equal to the distance between the axes of the fingers 26.
  • the robot arm 40 is brought over an arm radial device 12 equipped with a band ( figure 1 ), until the pulleys 48, 50 are aligned with the fingers 26.
  • the robot arm 40 is then moved vertically towards the radial arm 12 until the pulleys 48, 50 of the robot arm engage in the band 18 and move the fingers 26 from their first to their second position by resting on the upper ends of the fingers ( figure 5 ).
  • the piston 46 of the jack is then deployed to discard the pulleys 48, 50 from each other until the band 18 is stretched between the pulleys. This band can then be carried away to perform a machining operation ( figure 6 ).
  • the fingers 26 are returned to their first position by the return springs 28. A new band 18 may be placed on the fingers 26 by an operator or a controller.
  • the control unit of the robot arm controls the movement of the robot arm and the plate 16 according to the information transmitted by the sensor 17.
  • the plate 16 is driven step by step about the axis 14 until an arm radial 12 equipped with a band is in a predetermined position of tap, so that the band can be mounted on the robot arm using the steps shown in Figures 4 to 6 .
  • each radial arm 12 may comprise an elongate slit 51 extending along the edges of the strip 18 and connected at one of its ends to one of the above-mentioned orifices 36 for passing fingers 26, so as to facilitate the engagement of the cylinder 42 of the robot arm in the strip 18 and guide the deployment of the piston 46 of the cylinder.
  • the device further comprises a vertical wall 52 which separates the device represented by figure 1 in two groups of six radial arms each, a first group being accessible by a robot arm 40 and the other group being accessible by an operator to install new working strips.
  • a vertical wall 52 which separates the device represented by figure 1 in two groups of six radial arms each, a first group being accessible by a robot arm 40 and the other group being accessible by an operator to install new working strips.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The device (10) has support unit constituted by a plane plate for supporting a set of working belts, and positioning units constituted by retractable fingers for positioning the belts on the support unit. The support and positioning units comprise a support of a circular plate (16) rotating about a vertical axis (14) and carrying radial arms (12) equipped with the positioning units of the working belts. A rotation unit rotates the support of the circular plate turning step by step for bringing each arm in a mounting post of the belt on a robot arm (40).

Description

La présente invention concerne un dispositif de stockage et de distribution de bandes travaillantes sans fin, en particulier de bandes abrasives, pour une installation d'usinage comprenant un bras robot.The present invention relates to a device for storing and dispensing endless working belts, in particular abrasive belts, for a machining installation comprising a robot arm.

Le bras robot est équipé d'une ou de plusieurs bandes travaillantes qui doivent être régulièrement remplacées pour changer le type de bandes utiliser ou pour remplacer une bande usée par une neuve.The robotic arm is equipped with one or more working bands that must be regularly replaced to change the type of bands to use or to replace a worn band with a new one.

On connaît par le document FR-A1-2 677 289 une installation d'usinage comportant un distributeur de bandes abrasives sans fin comprenant une pluralité de plateaux de support de bande montés dans une cage verticale avec un système mobile verticalement et horizontalement permettant de sortir les plateaux les uns après les autres de la cage pour les amener à proximité d'un bras robot. Un inconvénient de ce distributeur est sa complexité et le nombre élevé d'opérations à effectuer pour le changement d'une bande abrasive sur le robot, de sorte que les changements de bandes sont longs et peuvent nécessiter l'intervention d'un opérateur.We know from the document FR-A1-2 677 289 a machining facility comprising an endless abrasive belt dispenser comprising a plurality of web support trays mounted in a vertical cage with a vertically and horizontally movable system for moving the trays one after the other out of the cage to drive them near a robot arm. A disadvantage of this dispenser is its complexity and the high number of operations to be performed for the change of an abrasive belt on the robot, so that the band changes are long and may require the intervention of an operator.

L'invention a notamment pour but d'apporter une solution simple, efficace et économique à ce problème.The invention aims in particular to provide a simple, effective and economical solution to this problem.

Elle propose à cet effet un dispositif de stockage et de distribution de bandes travaillantes sans fin pour une installation robotisée, comprenant des moyens de support d'une pluralité de bandes travaillantes et des moyens de positionnement de ces bandes sur les moyens de support, caractérisé en ce que les moyens de support et de positionnement comprennent un support tournant autour d'un axe vertical et portant des bras radiaux équipés chacun de moyens de positionnement d'une bande travaillante, et des moyens de rotation pas à pas du support tournant, pour amener successivement chaque bras dans un poste de montage de bande sur un bras robot.To this end, it proposes a device for storing and dispensing endless working belts for a robotic installation, comprising means for supporting a plurality of working strips and means for positioning these strips on the support means, characterized in that the support and positioning means comprise a support rotating about a vertical axis and carrying radial arms each equipped with means for positioning a working band, and means for rotating the rotary support stepwise, to bring about successively each arm in a tape mounting station on a robot arm.

Grâce à la configuration en étoile du dispositif selon l'invention, le changement d'une bande sur un bras robot s'effectue rapidement et avec un minimum d'opérations, puisqu'il suffit de faire tourner le support des bras radiaux d'une fraction de tour pour amener une bande neuve dans une position de prise de cette bande par le bras robot.Thanks to the star configuration of the device according to the invention, the change of a band on a robot arm is carried out quickly and with a minimum of operations, since it suffices to rotate the support of the radial arms of a fraction of a turn to bring a new band into a gripping position of this band by the robot arm.

Le dispositif comprend par exemple douze bras radiaux régulièrement répartis autour de l'axe vertical.The device comprises for example twelve radial arms regularly distributed around the vertical axis.

Selon une autre caractéristique de l'invention, les moyens de positionnement d'une bande comprennent des doigts escamotables, guidés dans des logements des bras et engagés dans les extrémités des bandes, et des ressorts de rappel sollicitant ces doigts vers leur position de maintien des bandes.According to another characteristic of the invention, the means for positioning a band comprise retractable fingers, guided in housing of the arms and engaged in the ends of the strips, and return springs urging these fingers towards their holding position. bands.

Les doigts de positionnement sont engagés dans la bande portée par le bras radial et permettent de maintenir cette bande dans une position dans laquelle la bande est faiblement tendue, de sorte que les bandes sont stockées sur les bras radiaux dans la même position. Il n'est donc plus nécessaire qu'un opérateur vérifie que les bandes soient bien positionnées dans le dispositif. Les doigts escamotables sont sollicités en permanence dans leur position de maintien des bandes par les ressorts de rappel.The positioning fingers are engaged in the band carried by the radial arm and allow to maintain this band in a position in which the band is weakly tensioned, so that the bands are stored on the radial arms in the same position. It is therefore no longer necessary for an operator to check that the tapes are well positioned in the device. The retractable fingers are constantly stressed in their position of holding the strips by the return springs.

Les extrémités supérieures des doigts de positionnement d'une bande forment des surfaces d'appui sur lesquelles viennent s'appliquer des extrémités inférieures de deux poulies d'un bras robot, pour l'escamotage des doigts et le montage de la bande sur les poulies du robot.The upper ends of the positioning fingers of a strip form bearing surfaces on which the lower ends of two pulleys of a robot arm are applied, for the retraction of the fingers and the mounting of the band on the pulleys. of the robot.

Le montage d'une bande sur le bras robot se fait de manière automatique en déplaçant le bras robot de manière à ce que les poulies viennent s'appuyer sur les doigts pour provoquer l'escamotage des doigts et la libération d'une bande. Les poulies du bras robot qui sont engagées dans les extrémités de la bande sont alors écartées l'une de l'autre de sorte que la bande soient tendue entre les poulies. Le bras robot peut alors emporter la bande et effectuer des opérations d'usinage.The mounting of a band on the robot arm is done automatically by moving the robot arm so that the pulleys are supported on the fingers to cause the retraction of the fingers and the release of a band. The pulleys of the robot arm which are engaged in the ends of the strip are then spaced apart from one another so that the band is stretched between the pulleys. The robot arm can then take the tape and perform machining operations.

Chaque bras radial comprend par exemple une plaque de forme allongée supportant les bords d'une bande et comportant à ses extrémités des orifices de passage des doigts de positionnement.Each radial arm comprises for example a form plate elongated support supporting the edges of a strip and having at its ends passage holes of the positioning fingers.

Cette plaque comprend préférentiellement une fente de guidage de forme allongée s'étendant entre les deux bords de la bande, pour autoriser la descente d'une partie du bras robot et faciliter le positionnement de celui-ci lors de l'écartement des poulies du bras.This plate preferably comprises an elongated guide slot extending between the two edges of the strip, to allow the descent of a portion of the robot arm and facilitate the positioning thereof when the arm pulleys are spaced apart. .

Préférentiellement, le dispositif comprend au moins un capteur de détection de la présence de bandes travaillantes sur les bras radiaux. Le capteur peut détecter la présence d'une bande sur le bras radial situé dans le poste de montage de bande sur le bras robot. Si ce bras radial ne porte pas de bande, le support tournant est entraîné en rotation d'un pas pour qu'un nouveau bras radial soit situé dans le poste de montage et que le capteur détecte la présence d'une bande sur ce bras. S'il n'y a toujours pas de bande, l'opération est renouvelée jusqu'à ce qu'une bande soit située dans le poste de montage.Preferably, the device comprises at least one sensor for detecting the presence of working bands on the radial arms. The sensor can detect the presence of a band on the radial arm located in the tape mounting station on the robot arm. If this radial arm does not carry a band, the rotating support is rotated by one step so that a new radial arm is located in the mounting station and the sensor detects the presence of a band on the arm. If there is still no tape, the operation is repeated until a tape is located in the editing station.

Un opérateur peut intervenir sur le dispositif pour y installer de nouvelles bandes. Cette opération peut également être effectuée par un automate.An operator can intervene on the device to install new bands. This operation can also be performed by a PLC.

L'invention sera mieux comprise et d'autres avantages et caractéristiques de l'invention apparaîtront à la lecture de la description qui suit, faite à titre d'exemple non limitatif et en référence aux dessins annexés dans lesquels :

  • la figure 1 est une vue schématique de haut du dispositif de stockage et de distribution de bandes travaillantes sans fin selon l'invention ;
  • les figures 2 et 3 sont des vues schématiques en perspective d'un bras radial du dispositif de la figure 1 ;
  • les figures 4 à 6 sont des vues très schématiques de côté d'un bras radial du dispositif selon l'invention, et illustrent des étapes d'un procédé de montage d'une bande sur un bras robot.
The invention will be better understood and other advantages and characteristics of the invention will become apparent on reading the description which follows, given by way of nonlimiting example and with reference to the appended drawings in which:
  • the figure 1 is a schematic top view of the device for storing and dispensing endless working bands according to the invention;
  • the Figures 2 and 3 are schematic perspective views of a radial arm of the device of the figure 1 ;
  • the Figures 4 to 6 are very schematic side views of a radial arm of the device according to the invention, and illustrate steps of a method of mounting a strip on a robot arm.

On se réfère d'abord à la figure 1 qui représente schématiquement un mode de réalisation du dispositif 10 selon l'invention de stockage et de distribution de bandes travaillantes sans fin pour une installation d'usinage comprenant un bras robot 40.We first refer to the figure 1 which schematically represents an embodiment of the device 10 according to the invention of storage and distribution of endless working belts for a machining installation comprising a robot arm 40.

Le dispositif 10 comprend une pluralité de bras 12 de support et de positionnement des bandes, qui s'étendent radialement autour d'un axe vertical 14 et qui sont régulièrement répartis autour de cet axe 14. Les bras radiaux 12 sont fixés par des vis 15 ou analogues sur un plateau circulaire 16 entraîné en rotation pas à pas autour de l'axe 14 par des moyens moteurs. Le dispositif comprend également un piètement de support et de guidage en rotation du plateau 16.The device 10 comprises a plurality of support arms 12 and positioning strips, which extend radially about a vertical axis 14 and which are regularly distributed around the axis 14. The radial arms 12 are fixed by screws 15 or the like on a circular plate 16 driven in stepwise rotation about the axis 14 by motor means. The device also comprises a base for supporting and guiding the plate 16 in rotation.

Dans l'exemple représenté, les bras radiaux 12 sont au nombre de douze et le plateau est entraîné en rotation pas à pas par pas de 30°.In the example shown, the radial arms 12 are twelve in number and the plate is rotated step by step in steps of 30 °.

Les bandes travaillantes peuvent être de tout type et sont par exemple des bandes abrasives. Les bandes montées sur le bras robot 40 doivent régulièrement être remplacées notamment pour remplacer une bande usée par une neuve. La rotation pas à pas du plateau 16 est contrôlée par une unité de commande du bras robot de sorte que le plateau soit déplacé en rotation en fonction des besoins en bande du bras robot.The working strips can be of any type and are for example abrasive belts. The strips mounted on the robot arm 40 must regularly be replaced, in particular to replace a worn band with a new one. The stepwise rotation of the plate 16 is controlled by a control unit of the robot arm so that the plate is rotated according to the band requirements of the robot arm.

Le dispositif comprend également un ou plusieurs détecteurs 17 de la présence de bandes sur les bras radiaux 12, ces détecteurs transmettant des signaux à l'unité de commande du bras robot.The device also comprises one or more detectors 17 for the presence of bands on the radial arms 12, these detectors transmitting signals to the control unit of the robot arm.

Chaque bras radial 12, mieux visible en figures 2 et 3, comprend des moyens de support d'une bande 18 et des moyens de positionnement de cette bande sur les moyens de support de sorte que cette bande puisse être prélevée directement par le bras robot sans nécessiter l'intervention d'un opérateur.Each radial arm 12, better visible in Figures 2 and 3 , comprises means for supporting a band 18 and means for positioning this band on the support means so that this band can be taken directly by the robot arm without requiring the intervention of an operator.

Les moyens de positionnement comprennent un boîtier parallélépipédique 20 de forme allongée comportant une grande face supérieure 22 présentant à ses extrémités longitudinales deux orifices 24 de passage de deux doigts cylindriques escamotables 26, la bande 18 étant destinée à être enroulée autour de ces doigts 26.The positioning means comprise a parallelepipedal casing 20 of elongated shape having a large upper face 22 having at its longitudinal ends two orifices 24 for the passage of two retractable cylindrical fingers 26, the band 18 being intended to be wound around these fingers 26.

Les doigts 26 s'étendent sensiblement parallèlement et à distance l'un de l'autre, la distance entre les doigts étant telle que la bande 18 enroulée sur les doigts est dans un état allongé ou faiblement tendu et comprend dans cet état deux grandes portions de bande sensiblement rectilignes, parallèles entre elles, et à proximité l'une de l'autre.The fingers 26 extend substantially parallel and at a distance from one another, the distance between the fingers being such that the strip 18 wound on the fingers is in an elongated or slightly stretched state and comprises in this state two large portions substantially rectilinear band, parallel to each other, and close to each other.

Des ressorts de rappel (schématiquement représentés par les traits en pointillés 28) sont logés dans le boîtier 20 et s'étendent entre la face inférieure du boîtier et les extrémités inférieures des doigts 24 de manière à solliciter ces doigts vers l'extérieur du boîtier, dans leur position de maintien d'une bande. Des moyens sont prévus pour limiter la course des doigts vers l'intérieur et vers l'extérieur du boîtier, à travers les orifices 24.Return springs (schematically represented by the dotted lines 28) are housed in the housing 20 and extend between the lower face of the housing and the lower ends of the fingers 24 so as to urge these fingers towards the outside of the housing, in their position of maintaining a band. Means are provided for limiting the stroke of the fingers inwardly and outwardly of the housing through the orifices 24.

Les extrémités supérieures des doigts 26 forment des surfaces d'appui sur lesquelles peut s'appuyer un bras robot, comme cela sera décrit plus en détail dans ce qui suit.The upper ends of the fingers 26 form bearing surfaces on which a robot arm can rest, as will be described in more detail in the following.

Les moyens de support d'une bande sur le bras radial 12 comprennent une plaque plane 30 de forme allongée qui a sensiblement les mêmes dimensions en largeur et en longueur que la face supérieure 22 du boîtier 20, et qui est fixée au-dessus et à distance de cette face par l'intermédiaire de vis 32. La distance entre la plaque 30 et la face 22 du boîtier est déterminée par exemple par des tubes 34 de longueur prédéterminée engagés autour des vis et intercalés entre la plaque 30 et la face supérieure 22 du boîtier 20.The means for supporting a band on the radial arm 12 comprises a flat plate 30 of elongate shape which has substantially the same dimensions in width and length as the upper face 22 of the housing 20, and which is fixed above and below distance from this face by means of screws 32. The distance between the plate 30 and the face 22 of the housing is determined for example by tubes 34 of predetermined length engaged around the screws and interposed between the plate 30 and the upper face 22 of the case 20.

La plaque 30 comprend à ses extrémités longitudinales deux orifices 36 de passage des doigts 26, le diamètre intérieur de ces orifices étant supérieur au diamètre extérieur des doigts.The plate 30 comprises at its longitudinal ends two orifices 36 for passing fingers 26, the inner diameter of these orifices being greater than the outside diameter of the fingers.

Les doigts 26 sont déplaçables axialement entre une première et une seconde position et sont en permanence sollicitées dans la première position par les ressorts de rappel 28.The fingers 26 are axially displaceable between a first and a second position and are permanently biased in the first position by the return springs 28.

Dans la première position représentée en figure 2, les parties d'extrémité supérieures des doigts 26 traversent les orifices 36 de la plaque 30 et sont en saillie sur cette plaque. Dans cette position, les doigts sont engagés dans la bande travaillante 18 posée sur la plaque 30 et maintiennent cette bande dans un état allongé ou faiblement tendu.In the first position represented in figure 2 the upper end portions of the fingers 26 pass through the orifices 36 of the plate 30 and project from this plate. In this position, the fingers are engaged in the working band 18 placed on the plate 30 and maintain this band in an elongated state or slightly tense.

Dans la seconde position représentée en figure 3, les doigts 26 ont été enfoncés sous la plaque 30 et ne sont plus engagés dans la bande 18 qui est posée sur la plaque et qui est alors libre d'être emportée par un bras robot. La distance entre la plaque et le boîtier 20 est telle que les doigts ne sont plus en saillie sur la plaque lorsque les doigts sont dans leur seconde position.In the second position represented in figure 3 , the fingers 26 have been driven under the plate 30 and are no longer engaged in the strip 18 which is placed on the plate and which is then free to be carried by a robot arm. The distance between the plate and the housing 20 is such that the fingers are no longer protruding on the plate when the fingers are in their second position.

Comme cela sera décrit plus en détail dans ce qui suit en référence aux figures 4 à 6, le déplacement des doigts depuis leur première position jusqu'à leur seconde position est provoqué mécaniquement par le bras robot.As will be described in more detail in the following with reference to Figures 4 to 6 the movement of the fingers from their first position to their second position is caused mechanically by the robot arm.

Le bras robot 40, représentée partiellement et très schématiquement en figure 4, comprend un vérin 42 dont le cylindre 44 est fixé au bras robot et dont le piston 46 est relié à une poulie menée 48 qui est montée libre en rotation autour d'un axe perpendiculaire à l'axe longitudinal du vérin. Le bras robot comprend en outre une poulie motrice 50 qui s'étend parallèlement à la première poulie, en arrière du vérin, et dont l'axe est parallèle à l'axe du vérin 42. Cette poulie 50 est entraînée en rotation par un moteur porté par le bras robot.The robot arm 40, represented partially and very schematically in figure 4 , comprises a jack 42 whose cylinder 44 is fixed to the robot arm and whose piston 46 is connected to a driven pulley 48 which is mounted free to rotate about an axis perpendicular to the longitudinal axis of the jack. The robot arm further comprises a driving pulley 50 which extends parallel to the first pulley, behind the jack, and whose axis is parallel to the axis of the cylinder 42. This pulley 50 is rotated by a motor carried by the robot arm.

Dans une première étape de montage d'une bande 18 sur le bras robot, représentée en figure 4, le vérin 42 du bras robot est dans une position rétractée dans laquelle la distance entre les axes des poulies 48, 50 est sensiblement égale à la distance entre les axes des doigts 26. Le bras robot 40 est amené au-dessus d'un bras radial 12 du dispositif équipé d'une bande (figure 1), jusqu'à ce que les poulies 48, 50 soient alignées avec les doigts 26. Le bras robot 40 est ensuite déplacé verticalement vers le bras radial 12 jusqu'à ce que les poulies 48, 50 du bras robot s'engagent dans la bande 18 et déplacent les doigts 26 de leur première à leur seconde position en prenant appui sur les extrémités supérieures des doigts (figure 5). Le piston 46 du vérin est alors déployé pour écarter les poulies 48, 50 l'une de l'autre jusqu'à ce que la bande 18 soit tendue entre les poulies. Cette bande peut alors être emportée pour effectuer une opération d'usinage (figure 6). Les doigts 26 sont ramenés dans leur première position par les ressorts de rappel 28. Une nouvelle bande 18 peut être placée sur les doigts 26 par un opérateur ou un automate.In a first step of mounting a strip 18 on the robot arm, shown in FIG. figure 4 , the cylinder 42 of the robot arm is in a retracted position in which the distance between the axes of the pulleys 48, 50 is substantially equal to the distance between the axes of the fingers 26. The robot arm 40 is brought over an arm radial device 12 equipped with a band ( figure 1 ), until the pulleys 48, 50 are aligned with the fingers 26. The robot arm 40 is then moved vertically towards the radial arm 12 until the pulleys 48, 50 of the robot arm engage in the band 18 and move the fingers 26 from their first to their second position by resting on the upper ends of the fingers ( figure 5 ). The piston 46 of the jack is then deployed to discard the pulleys 48, 50 from each other until the band 18 is stretched between the pulleys. This band can then be carried away to perform a machining operation ( figure 6 ). The fingers 26 are returned to their first position by the return springs 28. A new band 18 may be placed on the fingers 26 by an operator or a controller.

L'unité de commande du bras robot contrôle le déplacement du bras robot et du plateau 16 en fonction des informations transmises par le capteur 17. Le plateau 16 est entraîné pas à pas autour de l'axe 14 jusqu'à ce qu'un bras radial 12 équipé d'une bande soit dans une position prédéterminée de prise de bande, afin que la bande puisse être montée sur le bras robot à l'aide des étapes représentées aux figures 4 à 6.The control unit of the robot arm controls the movement of the robot arm and the plate 16 according to the information transmitted by the sensor 17. The plate 16 is driven step by step about the axis 14 until an arm radial 12 equipped with a band is in a predetermined position of tap, so that the band can be mounted on the robot arm using the steps shown in Figures 4 to 6 .

Comme cela est visible aux figures 1 à 3, la plaque 30 de chaque bras radial 12 peut comprendre une fente 51 de forme allongée s'étendant le long des bords de la bande 18 et reliée à une de ses extrémités à un des orifices 36 précités de passage des doigts 26, de façon à faciliter l'engagement du vérin 42 du bras robot dans la bande 18 et à guider le déploiement du piston 46 du vérin.As can be seen in Figures 1 to 3 , the plate 30 of each radial arm 12 may comprise an elongate slit 51 extending along the edges of the strip 18 and connected at one of its ends to one of the above-mentioned orifices 36 for passing fingers 26, so as to facilitate the engagement of the cylinder 42 of the robot arm in the strip 18 and guide the deployment of the piston 46 of the cylinder.

Dans un exemple particulier de réalisation de l'invention, le dispositif comprend en outre une paroi verticale 52 qui sépare le dispositif représenté en figure 1 en deux groupes de six bras radiaux chacun, un premier groupe étant accessible par un bras robot 40 et l'autre groupe étant accessible par un opérateur pour y installer des bandes travaillantes neuves. A chaque rotation d'un pas du plateau 16 autour de l'axe 14, un des bras radiaux 12 du premier groupe passe dans le second groupe, et un des bras 12 du second groupe passe dans le premier groupe.In a particular embodiment of the invention, the device further comprises a vertical wall 52 which separates the device represented by figure 1 in two groups of six radial arms each, a first group being accessible by a robot arm 40 and the other group being accessible by an operator to install new working strips. At each rotation of a pitch of the plate 16 about the axis 14, one of the radial arms 12 of the first group passes into the second group, and one of the arms 12 of the second group passes into the first group.

Claims (8)

Dispositif de stockage et de distribution de bandes travaillantes sans fin (18) pour une installation robotisée, comprenant des moyens (30) de support d'une pluralité de bandes travaillantes et des moyens (26) de positionnement de ces bandes sur les moyens de support, caractérisé en ce que les moyens de support et de positionnement comprennent un support (16) tournant autour d'un axe vertical (14) et portant des bras radiaux (12) équipés chacun de moyens de positionnement (26) d'une bande travaillante (18), et des moyens de rotation pas à pas du support tournant, pour amener successivement chaque bras dans un poste de montage de bande sur un bras robot (40).Apparatus for storing and dispensing endless working belts (18) for a robotic installation, comprising means (30) for supporting a plurality of working strips and means (26) for positioning these strips on the support means , characterized in that the support and positioning means comprise a support (16) rotating about a vertical axis (14) and carrying radial arms (12) each equipped with positioning means (26) of a working band (18), and means for rotating the rotating support stepwise, for successively bringing each arm into a tape mounting station on a robot arm (40). Dispositif selon la revendication 1, caractérisé en ce que les moyens de positionnement comprennent des doigts escamotables (26), guidés dans des logements des bras (12) et engagés dans les extrémités des bandes (18), et des ressorts de rappel (28) sollicitant ces doigts vers leur position de maintien des bandes.Device according to claim 1, characterized in that the positioning means comprise retractable fingers (26) guided in housings of the arms (12) and engaged in the ends of the strips (18), and return springs (28). urging these fingers to their position of maintaining the bands. Dispositif selon la revendication 2, caractérisé en ce que les extrémités supérieures des doigts (26) de positionnement d'une bande (18) forment des surfaces d'appui sur lesquelles viennent s'appliquer des extrémités inférieures de deux poulies (48, 50) d'un robot, pour l'escamotage des doigts et le montage de la bande sur les poulies du robot.Device according to claim 2, characterized in that the upper ends of the fingers (26) for positioning a strip (18) form bearing surfaces on which the lower ends of two pulleys (48, 50) are applied. of a robot, for the retraction of the fingers and the assembly of the band on the pulleys of the robot. Dispositif selon la revendication 2 ou 3, caractérisé en ce que la bande (18) est faiblement tendue quand elle est positionnée sur les doigts escamotables (26).Device according to claim 2 or 3, characterized in that the strip (18) is slightly tensioned when it is positioned on the retractable fingers (26). Dispositif selon l'une des revendications 2 à 4, caractérisé en ce que chaque bras radial (12) comprend une plaque (30) de forme allongée supportant les bords de la bande (18) et comportant à ses extrémités des orifices (36) de passage des doigts de positionnement (26).Device according to one of claims 2 to 4, characterized in that each radial arm (12) comprises a plate (30) of elongate shape supporting the edges of the strip (18) and having at its ends orifices (36) of passing the positioning fingers (26). Dispositif selon la revendication 5, caractérisé en ce que la plaque (30) comprend une fente (51) de forme allongée s'étendant entre les deux bords de la bande, pour la descente d'une partie du robot.Device according to claim 5, characterized in that the plate (30) comprises an elongated slot (51) extending between the two edges of the band, for the descent of a part of the robot. Dispositif selon l'une des revendications précédentes, caractérisé en ce qu'il comprend douze bras radiaux (12).Device according to one of the preceding claims, characterized in that it comprises twelve radial arms (12). Dispositif selon l'une des revendications précédentes, caractérisé en ce qu'il comprend au moins un capteur (17) de détection de la présence de bandes travaillantes (18) sur les bras radiaux (12).Device according to one of the preceding claims, characterized in that it comprises at least one sensor (17) for detecting the presence of working strips (18) on the radial arms (12).
EP07291630A 2007-01-18 2007-12-27 Device for storing and dispensing continuous work belts for a robotic installation Active EP1946888B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0700323A FR2911527B1 (en) 2007-01-18 2007-01-18 DEVICE FOR STORING AND DISTRIBUTING WORKING BANDS WITHOUT END FOR A ROBOTIZED INSTALLATION

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EP1946888A1 true EP1946888A1 (en) 2008-07-23
EP1946888B1 EP1946888B1 (en) 2009-07-22

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EP (1) EP1946888B1 (en)
JP (1) JP2008173763A (en)
DE (1) DE602007001666D1 (en)
FR (1) FR2911527B1 (en)
RU (1) RU2451594C2 (en)

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DE602007001666D1 (en) 2009-09-03
RU2008101907A (en) 2009-07-27
US20080173660A1 (en) 2008-07-24
FR2911527B1 (en) 2009-03-13
FR2911527A1 (en) 2008-07-25
JP2008173763A (en) 2008-07-31
US7886929B2 (en) 2011-02-15
EP1946888B1 (en) 2009-07-22
RU2451594C2 (en) 2012-05-27

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