Assembly machine with collaborative robotic arms forming an upside-down u-shaped structure for the precision assembly of components

Abstract

The invention relates to an assembly machine (100) for assembling components, the machine comprising a safety cabinet (110), a worktable (120) supporting various workstations, and at least two sets of robotic arms (130, 140) forming an upside-down U-shaped structure. The robotic arms (130, 140) are fitted with translation and rotation mechanisms that allow movements on the X, Y and / or Z axes, and are configured to allow operational co-operation in an operable spatial intersection. The assembly machine (100) also incorporates a mechanical connection interface head (150) based on an isostatic connection with magnetic self-holding for the tools (171, 172, 173), a system of perpendicularly arranged measurement cameras (190, 191), and a tool holder rack (160) with a magnetic retaining device (165). This configuration solves the problem of the precise assembly of components in a restricted space by allowing the joint execution of complex operations by collaborative robotic arms.

Description

ASSEMBLY MACHINE WITH COLLABORATIVE ROBOTIC ARMS FORMING AN INVERTED U-SHAPED STRUCTURE FOR PRECISION ASSEMBLY OF COMPONENTS

[0001] The invention relates to the field of industrial robotics, and more particularly to automated assembly machines used for the assembly of precision optical, mechanical and electrical components.

[0002] The invention specifically relates to an assembly machine equipped with two collaborative robots intended for the automated assembly of components in a restricted workspace, with a particular configuration allowing operational cooperation between the robotic arms.

[0003] Conventional robotic assembly machines typically use individual robotic arms that operate independently in separate work areas. These configurations limit collaboration between robots and often require a large workspace.

[0004] Existing systems have significant limitations for the assembly of precision optical and mechanical components. In particular, current machines do not allow efficient coordination between multiple robotic arms in a common workspace, which complicates the execution of complex assembly operations requiring simultaneous manipulation by multiple robots.

[0005] In addition, conventional tool changing systems often lack accuracy and repeatability, which affects the quality of the assemblies produced. Measuring systems integrated into existing assembly machines do not allow for accurate three-dimensional measurement without the use of multiple cameras, thus increasing the complexity and cost of installations.

[0006] Thus, there is a need for an assembly machine that allows efficient collaboration between multiple robotic arms in a confined workspace, with precise tool changing capabilities and optimized measuring systems.

[0007] The invention aims to solve, at least partially, this need as described in the appended claims.

[0008] The dependent claims describe specific embodiments of the present application.

[0009] These and other aspects of the present application will be apparent from an explanation based on the embodiments described hereinafter.

[0010] Other characteristics and advantages of the invention will be better understood upon reading the description which follows and with reference to the appended drawings, given for illustrative purposes and in no way limiting.

[0011] L represents a safety cabinet, according to the invention. Figure 1A illustrates the safety cabinet in the closed position and l illustrates the safety cabinet in the open position.

[0012] The figure represents a component assembly machine according to the invention.

[0013] The figure represents a work table of the component assembly machine of the, according to the invention.

[0014] The figure represents a first embodiment of a locking base, according to the invention. Figure 4A is a perspective view and Figure 4B is a side view.

[0015] [Fig. 5] [Fig. 5] represents a second embodiment of a locking base, according to the invention.

[0016] The figure represents a work pallet, according to the invention. Figure 6A is a first side view and Figure 6B is a second side view with component magazines.

[0017] The represents tools, according to the invention.

[0018] [Fig. 8] [Fig. 8] shows a tool of [Fig. 8], according to the invention. Figure 8A is a side view and Figure 8B is a perspective view.

[0019] The figure represents a zoomed view of [Fig. 8], according to the invention. Figure 9A is a first zoomed view and Figure 9B is a second zoomed view.

[0020] The figure represents a cross-section of a mechanical connection interface head, according to the invention.

[0021] The figure represents a tool rack according to the invention.

[0022] [Fig. 12] [Fig. 12] shows the tool rack with tools, according to the invention. Figure 12A is a first view of a tool rack of the “gripper” type and Figure 12B is a second view of a tool rack of the “glue” type.

[0023] The figure represents a method of picking up and removing a tool, according to the invention. Figure 13A illustrates picking up a tool and Figure 13B illustrates removing a tool.

[0024] The figure represents a martyr plate holder, according to the invention. Figure 14A illustrates the martyr plate holder with a single grazing light and Figure 13B illustrates the martyr plate holder with two grazing lights.

[0025] The figure represents a tool cleaning station, according to the invention.

[0026] [Fig. 16] [Fig. 16] shows measuring cameras positioned relative to the work table of the, according to the invention. Figure 16A is a profile view and Figure 16B is a perspective view.

[0027] The figure represents sets of robotic arms, according to the invention.

[0028] The figure represents a zoomed view of a robotic arm assembly of the, according to the invention.

[0029] The figure represents examples of collaborations between sets of robotic arms of the and the, according to the invention. Figure 19A is a first example and Figure 16B is a second example.

[0030] Figures are not necessarily to scale for illustrative purposes.

[0031] Preliminary remarks

[0032] In order not to obscure the description and distract the reader from understanding the teachings of the invention, our explanations will not go beyond what we consider necessary for the understanding and appreciation of the underlying concepts of the invention by a person skilled in the technical field of automated assembly machines used for the assembly of precision optical, mechanical and electrical components. Indeed, the embodiments illustrated in the description are, for the most part, composed of elements known to the person skilled in the art.

[0033] Objective of the invention

[0034] One of the main objectives of the invention is to provide an assembly machine enabling efficient operational cooperation between two sets of robotic arms in a restricted workspace.

[0035] Another objective of the invention is to propose a specific geometric configuration of the robotic arms allowing their coordinated interaction in a common spatial intersection zone for the joint execution of complex assembly operations.

[0036] For this, the inventors propose an assembly machine comprising at least two sets of robotic arms mounted above the upper surface of a work table in spaced relationship with the upper surface of the work table and forming an inverted U-shaped bridge-type structure, with a plurality of specific operational stations and an isostatic mechanical connection system with magnetic self-holding for the tools.

[0037] This configuration allows robotic arm assemblies to interact in a coordinated manner in an exploitable spatial intersection, thus optimizing the workspace while improving the accuracy and efficiency of optical and mechanical component assembly operations.

[0038] The invention: a component assembly machine

[0039] The invention relates to an assembly machine for assembling components, making it possible to obtain a semi-finished product or a finished product. The assembly machine is equipped with two collaborative robots intended for the automated assembly of optical, mechanical and electrical components, in a restricted workspace.

[0040] The robotic arm assemblies are versatile and can be equipped with interchangeable tools suitable for different assembly operations, such as gripping parts with various geometries by vacuum or pinching, as well as applying adhesives to ensure component fixation. In addition, these tools can also perform component tests, e.g. electrical tests. This assembly machine is particularly suitable for the automated micro-assembly of products such as DPSS (Diode-Pumped Solid State Laser) lasers, diode lasers, lidars, laser bar stacks, fiber optic connectors, fast axis collimators (FACs) and fiber couplings to photonic integrated circuits (PICs).

[0041] In practice, as illustrated in la and la, the assembly machine 100 comprises at least one safety cabinet 110, at least two sets of robotic arms 130, 140 and at least one work table 120.

[0042] The term "safety cabinet" refers to a closed and sturdy compartment or structure used to protect or store the assembly machine 100. This cabinet may serve to prevent potential damage or unauthorized access to its contents.

[0043] The term "robotic arm assembly" refers to a group or configuration of robotic arms that work together as an integrated unit. These arms are generally used to perform various assembly or manipulation tasks within the assembly machine 100.

[0044] The term "worktable" refers to a surface or structure on which assembly operations are performed. In the context of an assembly machine 100, this generally refers to the area where parts / components are assembled or manipulated by robotic arms.

[0045] The work table

[0046] As illustrated in laet la, the worktable 120 includes an upper surface and a lower surface opposite the upper surface.

[0047] The worktable 120 supports on its upper surface a plurality of operating stations which are adapted to perform specific assembly-related tasks for the assembly of components.

[0048] The term "operational station" refers to a specific location or area on the worktable 120 that is equipped to perform specific assembly-related tasks for the assembly of components.

[0049] This may include specific equipment or tools required for these tasks, such as a work pallet 122, measuring tools, tool racks 160 and their associated tools 171, 172, 173, a martyr plate 181, a cleaning station 174, a pallet locking base 121 and an emergency stop button.

[0050] This particular combination of a locking base, a tool rack, a martyr plate holder, a cleaning station, measuring cameras and a measuring area on the same work table represents a technical solution for the automated assembly of optical and mechanical components.

[0051] However, depending on the needs and the tasks to be carried out, it may be possible to consider using other specific equipment or tools, without requiring substantial modifications to the invention.

[0052] As illustrated in la and la, the work table 120 comprises under its lower surface at least one vertical measuring camera 191, systems for retracting various elements present on the upper surface of the work table 120 as well as a pneumatic panel and electrical and pneumatic power supply circuits.

[0053] First operational station: a locking base

[0054] As illustrated in [Fig. 5], the work table 120 comprises on the upper surface at least one locking base 121 which is adapted to receive at least one work pallet 122.

[0055] Figure 4A illustrates a top view of the locking base 121 without the work pallet 122 installed.

[0056] As illustrated in the, the locking base 121 comprises at least one lighting area 1211, which is represented by an opening and above which at least one component magazine is intended to be positioned.

[0057] The locking base 121 also comprises at least one lifting area 1212 which is represented by an opening and which is adapted to receive a lifting device 1213 which is retractable from the work table 120.

[0058] Figure 4B illustrates a top view of the locking base 121 with a work pallet 122.

[0059] The locking base 121 is designed to receive a work pallet 122.

[0060] In a first embodiment of the locking base 121, it receives, by an operator, in translation T, the work pallet 122.

[0061] In a first example of the first embodiment of the locking base 121, the translational path T of the work pallet 122 is substantially parallel to the upper surface of the work table 120.

[0062] In a second example of the first embodiment of the locking base 121, the translational path T of the work pallet 122 is substantially perpendicular to the upper surface of the work table 120.

[0063] As illustrated in [Fig. 5], in a second embodiment of the locking base 121, the latter receives, by a conveyor 1216, the work pallet 122.

[0064] In this embodiment, the work pallet 122 is previously placed in a magazine 1217 which is located, for example, under the lower surface of the work table 120 or at the rear of the assembly machine 100, in an automatic loader 1218. Then, a conveyor 1216, placed, for example, under the lower surface of the work table 120, picks up the work pallet 122 to be used from the magazine 1217 to convey it to the locking base 121.

[0065] In a first example of the second embodiment of the locking base 121, the conveyor path 1216 comprises at least one translation of the work pallet 122 along a path which is substantially parallel to the lower surface of the work table 120.

[0066] In a second example of the second embodiment of the locking base 121, the conveyor path 1216 comprises at least one translation of the work pallet 122 along a path that is substantially perpendicular to the lower surface of the work table 120.

[0067] Furthermore, the locking base 121 comprises at least one first stop element, called end-of-travel stop 1214, which is designed so that the working pallet 122 comes into abutment there, in a stop position.

[0068] Once the locking base 121 is in the stop position, the work table 120 comprises a lifting device 1213 which is designed to lift the work pallet 122 until it abuts against at least a second stop element of the locking base 121, called lateral stops 1215. The second stop element is designed to hold a work pallet 122 in the locking position.

[0069] - a work pallet designed to be coupled to the locking base

[0070] Illustrates a perspective view of the 122 work palette.

[0071] As illustrated in the, the work pallet 122 comprises at least one assembly area 1221 and at least one housing 1222 for a component magazine 1223.

[0072] The term “assembly area 1221” refers to a specific portion of the work pallet 122 where assembly tasks are performed, i.e., where components are assembled to create a semi-finished or finished product.

[0073] The term "component store" refers to an area or compartment within the work pallet 122 dedicated to the storage of components required for assembly prior to use.

[0074] Assembly area 1221 allows the assembly of components of a semi-finished product or the finished product to be assembled.

[0075] The housing 1222 for component magazine 1223 allows the supply of components necessary for the assembly of the components of the semi-finished product or the finished product. The component magazines 1223 accommodate the various components of the semi-finished product or the finished product to be assembled in order to position them precisely on the work pallet 122.

[0076] In one example, the component magazine 1223 is a modified Gel-Pak® type magazine with a Gel Retention Level specifically chosen to provide an optimal balance between secure retention of components during shipping and handling, and ease of unloading the components during use.

[0077] Second operational station: tools and tool rack

[0078] In the invention, the work table 120 supports at least one tool rack 160.

[0079] The term "tool rack" refers to a structure or device located on the work table 120, designed to organize and store tools necessary for the assembly process. It provides convenient and orderly accessibility to the tools, thus facilitating the assembly process.

[0080] - The tools

[0081] Illustrates examples of tools 171, 172, 173 that may be carried by the tool rack 160.

[0082] In the example of the, the tools 171, 172, 173 comprise a vacuum gripper 171, a clamp 172 and a syringe 173.

[0083] - The mechanical connection interface head

[0084] As illustrated in [Fig. 8] and [Fig. 8], each tool 171, 172, 173 includes a mechanical connection interface head 150 that is configured to connect the tool 171, 172, 173 with a robotic arm 130, 140.

[0085] The mechanical connection interface head 150 described below is specifically designed for use with the assembly machine 100, enabling the tools 171, 172, 173 to be efficiently connected with the robotic arms 130, 140.

[0086] Figure 8A and Figure 8B illustrate a side view and a perspective view of a mechanical connection interface head 150 connected to a syringe 173.

[0087] In the assembly machine 100, the mechanical connection interface head 150 is based on an isostatic mechanical connection with magnetic self-retaining.

[0088] The term "isostatic mechanical connection" refers to a type of connection or joint in a mechanical system characterized by a number of constraints exactly equal to the number of degrees of freedom to be restrained (usually six in three-dimensional space), without redundancy or insufficiency. This implies that the structure or system is completely statically determined, with each constraint having a unique and necessary role to maintain the position and orientation of the object.

[0089] [Fig. 8] and [Fig. 8] illustrate a detailed perspective view, in transparency, of a mechanical connection interface head 150 connected to a syringe 173.

[0090] In practice, the mechanical connection interface head 150 comprises a body 151 consisting of a base part 151a and a complementary part 151b configured to be assembled and disassembled relative to each other.

[0091] The base portion 151a includes a plurality of "V"-shaped grooves 154, each groove having a V-shaped cross-section and adapted to receive a sphere. The base portion 151a also includes magnetized areas 155.

[0092] The complementary portion 151b comprises a plurality of ball rods 152, each ball rod 152 comprising a connecting rod and a sphere connected to one end of the connecting rod. The complementary portion 151b also comprises a plurality of magnets 153.

[0093] In one example, the body 151 of the mechanical connection interface head 150 is cylindrical.

[0094] In one example, the magnets 153 are permanent magnets or electromagnets.

[0095] When the two parts are assembled, the magnets 153 of the complementary part 151b exert a magnetic attraction force on the magnetized areas 155 of the base part 151a so as to keep the spheres in contact with the corresponding “V”-shaped grooves 154, thus establishing an isostatic mechanical connection between the two parts.

[0096] As illustrated in the, when the two parts are assembled and the isostatic mechanical connection is established, the base part 151a and the complementary part 151b are kept at a distance from each other so that a space Ep is provided between them, the main points of contact between the two parts being constituted by the spheres of the ball rods 152 in contact with the corresponding "V" shaped grooves 154.

[0097] In one example, each "V"-shaped groove 154 is formed by the intersection of two planes forming an angle between them of between 60° and 120°.

[0098] This particular configuration called "V-sphere" of the mechanical connection interface head 150 which involves a geometry composed of a sphere in contact with a "V" shaped groove 154 allows a degree of freedom of rotation of the sphere around the point of contact with the "V" shaped groove 154 and a degree of translation of the sphere relative to the point of contact.

[0099] This isostatic mechanical connection with magnetic self-holding enables fast and accurate tool changes while maintaining repeatable positioning, thus solving the technical problem of efficient tool changes in precision assembly operations.

[0100] In an example illustrated in Figure 9A, the mechanical connection interface head 150 includes three “sphere-V” contacts that are oriented at 120°.

[0101] Furthermore, this configuration acts as a mechanical safety circuit breaker. In fact, if, while moving a tool, it collides with an element or object present in the assembly machine in an undesired manner, the force of the impact can exceed the magnetic attraction force (usually calibrated between 10 and 50 newtons depending on the application), causing the immediate separation of the base part and the complementary part. This controlled breaking mechanism thus protects both the tool and the robotic arm from potential damage.

[0102] In a particular embodiment, the mechanical connection interface head comprises at least one integrated shock and / or vibration sensor, coupled to an electronic control circuit. When the sensor detects an impact or vibration exceeding a predetermined threshold (typically between 2 and 5 g of acceleration), the electronic circuit can command the temporary deactivation of the electromagnets or the activation of a repulsion mechanism, thus causing the controlled separation of the two parts before damage occurs. This system allows for a faster and more sensitive reaction than the simple passive mechanical circuit breaker.

[0103] The first embodiment of the mechanical connection interface head 150 described above corresponds to the configuration where the base part 151a comprises the “V” shaped grooves 154 and the magnetized areas 155, while the complementary part 151b comprises the ball rods 152 and the magnets 153.

[0104] In a second embodiment of the mechanical connection interface head 150, the configuration is reversed: the base portion 151a comprises the ball pins 152 and the magnets 153, while the complementary portion 151b comprises the “V”-shaped grooves 154 and the magnetized areas 155.

[0105] Furthermore, the mechanical connection interface head 150 comprises at least one supply conduit 156 of the tool 171, 172, 173, the supply conduit 156 being formed of two complementary parts, a first part being disposed in the base part 151a and a second part being disposed in the complementary part 151b, the two parts of the supply conduit 156 being configured to align and form a continuous passage when the base part 151a and the complementary part 151b are assembled156.

[0106] In a first example of the supply conduit 156, it is a pneumatic supply conduit for providing a source of compressed air for transmitting compressed air to the tool 171, 172, 173.

[0107] In a second example of the power conduit 156, this is an electrical power conduit, if the tool 171, 172, 173 requires a source of electrical energy to power its electrical or electronic components.

[0108] In a third example of the supply conduit 156, this is a hydraulic supply conduit, for transmitting a pressurized fluid to the tool 171, 172, 173.

[0109] In a fourth example of the supply conduit 156, this is a fluid supply conduit (e.g. liquids, gases), if the tool 171, 172, 173 requires a supply or removal of fluids for its operation.

[0110] In a fifth example of the power conduit 156, this is a data transmission conduit, if the tool 171, 172, 173 requires a connection to exchange data with a control system.

[0111] Thus, the supply conduit 156 may be selected from the group consisting of a pneumatic supply conduit, an electrical supply conduit, a hydraulic supply conduit, a fluid supply conduit, a data transmission conduit, and any combination thereof.

[0112] In the example illustrated in Figure 8B and 1a, the supply conduit 156 is arranged in a central position of the mechanical connection interface head 150.

[0113] Furthermore, the mechanical connection interface head 150 comprises at least one mechanical engagement element arranged on the periphery of the body 151 and configured to cooperate with a complementary housing of a tool-holder rack 160 in order to ensure rotational immobilization of the mechanical connection interface head 150 during its positioning in the tool-holder rack 160157.

[0114] The mechanical engagement element may be selected from the group comprising flats, grooves, notches, lugs, notches and projections, provided on the periphery of the body 151.

[0115] In a particular example illustrated in FIG. 8 and 1a, the mechanical engagement element comprises at least two opposite flats 157, substantially parallel and which are provided on the periphery of the body of the mechanical connection interface head 150.

[0116] The term "flat" refers to a flat surface or portion on an object that is generally circular or cylindrical in shape. In this context, the flats 157 are planar surfaces disposed on the periphery of the body of the mechanical connection interface head 150.

[0117] In practice, when a mechanical connection interface head 150 is in place in the safety cabinet 110, the plane of each flat is oriented substantially perpendicular to the plane defined by the upper surface of the work table 120.

[0118] Furthermore, the flats 157 are designed to be selectively engaged with flat portions of a tool rack 160 so as to ensure rotational immobilization of the mechanical connection interface head 150 during its positioning in the tool rack 160.

[0119] This feature ensures precise alignment when picking up and dropping tools, thus solving the technical problem of precise tool orientation.

[0120] The tool rack

[0121] Illustrates a 160 tool rack without tools.

[0122] [Fig. 12] illustrates a tool rack 160 with tools 171, 172, 173.

[0123] As illustrated in [Fig. 12], a tool rack 160 is a tool storage system that includes a multi-receptacle tool storage structure.

[0124] In practice, each tool rack 160 comprises a body which is made up of a base 161, an upper horizontal plate 162 and vertical uprights 163 which connect the base 161 to the upper horizontal plate 162.

[0125] In practice, the upper horizontal plate 162 has a plurality of housings 164 having a suitable shape (e.g. U-shaped or C-shaped) for receiving and holding mechanical connection interface heads 150157. The housings 164 are configured to cooperate with the mechanical engagement elements arranged on the periphery of the body of the mechanical connection interface heads 150 in order to ensure rotational immobilization of the mechanical connection interface heads 150.

[0126] Each tool rack 160 also comprises at least one magnetic retaining device 165 which is provided on and / or in each housing 164 (e.g. at the bottom and / or on side portions) and which is designed to ensure that the mechanical connection interface heads 150 are held in position by interaction with magnetized areas 155 of the mechanical connection interface heads 150.

[0127] This specific structure of the tool rack 160 with housings having a suitable shape and at least one magnetic retaining device provided on and / or in each housing 164 allows secure storage and easy access to the tools for the robotic arms.

[0128] In a first particular embodiment of the magnetic retaining device 165, the latter comprises at least one magnet or at least one electromagnet.

[0129] In a second particular embodiment of the magnetic retaining device 165, the latter comprises at least a first member which is fixed to a housing 164 of the tool rack 160 and a second member which is fixed to a mechanical connection interface head 150.

[0130] In [Fig. 12], the magnetic retainer 165 is disposed at the central core of the housing 164.

[0131] In another example (not shown), the magnetic retainer 165 is disposed at different locations of the housing 164.

[0132] Illustrates a method 200 of using the tool rack 160 for tool retrieval and storage.

[0133] In practice, the steps of the method 200 for carrying out the removal of a tool 171, 172, 173 from the tool rack 160 firstly involve a vertical translation 210 of a robotic arm 130, 140 allowing its connection with the tool 171, 172, 173 to be removed via the mechanical connection interface head 150, then a horizontal translation 220 of the robotic arm 130, 140 allowing the tool 171, 172, 173 to be released from the housing 164 of the tool rack 160, the tool 171, 172, 173 then being freely movable by the robotic arm 130, 140.

[0134] Furthermore, the steps of the method 200 for carrying out the storage of a tool 171, 172, 173 in the tool holder rack 160 involve the reverse steps, namely a horizontal translation 230 allowing the alignment of the tool 171, 172, 173 with an available housing 164, followed by a vertical translation 240 allowing the disconnection of the tool 171, 172, 173, the latter being held in position by at least one magnetic retaining device 165 on and / or in the housing 164 by interaction with magnetized zones 155 of the mechanical connection interface head 150.

[0135] This specific sequence of movements for picking up and dropping off tools, in combination with the magnetic retainer, ensures precise and secure tool changing, thus solving the technical problem of efficient tool exchange in a robotic assembly system.

[0136] Tool rack configuration

[0137] In a particular embodiment, the housings 164 of the tool rack 160 are arranged according to a predefined configuration corresponding to a specific type of assembly to be carried out by the assembly machine 100, each tool 171, 172, 173 having an assigned position on the tool rack 160 according to its sequence of use in the assembly process.

[0138] The tool rack 160 is configured to receive tools 171, 172, 173 selected from the group comprising gripping tools, adhesive dispensing tools, electrical testing tools, micro-soldering tools, optical positioning tools, dimensional measuring tools, precision cleaning tools and visual inspection tools.

[0139] Specific types of tool racks

[0140] In a particular embodiment, the work table 120 supports at least one first type of tool rack 160 and at least one second type of tool rack 160.

[0141] - First tool rack

[0142] In one example, as illustrated in Figure 12A, the first tool rack 160 is a "gripper" type rack specifically for storing gripping tools such as pliers 172 and vacuum grippers 171, which are used to grip and manipulate components during assembly.

[0143] For example, the first tool rack 160 is positioned on the left part of the work table 120 and is used for storing the tools 171, 172, 173 when they are changed by at least one set of robotic arms 130, 140 equipped for gripping and handling operations.

[0144] In the illustrated example, each tool 171, 172, 173 has its own position on the tool rack 160 and is held in position by the “fork” of the tool rack 160 and at least one magnetic retaining device 165, as described above.

[0145] This specific configuration of the rack for “gripper” type tools is adapted to the particular needs of these tools, representing a technical solution for the efficient organization of tools in a robotic assembly system.

[0146] - Second tool rack

[0147] In one example, as illustrated in Figure 12B, the second tool rack 160 is a "glue" type tool rack 160 specially designed for storing and maintaining adhesive dispensing tools, including syringes 173 containing different types of adhesives used in the assembly process.

[0148] For example, the second tool rack 160 is positioned on the right part of the work table 120 and is used for storing the tools 171, 172, 173 when they are changed by at least one set of robotic arms 130, 140 dedicated to gluing and adhesive application operations.

[0149] In the illustrated example, each tool 171, 172, 173 has its own position on the tool rack 160 and is held in position by the “fork” of the tool rack 160 and at least one magnetic retaining device 165, as described above.

[0150] For example, as illustrated in Figure 12B, in its lower part and substantially in the middle of the second tool rack 160, there is a rocker lever 166 equipped with a foam 167, for example made of silicone, which makes it possible to plug a syringe 173 containing an adhesive which dries in the ambient air.

[0151] This feature solves the technical problem of drying the adhesive in ambient air, which is particularly important for assembly operations using adhesives.

[0152] Third operational station: a martyr plate holder

[0153] As illustrated in 1 and 1a, the work table 120 comprises at least one support 180 for a martyr plate 181.

[0154] The martyr plate 181 support 180 is designed to support at least one martyr plate 181 while allowing the positioning of the martyr plate 181 in order to carry out bonding tests.

[0155] Illustrates an example of a martyr plate that can contain four lines of collage tests.

[0156] Furthermore, the support 180 of the martyr plate 181 comprises a grazing light 182 which designates an illumination system oriented at a low angle relative to the surface of the martyr plate 181, thus creating accentuated shadows which highlight the relief and the geometry of the drops of glue, which can be arranged on each side or on one side only of the support 180 of the martyr plate 181 which allows the drops to be measured when taking photos.

[0157] Figure 14A illustrates the martyr plate support 180 181 with grazing lighting 182 disposed on only one lateral side of the martyr support plate 181.

[0158] Figure 14B illustrates the support 180 of the martyr plate 181 with grazing lighting 182 arranged on both lateral sides of the martyr support plate 181.

[0159] Fourth operational station: a needle and cannula cleaning station

[0160] Illustrates a cleaning station 174 for the needles and cannulas of the tools 171, 172, 173.

[0161] The cleaning station 174 is composed of a support body 175 and two foams, one vertical 176 and one horizontal 177, which are mounted on the support body 175.

[0162] The needles of the tools 171, 172, 173 are cleaned by friction against the foams 176, 177. As for the martyr plate 181, for example, the set of foams can allow four lines of cleaning to be carried out.

[0163] Fifth operational station: measuring cameras

[0164] [Fig. 16] illustrates a first measuring camera 190, a second measuring camera 191 and a crossing zone 192 of the beams of the two measuring cameras 190, 191.

[0165] In practice, the first measuring camera 190 is arranged in a first position relative to the surface of the work table 120, for example above the upper surface of the work table 120, while the second measuring camera 191 is arranged in a second different position relative to the surface of the work table 120, for example below the upper surface of the work table 120.

[0166] As illustrated in [Fig. 16], the two measuring cameras 190, 191 are arranged so that their beams meet at a beam crossing zone 192 allowing the measurement of a component, this crossing zone 192 being located, in the example illustrated, above the work table 120.

[0167] This specific arrangement of cameras combined with at least one rotation of the component <mod>allows to obtain complete three-dimensional data of the component without requiring the installation of additional cameras.

[0168] In a preferred embodiment, the two measuring cameras 190, 191 are arranged perpendicular to each other associated with telecentric lenses, one horizontal and the other vertical, and serve to angularly reposition the components and measure their position in order to place them on the final assembly. These cameras can be, for example, high-resolution industrial cameras of the CMOS or CCD type with 5 to 20 megapixel sensors, such as those manufactured by Basler, Allied Vision or FLIR, equipped with telecentric lenses that eliminate perspective errors and allow precise dimensional measurements regardless of distance. The captured images are analyzed by specialized image processing software that extracts the geometric characteristics of the components with an accuracy of up to a few micrometers.

[0169] To do this, the parts are presented at the crossing point of the measuring cameras 190, 191 in order to take images, which are used to pre-position them precisely on the final assembly. The system can use various lighting techniques such as coaxial lighting, dome lighting or LED directional lighting, adapted to the specific optical properties of the components to be measured, whether reflective, transparent or diffusing.

[0170] A rotation, for example, of 90° of a component in front of the measuring cameras 190, 191 makes it possible to simulate the shooting of a third measuring camera and thus determine the position of the component in the three directions. It is this combination of the two physical cameras arranged at an optimal angle, ideally perpendicular, and the rotation of the component that makes it possible to obtain a complete three-dimensional rendering of the component, without requiring the installation of a third physical camera. This approach is similar to the multi-view photogrammetry techniques used in 3D reconstruction, but optimized for the controlled environment of a precision assembly machine. Computer vision algorithms, such as those based on edge detection, pattern recognition or image correlation, process the captured images to extract the precise coordinates of the features of interest.

[0171] An alignment of a component with the main axes of the assembly machine 100 is carried out from the first given position, which makes it possible to determine the parasitic translation movements linked to the misalignment of the center of rotation of the component relative to the axis of rotation of a robotic arm 130, 140. This alignment process can be carried out using image registration algorithms which compare the measured positions to the theoretical positions, with a typical precision of the order of 1 to 5 micrometers for high-precision optical assembly applications.

[0172] Robotic arm assemblies

[0173] As illustrated in la and la, the assembly machine 100 comprises at least two sets of robotic arms 130, 140.

[0174] The robotic arm assemblies 130, 140 are mounted above the upper surface of the worktable 120 in spaced relationship to the upper surface of the worktable 120 and form a bridge-like inverted U-shaped structure, the structure having two legs and a central web extending between the legs, the legs projecting from the upper surface of the worktable 120. In a particular embodiment illustrated in the, the structure extends below the worktable 120, such that the structure has an L-shaped cross-section and the worktable 120 rests on the horizontal leg of the structure.

[0175] Each of the robotic arm assemblies 130, 140 operates independently and autonomously, and is specifically designed and dedicated to performing a distinct set of predefined operations and tasks within a process for assembling the components of a semi-finished product or the finished product.

[0176] The robotic arm assemblies 130, 140 are specifically configured to enable operational cooperation at at least one shared operational station, wherein their respective workspace envelopes are arranged to present an operable spatial intersection within which the robotic arm assemblies 130, 140 have complementary geometries enabling one of the robotic arm assemblies 130, 140 to enter the work envelope of the other robotic arm assemblies 130, 140, such that the robotic arm assemblies 130, 140 can interact in a coordinated manner for the joint execution of operations of a process for assembling the components of a semi-finished product or the finished product.

[0177] For example, as illustrated in and, both sets of robotic arms may have C-shapes oriented in the same direction, allowing one arm to partially fit into the workspace of the other. Other complementary geometric configurations may be considered, such as inverted L-shaped and standard L-shaped structures that interlock, T-shaped and I-shaped configurations that complement each other, or asymmetrical structures where one arm has a lateral extension while the other has a corresponding clearance, thus allowing a coordinated approach to the same component from different angles.

[0178] This specific configuration of two sets of robotic arms forming a bridge-like inverted U-shaped structure with an exploitable spatial intersection allows the joint execution of complex assembly operations in a restricted workspace, representing a technical solution to the problem of precise assembly of optical and mechanical components.

[0179] For example, the sets of robotic arms 130, 140 have a particular geometric configuration allowing a first set of robotic arms 130, 140 to hold an optical component, while a second set of robotic arms 130, 140 benefits from a working envelope comprising a plurality of degrees of freedom, in particular exploitable freedom of rotation, giving it the capacity to simultaneously carry out an operation of bonding said optical component on the working pallet 122.

[0180] Furthermore, as illustrated in the, the sets of robotic arms 130, 140 are integrated in a coupled manner on a single common linear actuator, intended to ensure a shared translational movement Tp.

[0181] This integration of robotic arm assemblies onto a single common linear actuator optimizes the workspace while improving coordination between the arms, thus solving the problem of precisely synchronizing movements between two independent robotic arms.

[0182] - First set of robotic arms

[0183] As illustrated in laet la, the first set of robotic arms 130 is mounted to move in translation and possibly in rotation in the safety cabinet 110.

[0184] In practice, the first robotic arm assembly 130 comprises at least one robotic arm 130, a translation mechanism and, optionally, a rotation mechanism, the rotation mechanism, when present, being coupled to the translation mechanism. Furthermore, the robotic arm 130 is coupled to the translation mechanism and, when present, to the rotation mechanism.

[0185] In particular, the translation mechanism is designed to translate the robotic arm 130 on the X, Y and Z axes.

[0186] The translation mechanism comprises a camera 131 and a laser sensor 132.

[0187] The camera 131 is oriented towards the upper surface of the work table 120 and is designed to take position measurements, along X and Z, of at least one component arranged on the work table 120.

[0188] The 132 laser sensor is designed to measure the position of the component along the Y axis.

[0189] The three-degree-of-freedom translation mechanism of the first robotic arm assembly 130 comprises three ironless linear actuators, without ferromagnetic components, guided by assemblies of rolling element pads and guide rails oriented in the orthogonal directions of the axes of movement. Three displacement measuring devices are associated with the actuators, providing high positioning accuracy (e.g., between 1 micrometer and 2 micrometers) and high resolution (e.g., between 0.1 micrometer and 0.3 micrometers).

[0190] This specific configuration enables high positioning accuracy without magnetic interference, which is particularly important for the assembly of sensitive optical components.

[0191] Furthermore, the linear actuator associated with the degree of freedom along the Y axis is provided with a safety mechanism allowing the mechanical locking of this axis in the event of activation of an emergency stop procedure or detection of a severe abnormal event. The locking mechanism is designed to prevent any uncontrolled downward movement of the movable element associated with said Y axis, thus preventing any unwanted contact with the components arranged on the work table 120.

[0192] Furthermore, when present, the rotation mechanism of the first robotic arm assembly 130 is configured to rotationally move the robotic arm 130 about the X, Y and / or Z axes.

[0193] In practice, the rotation mechanism is mounted on the translation mechanism, so as to give the robotic arm 130 the ability to move in rotation according to up to three angular degrees of freedom associated with the orthogonal axes X, Y and Z.

[0194] The rotation centers of the rotation mechanism are arranged so as to coincide as closely as possible with the geometric center of the component to be handled by the robotic arm 130, thus optimizing positioning precision during assembly operations.

[0195] In one example, the rotation axis associated with the Y angular degree of freedom has an angular travel of -99° to +92°.

[0196] The rotation axes associated with the X and Z angular degrees of freedom have a useful angular travel of approximately ±3°.

[0197] The rotational movement along the Y axis is driven by an upper rotary motor, the torque being transmitted by means of a set of pulleys and a belt allowing the rotation of all the lower elements. A brake integrated into said rotary motor allows the angular position to be maintained along the Y axis.

[0198] The rotational movements along the X and Z axes are driven by two separate brushless motors. After an initial transmission via pulleys and belts, the torque is retransmitted using wheel and worm screw systems, providing high angular positioning precision and maintaining the positions reached along the X and Z axes.

[0199] - Second set of robotic arms

[0200] The second set of robotic arms 140140 is mounted to move in translation and possibly in rotation in the safety cabinet 110 in the same way as the first set of robotic arms 130.

[0201] First example of cooperation between sets of robotic arms: gluing a held component

[0202] Figure 19A illustrates a first example of collaboration between the first set of robotic arms 130, 140 and the second set of robotic arms 130, 140, in the context of the assembly for the assembly of components.

[0203] In practice, after the initial positioning of a first component carried out by the first set of robotic arms 130, 140, the second set of robotic arms 130, 140 is designed to position a syringe 173 provided with a dispensing needle within an angular envelope of + / -90° around said component. This functionality of adjusting the angular orientation of the syringe 173 and its needle makes it possible to optimize their relative positioning with respect to said first component, in order to ensure optimal dispensing of a bonding agent.

[0204] Second example of cooperation between sets of robotic arms: gluing a held component

[0205] Figure 19B illustrates a second example of collaboration between the first set of robotic arms 130, 140 and the second set of robotic arms 130, 140, in the context of assembly for the assembly of components.

[0206] Thus, each of the sets of robotic arms 130, 140 is capable of holding a component during the assembly process, for example collimating lenses. A measuring system is associated with the robotic configuration, making it possible to optimize the respective relative positions of said components held by the sets of robotic arms 130, 140.

[0207] Conclusion

[0208] We have described and illustrated the invention. However, the invention is not limited to the embodiments that we have presented. Indeed, numerous combinations of variants, alternatives, embodiments and implementations can be envisaged without requiring substantial modifications of the invention. Thus, an expert in the field can deduce other variants, alternatives, embodiments and implementations, upon reading the description and the appended figures and depending on the economic, ergonomic and dimensional constraints to be respected.

[0209] Furthermore, when an expression uses the term "at least one", this means that the element or characteristic in question may be present in a single occurrence or in several occurrences, thus comprising one, two, three or more elements or characteristics, with no specified upper limit.

[0210] On the other hand, when an item is "designed" to perform a particular function, it means that this item is created specifically for the purpose of performing that particular function.

[0211] However, depending on the needs and available resources, it may be possible to consider using an existing element, which will be modified or adapted to fulfill this particular function, without requiring substantial modifications to the invention.

[0212] As for the expression "all or part", it indicates flexibility in the selection or use of the elements or data mentioned. This expression means that the action or characteristic described can apply to the entire set of elements or data in question, or only to a selected portion of them. The use of "all or part" thus makes it possible to encompass a wide range of possibilities, ranging from full use to partial use, without specifying a precise lower or upper limit as to the quantity or proportion concerned.

[0213] It should be noted that the examples provided throughout this description are presented for illustrative and non-limiting purposes. These examples are intended to facilitate understanding of the invention by those skilled in the art, by providing concrete illustrations of possible implementation.

[0214] However, the invention is not limited to these specific examples. Those skilled in the art will understand that these examples may be generalized, adapted or modified according to specific needs, technological advances or particular constraints, without departing from the spirit of the invention. Thus, whenever an example is given, it should be interpreted as encompassing not only the specific example mentioned, but also all equivalent technical variations and alternatives that perform the same function or achieve the same objective within the context of the invention.

[0215] The invention may be the subject of numerous variations and applications other than those described above. In particular, unless otherwise indicated, the different structural and functional features of each particular implementation described above should not be considered as combined and / or closely and / or inextricably linked to each other, but, on the contrary, as mere juxtapositions. Furthermore, the structural and / or functional features of the different embodiments described above may be the subject in whole or in part of any different juxtaposition or any different combination.< / mod>

Claims

An assembly machine (100) for assembling components, comprising,- at least one work table (120) comprising an upper surface and a lower surface opposite the upper surface, and- at least two sets of robotic arms (130, 140) above the upper surface of the work table (120) in spaced relationship to the upper surface of the work table (120) and forming a bridge-like inverted U-shaped structure, the structure having two legs and a central web extending between the legs, the legs extending projecting from the upper surface of the work table (120),wherein,- the work table (120) supports on its upper surface a plurality of operating stations adapted to perform specific tasks related to the assembly of the components of a semi-finished product or a finished product,- each of the sets of robotic arms (130, 140) comprises at least one robotic arm (130, 140),a translation mechanism and, optionally, a rotation mechanism, the rotation mechanism, when present, being coupled to the translation mechanism, each robotic arm (130, 140) being coupled to the translation mechanism and, when present, to the rotation mechanism,- the translation mechanism being adapted to translate each robotic arm (130, 140) about the X, Y and Z axes,- the rotation mechanism being mounted on the translation mechanism and is adapted to rotate the robotic arm (130, 140) about the X, Y and / or Z axes, and- the robotic arm assemblies (130, 140) are specifically configured to enable operational cooperation at at least one shared operational station, wherein their respective workspace envelopes have an operable spatial intersection within which the robotic arm assemblies (130,140) have complementary geometries allowing one of the sets of robotic arms (130, 140) to penetrate the working envelope of the other set of robotic arms (130, 140), so that the sets of robotic arms (130, 140) can interact in a coordinated manner for the joint execution of operations of a process for assembling the components of the semi-finished product or the finished product., Assembly machine (100) according to claim 1, wherein each robotic arm (130, 140) is adapted to carry at least one tool (171, 172, 173) comprising a mechanical connection interface head (150) based on an isostatic mechanical connection with magnetic self-holding. An assembly machine (100) according to any one of claims 1 to 2, wherein the robotic arm assemblies (130, 140) are integrated in a coupled manner on a single common linear actuator for providing shared translational movement. An assembly machine (100) according to any one of claims 1 to 3, wherein the translation mechanism of each robotic arm assembly (130, 140) comprises three iron-coreless linear actuators guided by assemblies of rolling element pads and guide rails oriented in the orthogonal directions of the axes of movement. An assembly machine (100) according to any one of claims 1 to 4, wherein the plurality of operational stations comprises at least one locking base (121) adapted to receive at least one work pallet (122), at least one tool rack (160), a support (180) for a martyr plate (181), a cleaning station (174), at least two measuring cameras (190, 191) and a measuring area. An assembly machine (100) according to claim 5, wherein the measuring cameras (190, 191) comprise a first measuring camera (190) arranged in a first position relative to the surface of the work table (120) and a second measuring camera (191) arranged in a second, different position relative to the surface of the work table (120), the two measuring cameras (190, 191) being arranged such that their beams meet at a beam crossing area (192) allowing measurement of a component, this arrangement of the cameras, combined with rotation of the component, making it possible to obtain complete three-dimensional data of the component without requiring the installation of additional cameras. An assembly machine (100) according to any one of claims 5 to 6, wherein the martyr plate support (181) comprises a lighting system (182) configured to illuminate the surface of the martyr plate at an angle of incidence making it possible to highlight the relief and geometry of substances deposited on the martyr plate, the lighting system being arranged on at least one side of the martyr plate support. A mechanical connection interface head (150) for connecting a tool (171, 172, 173) with a robotic arm (130, 140) in an assembly machine (100) according to any one of claims 1 to 7, comprising,- a body (151) consisting of a base portion (151a) and a complementary portion (151b) configured to be assembled and disassembled with respect to each other, wherein,- the base portion (151a) comprises,- a plurality of "V"-shaped grooves (154), each having a V-shaped cross-section and adapted to receive a sphere, and- magnetized areas (155),- the complementary portion (151b) comprises,- a plurality of ball rods 152, each ball rod (152) comprising a connecting rod and a sphere connected to one end of the rod connecting, and-- a plurality of magnets (153), and wherein, when the two parts are assembled,the magnets (153) of the complementary part (151b) exert a magnetic attraction force on the magnetized zones (155) of the base part (151a) so as to keep the spheres in contact with the corresponding “V”-shaped grooves (154) thus establishing an isostatic mechanical connection between two parts., Mechanical connection interface head (150) according to claim 8, wherein, when the two parts are assembled and the isostatic mechanical connection is established, the base part (151a) and the complementary part (151b) are kept at a distance from each other so that a space Ep is provided between them, the main points of contact between the two parts being constituted by the spheres of the ball rods (152) in contact with the corresponding "V" shaped grooves (154). Mechanical connection interface head (150) according to any one of claims 8 to 9, in which each "V" shaped groove (154) is formed by the intersection of two planes forming between them an angle of between 60° and 120°. Mechanical connection interface head (150) according to any one of claims 8 to 10, comprising at least one supply conduit (156) of the tool (171, 172, 173), said supply conduit (156) being formed of two complementary parts, a first part being arranged in the base part (151a) and a second part being arranged in the complementary part (151b), the two parts of the supply conduit (156) being configured to align and form a continuous passage when the base part (151a) and the complementary part (151b) are assembled. The mechanical connection interface head (150) of claim 11, wherein the power conduit (156) is selected from the group consisting of a pneumatic power conduit, an electrical power conduit, a hydraulic power conduit, a fluid power conduit, a data transmission conduit, and any combination thereof. A mechanical connection interface head (150) according to any one of claims 11 to 12, wherein the supply conduit (156) is disposed in a central position of the mechanical connection interface head (150). Mechanical connection interface head (150) according to any one of claims 8 to 13, comprising at least one mechanical engagement element arranged on the periphery of the body (151) and configured to cooperate with a complementary housing of a tool holder rack (160) in order to ensure rotational immobilization of the mechanical connection interface head (150) during its positioning in the tool holder rack (160). The mechanical connection interface head (150) of claim 14, wherein the mechanical engagement element is selected from the group comprising flats, grooves, notches, lugs, notches and projections, provided on the periphery of the body (151). Mechanical connection interface head (150) according to any one of claims 8 to 15, comprising at least one integrated shock and / or vibration sensor, coupled to an electronic control circuit, the electronic circuit being configured to, when the sensor detects an impact or vibration exceeding a predetermined threshold, command the controlled separation of the base part (151a) and the complementary part (151b) before damage occurs. Tool rack (160) for an assembly machine (100), comprising:- a body consisting of a base (161), an upper horizontal plate (162) and vertical uprights (163) which connect the base (161) to the upper horizontal plate (162),- a plurality of housings (164) having a shape adapted to receive and hold mechanical connection interface heads (150) according to any one of claims 8 to 16, the housings (164) being configured to cooperate with the mechanical engagement elements arranged on the periphery of the body of the mechanical connection interface heads (150) in order to ensure rotational immobilization of the mechanical connection interface heads (150),and- at least one magnetic retaining device (165) provided on and / or in each housing (164) and designed to ensure that the mechanical connection interface heads (150) are held in position by interaction with magnetized areas (155) of the mechanical connection interface heads (150)., Tool rack (160) according to claim 17, wherein the housings (164) are arranged in a predefined configuration corresponding to a specific type of assembly to be carried out by the assembly machine (100), each tool (171, 172, 173) having an assigned position on the tool rack (160) depending on its sequence of use in the assembly process. The tool rack (160) of any one of claims 17 to 18, configured to receive tools (171, 172, 173) selected from the group consisting of gripping tools, adhesive dispensing tools, electrical testing tools, micro-soldering tools, optical positioning tools, dimensional measuring tools, precision cleaning tools, and visual inspection tools. The tool rack (160) of claim 19, wherein when the tool rack (160) is configured to receive adhesive dispensing tools, it comprises at least one toggle lever (166) equipped with a foam (167) for capping a syringe (173) containing an adhesive that dries in ambient air. Method (200) for picking up and dropping off a tool (171, 172, 173) in an assembly machine (100) according to any one of claims 1 to 7, comprising,- for picking up a tool (171, 172, 173) from a tool holder rack (160) according to any one of claims 17 to 20,-- performing (210) a vertical translation of a robotic arm (130, 140) allowing its connection with the tool (171, 172, 173) to be picked up via a mechanical connection interface head (150) according to any one of claims 8 to 16, and-- performing (220) a horizontal translation of the robotic arm (130, 140) allowing the tool (171, 172, 173) to be released from the housing (164) of the tool rack (160),- for depositing a tool (171, 172, 173) in the tool rack (160),-- carry out (230) a horizontal translation allowing the alignment of the tool (171, 172, 173) with an available housing (164),and-- performing (240) a vertical translation allowing the disconnection of the tool (171, 172, 173), the latter being held in position by at least one magnetic retaining device (165) provided on and / or in the housing (164) by interaction with magnetized zones (155) of the mechanical connection interface head (150).,

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