Robot head for mounting clip-type components and clip-type component mounting installation.

Abstract

The invention relates to a robot head (1) for mounting components (2) comprising a head (10) configured to be engaged in a notch (5, 8) of an engagement zone (4, 7) of a part and a body (9) configured to be engaged in a support during subsequent stapling onto this support, the head (10) and the body (9) extending along a first axis (X1).The robot head (1) includes a component loader (12) comprising a storage rail (14) configured to receive the heads (10) of a plurality of components (2) arranged one after the other. The loader (12) includes a drawer (17) configured to extract the components (2) one by one from the storage rail (14) and convey the extracted component (2b) to a mounting element (13) comprising a receiving zone (40) for the extracted component (2b). This element allows the extracted component (2b), placed in the receiving zone (40, 92, 93), to be pushed forward by the robot head (1) along a second axis, until the head (10) of said extracted component (2b) enters a notch (5, 8) in an engagement zone (4, 7) of the part (3). The second axis is perpendicular to the first axis (X1) of the component. extract placed in the reception area. Figure of the summary: Fig. 1.

Description

Title of the invention: Robot head for mounting clip-type components and installation for mounting clip-type components. Technical field

[0001] The present invention relates to a robot head for mounting clip-type components on parts and an installation for mounting components on parts by means of a robot equipped with such a robot head.

[0002] The components are intended to be put in place by snapping onto functional parts, themselves ultimately intended to be stapled onto supports. For this, the components comprise a head configured to be snapped onto the functional part and a body configured to be snapped onto the support during the subsequent stapling of said functional part. “Functional” means that the part can fulfill a technical function or an aesthetic function (covering) once mounted on the support.

[0003] The invention will be implemented by manufacturers of component distribution and assembly devices. It will find its application for example among equipment manufacturers, particularly in the automotive field for the assembly of clips on vehicle interior parts, with a view to the subsequent assembly of these interior parts on vehicle chassis by means of these clips. State of the art

[0004] In the field of the automotive industry, in particular, many functional parts of a vehicle are fixed to the structure of the vehicle by means of clip-type components. For this, the clips are pre-mounted on the functional parts which have on their internal face areas for engaging these clips, said engagement areas also being called clip holders. The functional parts provided with said clips are subsequently fixed to the structure of the vehicle by snap-fastening said clips onto the structure. Installations allow the clips to be pre-mounted on the functional parts.

[0005] Traditionally, such installations comprise a component distribution device which allows the successive routing of components to an output zone where the component, waiting in said output zone, is grasped and / or pushed to be snapped onto an engagement zone arranged on the internal face of the functional part. This operation of snapping the component onto the functional part can be carried out by a robot or an automated system which grasps the component and positions it and forcibly mounts it onto the engagement zone of the functional part. tional, or even by a percussion system which directly pushes the component in order to force it onto the said engagement zone.

[0006] The applicant has already worked on various clip-type component dispensing devices and on various clip-type component mounting devices on functional parts, which appear in the patent applications published under numbers FR2933631A1, FR2962721A1, FR3004133A1, FR3004978A1, FR3029901A1, FR3042433A1 and FR3094254A1. These various designs of component dispensing devices and clip-type component mounting devices allow a reduction in manufacturing costs and, in addition, a direct installation on the workstations of an assembly line or an assembly cell, optimizing space requirements and safety.

[0007] Component distribution devices are also known which comprise a vibrating bowl conveying the components to an output zone where the components can be gripped by a handling robot or an automated handling system which forcefully mounts the components directly onto engagement zones of the functional part.

[0008] The time taken to snap the components onto the engagement zones of the functional parts can be significant when this operation is carried out by a manipulator robot or an automated manipulator system which takes the components from the component distribution device to snap them directly onto all the engagement zones of the functional part.

[0009] When the functional part has a large number of component engagement zones, the manipulator robot or the manipulator system must replenish its components several times on the component distribution device, which increases the time taken to complete the operation of placing the components on the functional part.

[0010] Furthermore, when placing a component on the functional part, a slight defect in the positioning of the component relative to the engagement zone may cause a greater force on the functional part to succeed in engaging the component in the engagement zone, or may even cause a defect in the engagement of the component on the functional part. The robot must then be sized to be capable of exerting this greater force.This slight defect in the positioning of the component relative to the engagement zone may result from several factors: the functional part may be slightly deformed during its manufacture, in particular during the cooling of the functional part, causing variations in the positions of the engagement zones on the functional part; the functional part may also not be positioned correctly on the installation system which receives said functional part before production. the operation of engaging the components on the respective engagement zones; the clamping of the functional part on the mounting system can also cause deformation of the latter and, thus, variations in the positions of the engagement zones on the functional part. Summary of the invention

[0011] The present invention aims to overcome the aforementioned drawbacks. A first objective is to optimize the time saved in assembling components on the engagement zones of a part by means of the robot handling said components from a component distribution device which feeds the robot with components, to the engagement zones on the part, in order to increase assembly rates. A second objective is to compensate for slight positioning defects of the components relative to the engagement zones on the part in order to optimize the rate of engagement of the components on the engagement zones of the part by means of the robot and to avoid forces on the part and the robot.

[0012] The invention relates to a robot head for mounting staple-type components on a part. The component comprises a head configured to be engaged in a notch of an engagement zone of the part and a body configured to be engaged in a support during subsequent stapling on this support. The part may be a functional part intended to be stapled on the support subsequently; the part may also be a mounting head of a mounting installation, as described in patent application FR3094254A1, which is configured to allow engagement of the component on a functional part intended to be stapled on the support subsequently. The head and the body of the component extend in length along a first axis.

[0013] According to the invention, the robot head comprises a component loader which comprises a storage rail configured to receive the heads of a plurality of components arranged one after the other. Preferably, the storage rail is configured to receive between five and twenty components, other quantities of components - higher or lower - remaining conceivable. Furthermore, according to the invention, the component loader comprises a drawer configured to extract the components one by one from the storage rail and convey the extracted component to a mounting member. The mounting member comprises a receiving zone configured to receive said extracted component.Furthermore, the mounting member is configured to push the extracted component placed in the receiving zone during a forward movement of the robot head along a second axis, until the head of said extracted component enters a notch of an engagement zone of the part, the second axis being perpendicular to the first axis of the placed extracted component. in the reception area.

[0014] Thus, the robot head advantageously makes it possible to quickly mount components on engagement zones of a part without the need to move and re-supply the robot head with components thanks to the capacity of the storage rail of the loader, which makes it possible to obtain a very high rate of mounting components on one or more parts.

[0015] According to one embodiment of the invention, the mounting member comprises a mounting end piece which comprises the receiving zone and which is configured to bear on an engagement zone of the part, in the direction of a third axis parallel to the first axis of an extracted component placed in the receiving zone, during the thrust of said extracted component generated by a forward movement of the robot head along the second axis and allowing the head of said extracted component to penetrate into the notch of the engagement zone.

[0016] According to an embodiment of the robot head which is the subject of the invention, the mounting member comprises a longitudinal compensation device configured to adjust the position along a third axis, of the head of an extracted component placed in the receiving zone relative to a notch of an engagement zone of a part, during the engagement of the head of the extracted component in this notch, said third axis being parallel to the first axis of the extracted component placed in the receiving zone. This guarantees positioning of the head of the extracted component at the same level - at the same height - as the notch of the engagement zone of the part, so that the head of the extracted component penetrates without constraint into the notch, thus avoiding poor engagement or absence of engagement of the extracted component on the engagement zone of the part.

[0017] According to a preferred embodiment, the longitudinal compensation device comprises a mounting end piece comprising the receiving zone and a lower face configured to bear on an upper face of an engagement zone of a part when the head of the extracted component is engaged in the notch of the engagement zone of the part. The support of the lower face on the upper face is carried out in the direction of the third axis. The longitudinal compensation device comprises a sliding connection along the third axis arranged between the mounting end piece and a structure of the robot head. The longitudinal compensation device comprises a first suspension system arranged between the end piece and the structure and configured to work in compression when the lower face of the end piece bears on the upper face of the part.

[0018] According to one embodiment of the robot head which is the subject of the invention, the mounting member comprises a lateral compensation device configured to adjust the position along a fourth axis, of the head of the extracted component placed in the receiving zone with respect to a notch of an engagement zone of a part, during the engagement of the head of the extracted component in this notch, the fourth axis being perpendicular to the first axis of the extracted component placed in the receiving zone and to the second axis. This guarantees a laterally recentering of the head of the extracted component with respect to the notch of the engagement zone of the part, so that the head of the extracted component penetrates without constraint into the notch, thus avoiding poor engagement or absence of engagement of the extracted component on the engagement zone of the part.

[0019] According to a preferred embodiment, the lateral compensation device comprises a mounting end piece comprising the receiving zone, a sliding connection along the fourth axis arranged between the mounting end piece and a structure of the robot head, as well as a second suspension system arranged between the mounting end piece and the structure and configured to work in compression and extension when the head of the extracted component begins to penetrate into the notch.

[0020] The presence of the longitudinal compensation device and the lateral compensation device advantageously makes it possible to compensate for the design tolerances of the functional part which may have slight deformations, the positioning defects of the functional part on the placement system receiving it and the deformations of the functional part caused by its clamping on the placement system, so as to guarantee suitable positioning of the component facing the notch of the engagement zone during the introduction of the head of the component into this notch.

[0021] According to a first variant of the mounting member, the latter comprises a mounting end piece which comprises the reception area of ​​the extracted component. The reception area consists of a curved reception rail capable of receiving the head of an extracted component. The reception rail comprises an inlet through which the head of the extracted component supplied by the drawer penetrates and an outlet capable of corresponding with a notch of an engagement area of ​​a part, when mounting the extracted component in this notch. The mounting end piece comprises a system for retaining the extracted component at said outlet, in order to prevent the involuntary release of the extracted component from the reception area.

[0022] According to this first variant of the mounting member, the latter comprises a pusher, said mounting member being configured so that the mounting end piece and the pusher are in relative movement so as to be able to move towards each other, the pusher pressing on the extracted component placed in the receiving rail so as to extract it through the outlet of said receiving rail, when the mounting end piece and the pusher move towards each other.

[0023] According to a preferred embodiment, the mounting end piece is mounted in connection slide on a structure of the robot head along a fifth axis parallel to the second axis. In addition, the mounting end piece comprises a stop element capable of bearing on an engagement zone of a part during a movement of the robot head along the second axis, so as to translate along the fifth axis the mounting end piece in the direction of the pusher. Furthermore, the mounting member comprises a return system arranged between the mounting end piece and the structure, the return system being configured to return the mounting end piece to an initial position when the stop ceases between the mounting end piece and the engagement zone of the part. Preferably, the return system is configured to work in compression so as to return the mounting end piece to its initial position when the stop ceases between the mounting end piece and the engagement zone of the part.According to this embodiment, the translation of the mounting tip towards the pusher is generated by the complete displacement of the robot head along the second axis, the robot head being manipulated by a robot on which said robot head can be arranged.

[0024] According to this aforementioned preferred embodiment of the first variant of the mounting member, the pusher is mounted in sliding connection along a sixth axis parallel to the fifth axis. In addition, the mounting end piece is configured to come into abutment against the pusher beyond a movement of said end piece along the fifth axis, when the stop element bears on the engagement zone of the part, the mounting member comprising a third suspension system arranged between the pusher and the structure and configured to work in compression during a movement of the pusher along the sixth axis under the action of the mounting end piece or an anomaly of engagement of the extracted component in a notch of an engagement zone of a part.This implementation advantageously makes it possible to detect an anomaly in the mounting of a component on an engagement zone of a part, thanks to the increase in pressure of the third suspension system resulting from the fact that the pusher pushes the component which fails to engage properly in the notch of the engagement zone in the event of an anomaly, which causes the pusher to move back while the robot head continues to advance. This increase in pressure can be measured by the robot equipped with said robot head, for example by means of a pressure measurement sensor which sends the data back to a control unit, which detects an anomaly in mounting beyond a pressure threshold reached.This implementation also makes it possible to engage a component in a notch with precision in positioning the component in the notch, by adjusting the travel of the mounting tip relative to the pusher, travel beyond which the mounting tip comes into abutment against the pusher and simultaneously moves it backward, causing a rise in pressure in the third suspension system, which allows the control unit to determine the positioning of the component in . the notch.

[0025] According to this first embodiment of the mounting member, the storage rail extends in height and comprises an inlet in the upper part and an outlet in the lower part. In addition, the drawer comprises a transfer rail comprising an inlet communicating with the outlet of the storage rail and an outlet communicating with an inlet of the receiving zone on the mounting end piece, the drawer comprising a plate juxtaposed with the transfer rail and an actuator configured to move the plate back and forth, said plate being configured to allow the extraction of a component arranged downstream of the plurality of components, via the outlet of the storage rail, the transfer rail being configured to convey the extracted component to the inlet of the receiving zone.

[0026] According to a second variant of the mounting member, the latter comprises a mounting end piece which comprises an orifice constituting the reception zone of the extracted component, the orifice being configured to receive by fitting the body of the extracted component. Preferably, the mounting member comprises two mounting end pieces configured to operate alternately, which makes it possible to increase the component mounting rate. Obviously, the variant with a single mounting end piece remains conceivable, but with a lower mounting rate.

[0027] According to this second variant of the mounting member, the drawer comprises a plate provided with an L-shaped groove having an inlet which is capable of communicating with an outlet of the storage rail to engage an extracted component on the plate and an outlet making it possible to release the extracted component from the plate once the body of the extracted component is fitted into the orifice of the mounting end piece. In addition, the drawer comprises an actuator configured to move the plate back and forth in order to position the inlet of the L-shaped groove opposite the outlet of the storage rail and to shift the extracted component placed in the L-shaped groove below the orifice of the mounting end piece.Furthermore, the mounting member comprises an actuator configured to lower the mounting tip when the extracted component placed in the L-shaped groove is arranged under the orifice, so as to engage the body of the extracted component in the orifice, said actuator then being configured to lower the mounting tip under the plate once said plate is cleared and the entrance of the L-shaped groove communicates with the exit of the storage rail.

[0028] In the presence of two mounting tips, according to this second variant, the plate also comprises two L-shaped grooves whose inlets are juxtaposed and whose outlets are arranged in opposition on the lateral sides of said plate, the inlet of one L-shaped groove communicating with the outlet of the storage rail while the extracted component placed in the other L-shaped groove is placed under the orifice of the mounting tip associated with it, the actuator of the drawer and the actuators of the organs of mounting being configured to alternately move the L-shaped grooves for alternating loading of components onto the mounting tips.

[0029] According to one embodiment of the robot head which is the subject of the invention, the storage rail comprises an inlet and an outlet, the loader comprising a pressing member configured to push the plurality of components towards the outlet of the storage rail. The presence of the pressing member guarantees against any risk of blocking or braking of the components in the storage rail during their descent by gravity in said storage rail. A variant without this pressing member remains possible, however, the risk of blocking or braking being very low during the descent by gravity of the plurality of components.

[0030] According to one embodiment of the robot head that is the subject of the invention, it comprises a camera configured to control the assembly of an extracted component on an engagement zone of a part. This will ensure the conformity of the assembly of the components on the engagement zones of a part. This camera can also have other functions: before assembly of the components, the camera can allow the identification of the functional part and the control of the positions of the engagement zones on the functional part, in particular on long parts that can deform once placed and clamped on the installation system, the data collected by the camera making it possible to correct the trajectory of the robot.

[0031] The invention also relates to an installation for mounting clip-type components on a part. The installation comprises a component distribution device which comprises a component storage rail configured to receive the heads of a plurality of components arranged one after the other. Such a component distribution device may include the characteristics described in patent application FR2933631A1. It would also be possible to envisage implementing the characteristics of the distribution device described in patent application FR2962721A1 or in patent application FR3042433A1, or even a distribution device of the vibrating bowl type. The installation also comprises a robot which comprises a robot head having the aforementioned characteristics which are the subject of the invention.The robot is configured to position an input of the storage rail of the component loader in correspondence with an output of the storage rail of the dispensing device, the dispensing device being configured to allow the simultaneous transfer of the plurality of components from the storage rail of said dispensing device to the storage rail of the loader. This makes it possible to considerably reduce the time taken to fill the loader on the robot head.

[0032] According to a preferred embodiment of the installation, the storage rail of the distribution device extends in height and the storage rail of the robot head charger extends in height, the simultaneous transfer of the plurality of components being carried out by gravity. Variants with other arrangements of the storage rail of the distribution device and the storage rail of the charger remain conceivable within the scope of the invention.

[0033] According to one embodiment of the installation, it may also include mounting heads having the characteristics described in patent application FR3094254A1. Brief description of the figures

[0034] The characteristics and advantages of the invention will appear on reading the following description based on figures, among which:

[0035] [Fig-1] illustrates an overall view of a robot head according to a first version of the invention during an operation of mounting a clip-type component in a notch of an engagement zone of a part;

[0036] [Fig.2] illustrates an overall view of a staple-type component, according to a non-limiting embodiment;

[0037] [Fig.3] illustrates a top view of a notch of an engagement zone on a part;

[0038] [Fig.4] illustrates an overall side view of a robot head according to a first version of the invention, said [Fig.4] showing a mounting tip and a pusher in an initial position, the mounting tip resting on an engagement zone of a part;

[0039] [Fig.5] illustrates a partial side view of the robot head of [Fig.4], the mounting tip having moved back relative to the pusher which is preparing to push an extracted component out of the mounting tip and into a notch in the part engagement area;

[0040] [Fig.6] illustrates a partial side view of the robot head of Figures 4 and 5, the mounting tip having continued to move back relative to the pusher which pushes the extracted component into the notch of the part engagement zone;

[0041] [Fig.7] illustrates a partial side view of the robot head of Figures 4 to 6, the mounting tip having continued to move back relative to the pusher and being in abutment on it, the component extracted in the notch of the part engagement zone having reached its mounting position on the part and the pusher moving back with the mounting tip on the structure of the robot head;

[0042] [Fig.8] illustrates an overall view of the robot head of figures 4 to 7 from another viewing angle highlighting the presence of a longitudinal compensation device and a lateral compensation device;

[0043] [Fig.9] illustrates another partial view of the robot head according to the first version, this one showing other technical characteristics of a charger and the tip of mounting on said robot head;

[0044] [Fig. 10] illustrates another partial view of the robot head according to the first version, this one showing a transfer rail on the magazine drawer;

[0045] [Fig. 11] illustrates the robot head according to the first version in the component loading position, a storage rail of the loader being contiguous to a storage rail of a component dispensing device;

[0046] [Fig. 12] partially illustrates a robot head according to a second version of the invention, in the operation of mounting a component on an engagement zone of a part;

[0047] [Fig. 13] illustrates another partial view of the robot head according to the second version, highlighting the design of the magazine drawer and the mounting member on said robot head;

[0048] [Fig. 14] illustrates another partial view of the robot head according to the second version, highlighting the design of the magazine drawer and the mounting member on said robot head;

[0049] [Fig. 15] illustrates another partial view of the robot head according to the second version, highlighting the design of the magazine drawer on said robot head;

[0050] [Fig. 16] illustrates a part variant in the form of an installation which allows mounting of components on a functional part in two stages, in that the components are first mounted on engagement areas of mounting heads of the installation by means of the robot head. Detailed description

[0051] In the remainder of the description, the same references are used to designate the same characteristics according to the two versions of the robot head 1, without any indication to the contrary in the text.

[0052] The robot head 1 is designed for mounting components 2 on a part 3. In Figures 1 and 12, the part 3 illustrated is a functional part 3' which has engagement zones 4, each engagement zone 4 being provided with a notch 5. Such an engagement zone 4 is also called a staple holder. Functional part 3' is understood to mean a part which has a technical and / or aesthetic function, for example a trim part of a motor vehicle, the functional part 3' being intended to be fixed by means of components 2 on a support (not illustrated), for example a chassis, a passenger compartment structure or a structure of a door of a vehicle. The part 3 can also be an installation 200 for mounting components 2 which has mounting heads 6, each mounting head 6 comprising an engagement zone 7 provided with a notch 8, as illustrated in [Fig. 16].Such an installation 200 is described in detail in patent application FR3094254A1 and allows. the mounting of components 2 on a functional part 3' by means of said mounting heads 6. As illustrated in [Fig.2], the component 2 is of the clip type, the latter extending longitudinally along an axis XI and comprising a body 9 and a head 10, the head 10 comprising a groove 11 which engages in the notch 5 or 8 of the engagement zone 4 or 7.

[0053] The remainder of the description describes the mounting of a component 2 on an engagement zone 4 of a functional part 3', but this description also applies to the mounting of a component 2 on an engagement zone 7 of a mounting head 6 of an installation 200.

[0054] In Figures 1 and 4 to 11 a first version of the robot head 1 is illustrated. The robot head 1 comprises a loader 12 and a mounting member 13. The loader 12 comprises a storage rail 14 which extends longitudinally in height and has an inlet 15 in the upper part and an outlet 16 in the lower part, the storage rail 14 receiving the heads 10 of a plurality of components 2 arranged one after the other. Preferably, the storage rail 14 allows the reception of five to twenty components 2, preferably ten to twenty components 2, in order to limit the loading times of the loader 12 with components 2 while having a sufficient component capacity to ensure the placement of components 2 on all the engagement zones 4 present on the part 3.

[0055] With reference to Figures 1 and 4 to 11, the loader 12 comprises a drawer 17 which comprises a transfer rail 18 which is arranged in the continuity of the storage rail 14 in the lower part thereof, the storage rail 14 and the transfer rail 18 preferably being made in a single piece. The transfer rail 18 comprises an inlet 19 which communicates with the outlet 16 of the storage rail 14. The transfer rail 18 also comprises an outlet 20. The drawer 17 comprises a plate 21 which is mounted in sliding connection 22 along a transverse axis X2 illustrated in Figures 7 and 11. This plate 21 is subject to a piston 23 of a cylinder 24, preferably a pneumatic cylinder, which makes it possible to move the drawer 17 back and forth along the axis X2. When the piston 23 is in the retracted position, the plate 21 retains a component 2a arranged downstream of the storage rail 14 at its outlet 16.When the piston 23 is in the extended position, the plate 21 allows the component 2a to enter the inlet 19 of the transfer rail 18 which has a groove 25 in the form of a chicane, said component 2a descending by gravity while being pushed by the plate 21 once the piston 23 returns to the retracted position, allowing the component 2a to exit the transfer rail 18 through its outlet 20.

[0056] With reference to figures 1 and 4 to 11, the loader 12 comprises a pressing member 26 which pushes the component 2b arranged upstream in the storage rail 14 to force the plurality of components 2 to move towards the outlet 16 of said storage rail 14. This pressing member 26 makes it possible to guarantee against any risk of blocking the plurality of components 2 in the storage rail 14. The probability of a blockage of the plurality of components 2 in the storage rail 14 is however very low, or even zero, in view of the tests carried out by the applicant, the descent of the plurality of components 2 being done naturally by gravity without blockage due to the fact that the storage rail is understood in height in a more or less vertical position or slightly inclined relative to the vertical and that the components 2 one after the other in the storage rail 14 do not intertwine; a version without this pressing member 26 could therefore be envisaged. The pressing member 26 comprises an arm 27 which supports a jack 105 whose piston (not illustrated) comes into contact with the component 2d arranged upstream of the plurality of components 2 in the storage rail 14.This arm 27 has a first end 27a which is mounted in sliding connection 55 relative to a structure 28 of the robot head 1, in the lengthwise direction along an axis X3 which extends parallel to the storage rail 14. The second end 27b of the arm 27 is mounted in sliding connection along an axis X4 relative to a connecting rod 29, on the one hand, and in pivot connection along an axis X5 relative to said connecting rod 29, on the other hand. For this, the second end 27b of the arm is mounted in connection 30 in an oblong hole 31 arranged in a first end portion 29a of the connecting rod 29.The second end portion 29b of the connecting rod 29 is mounted in pivot connection 32 of axis X6 relative to a support lug 33 secured to the structure 28, the end 29c of this second end portion 29b being mounted in pivot connection 34 of axis X7 relative to a piston 35 of a cylinder 36, preferably pneumatic, the body 37 of the cylinder 36 itself being mounted in pivot connection 38 of axis X8 with respect to the structure 28.

[0057] With reference to figures 1 and 4 to 11, the mounting member 13 comprises a mounting end piece 39 which has a receiving zone 40 for the component 2b which is extracted from the storage rail 14 thanks to the drawer 17, as explained previously. This receiving zone 40 is implemented on the mounting end piece 39 by means of a receiving rail 41 having a curved shape so that an inlet 42 of the receiving rail 41 communicates with the outlet 20 of the transfer rail 18 and an outlet 43 of the receiving rail 41 makes it possible to extract the component 2b from the mounting end piece 39 at the time of its engagement in a notch 5 of an engagement zone 4. The mounting end piece 39 comprises lateral stops 44, 45 which make it possible to retain the component 2b in the receiving zone 40 in order to prevent it from being extracted unexpectedly.

[0058] With reference to figures 1 and 4 to 11, the mounting member 13 comprises a pusher 46 which comprises a finger 47 configured to be housed in the groove 11 on the head 10 of the component 2b placed in the receiving zone 40. The pusher 46 consists of a plate whose thickness allows its passage through a curved groove 58 of the receiving rail 41, thus allowing the finger 47 to push the component 2b housed in the curved groove 58 to extract it from the mounting end piece 39. The mounting end piece 39 is mounted in sliding connection 48 on the structure 28 of the robot head 1, along an axis X9. The pusher 46 is also mounted in sliding connection 49 on the structure 28, along an axis X10 parallel to the axis X9. The pusher 46 is secured to the end of a piston 50 of a cylinder 51, preferably pneumatic, mounted on the structure 28. The mounting end piece 39 comprises a lower face 52 which comprises two protruding elements 53, 54 forming a stop.

[0059] The robot head 1 is mounted on a robot 300 which manipulates it to engage the components 2 on the engagement zones 4 of the functional part 3'. During this manipulation, the lower face 52 of the mounting end piece 39 is brought into abutment on an upper face 56 of the engagement zone 4, the robot 300 advancing the robot head 1 in the direction of the arrow F1 shown diagrammatically in FIGS. 4 to 7, allowing the protruding elements 53, 54 to abut against an edge 57 of the upper face 56, onto which the notch 5 of the engagement zone 4 opens.This stop allows the mounting end piece 39 to be moved backwards along the axis X9, in the direction opposite to the arrow F1, with respect to the structure 28, which brings the mounting end piece 39 closer to the pusher 46 until the finger 47 of the pusher 46 enters the groove 11 of the component 2b placed in the receiving zone 40, as illustrated in FIGS. 4 and 5, which then allows the finger 47 to extract the component 2b from the outlet 43 of the receiving rail 41 to engage it in the notch 5, the force exerted by the finger 47 on the component 2b being greater than that exerted by the lateral stops 44, 45.

[0060] In the event of poor positioning of the component 2b with respect to the notch 5, causing said component 2b to be blocked, the movement of the robot head 1 along the arrow F1 forces the pusher 46 to move backwards along the axis X10, concomitantly with the movement of the mounting end piece 39 along the axis X9, which compresses the jack 51 whose piston 50 is subject to the pusher 46. The compression of the jack 51 associated with the position of the robot head 1 allows the robot 300 to detect an anomaly in the mounting of the component 2b on the engagement zone 4 of the functional part 3'.

[0061] On the contrary, when the component 2b is suitably positioned with respect to the notch 5, the movement of the robot head 1 in the direction of the arrow F1 makes it possible to move the mounting end piece 39 backwards in the direction opposite to the arrow F1, while the pusher 46 moves with the structure 28 of the robot head 1 in the direction of the arrow F1 and pushes the component 2b which penetrates into the notch 5, given that the force exerted by the cylinder 51 on the pusher 46 is greater than the penetration force of the component 2b into the notch 5. The robot head 1 therefore continues to move in the direction of the arrow F1 until the mounting end piece 39 - which moves along the axis X9 in the direction opposite to the arrow F1 - comes into abutment against the end of the piston 50 subject to the pusher 46, which then causes the concomitant movement of the pusher 46 along the axis X10 and of the mounting end piece 39 along the axis X9, in the direction opposite to the arrow F1, the jack 51 thus being compressed and the component 2b ceasing to sink into the notch 5, as illustrated in figures 5 to 7. The compression of the jack 51 allows the robot 300 to detect that the component 2b is engaged in the notch 5. This design makes it possible to define a stroke of the mounting end piece 39 beyond which the pusher 46 stops pushing the component 2b into the notch 5, which makes it possible to engage a component 2b with great precision in a notch 5. This makes it possible in particular to precisely position a component 2 at the level of notches 59, 60 in a notch 5 of the engagement zone 4, illustrated in [Fig.3], these notches 59, 60 guaranteeing a firm hold of the component 2 during the subsequent stapling of the functional part 3' on a support (not shown) and during use. To measure even more precisely the engagement position of a component 2b in the notch 5 of an engagement zone 4, it would also be possible to provide a magnetic ruler (not shown) on the jack 51 which would make it possible to very precisely detect the recoil of the piston 50 of said jack 51. A basic version of the robot head 1 could be envisaged with a pusher 46 fixed on the structure 28 and without the jack 51, without all the advantages provided by the version described above.

[0062] The mounting head 1 could also comprise a sensor (not illustrated) which detects the backward departure of the mounting tip 39 which moves along the axis X9 in the opposite direction to the arrow F1, the robot 300 being programmed to calculate the forward travel of the mounting head 1 in the direction of the arrow F1 and to precisely determine the engagement position of the extracted component 2b in the notch 5 of the engagement zone 4. This makes it possible in particular to engage components 2 in engagement zones 4 on the functional part 3' for which the positions of the notches 59, 60 vary from one engagement zone 4 to another.

[0063] Once the component 2b is mounted on the engagement zone 4 of the functional part 3', the robot 300 can release the robot head 1 from the engagement zone 4, the cylinder 51 working in compression then making it possible to return the pusher to the initial position and, in the same way, another cylinder 103 mounted between the structure 28 and the mounting end piece 39 and working in compression also makes it possible to return the mounting end piece 39 to its initial position.

[0064] With reference to figures 1 and 4 to 11, the robot head 1 comprises a main column 61 which extends longitudinally along an axis Xll and comprises in the upper part a connecting piece 62 for mounting the robot head 1 on the robot 300. The main column 61 carries the structure 28 which receives the charger 12 and the mounting member 13. A longitudinal compensation device 63 is arranged between the main column 61 and the structure 28. This longitudinal compensation device 63 is configured to adjust the position along the axis XI1, of the mounting end piece 39 when its lower face 52 bears on the upper face 56 of the engagement zone 4 of the functional part 3', which consequently makes it possible to adjust the position of the head 10 of the component 2b placed in the receiving zone 40 relative to the notch 5 of the engagement zone 4, the axis XI of the component 2b placed in the receiving zone 40 being parallel to the axis XI1 of the main column 61. The longitudinal compensation device 63 comprises a cylinder 64, preferably pneumatic, mounted in compression which extends along an axis X12 parallel to the axis XI1 and which comprises a piston 65 directed downwards. A support piece 66 is mounted in sliding connection on the main column 61 along an axis X13 parallel to the axis XI1 and it is subject to the piston 65.The support part 66 receives the structure 28 on which the mounting end piece 39 is mounted. The compression-mounted cylinder 64 acts as a shock absorber which tends to push the support part 66 downwards, along the axis X13. The support part 66 comprises a tab 67 which is housed in a notch 68 arranged on a part 69 secured to the main column 61, the tab 67 abutting on a lower edge 70 of the notch to limit the downward movement of the support part 66 and define an initial position of the mounting end piece 39, before its lower face 52 comes to bear on the upper face 56 of the engagement zone 4 of the functional part 3'.The robot 300 is adjusted so that the robot head 1 descends sufficiently so that the lower face 52 of the mounting end piece 39 comes to bear suitably on the upper face 56 of the engagement zone 4, so that the jack 64 compresses slightly, which thus guarantees a systematic adjustment of the position of the head 10 of the component 2b relative to the notch 5 of the engagement zone 4. The jack 64 could be replaced by another return member, for example a spring mounted in compression.

[0065] With regard to [Fig.8], in particular, the support part 66 comprises a right-angled part 66a, a lateral compensation device 71 being arranged between this right-angled part 66a and the structure 28 on which the mounting end piece 39 is mounted. For this, the structure 28 is mounted in sliding connection 72 along an axis X14 on the right-angled part 66a. The axis X14 is perpendicular to the axis X13 of the jack 64 and also to the axis X9 of the sliding connection 48 between the mounting end piece 39 and the structure 28. This lateral compensation device 71 makes it possible to adjust the position along the axis X14 of the mounting end piece 39 so that the head 10 of the component 2b placed in the receiving zone 40 can be centered properly with respect to the notch 5 of the engagement zone 4 during the engagement of the head 10 of the component 2 in this notch 5.The lateral compensation device 71 also comprises a suspension member 73 arranged between the structure 28 and the right-angled portion 66a, said suspension member 73 being. configured to work in compression and extension to properly recenter the mounting tip 39 with respect to the notch 5 when the head 10 of the component 2b begins to penetrate into the notch 5. This suspension member 73 may consist of one or more return springs, or even a flexible return blade, having an equilibrium position.

[0066] Alternative embodiments of the longitudinal compensation device 63 and the lateral compensation device 71 could be envisaged for this first version of the robot head 1, in particular by implementing said longitudinal 63 and lateral 71 compensation devices directly between the structure 28 and the mounting end piece 39.

[0067] [Fig. 11] partially illustrates an installation 400 for mounting a component 2 on a part 3 which comprises the robot 300 on which the robot head 1 is mounted according to this first version described previously. The installation 400 also comprises a distribution device 500 for components 2 which preferably comprises characteristics similar to those of the distribution device described in the patent application FR2962721A1 or in the patent application FR3042433A1, the distribution device 500 comprising a storage rail 501 for temporarily storing a plurality of components 2 one after the other, the storage rail 501 comprising an outlet 502 through which the plurality of components 2 are extracted. A retaining member, not illustrated in [Fig.l 1], for example a finger controlled by a jack-type actuator, is arranged at this outlet 502 and makes it possible to temporarily retain the components 2 in said storage rail 501. The robot 300 is configured to bring the mounting head 1 to the distribution device 500, when the storage rail 14 of the loader 12 is empty, or even almost empty. For this, the mounting head 1 comprises a sensor 74 which detects the presence or absence of components 2 in the storage rail 14 of the loader 12.The robot 300 then positions the storage rail 14 of the loader vertically under the storage rail 501 of the distribution device 500 so as to match the inlet 15 of the storage rail 14 with the outlet 502 of the storage rail 501, then the retaining member (not shown) on the distribution device 500 is activated to allow the descent by gravity of the plurality of components 2 which is thus transferred instantaneously from the storage rail 501 to the storage rail 14.

[0068] The use of the cylinders 51, 103 on the mounting member 13 and of the cylinder 24 on the loader 12, of the bidirectional pneumatic type, has the advantage of being able to purge the storage rail 14 of the loader, the purging of the excess components 2 in the storage rail, the purging of the excess components 2 in the storage rail 14 being able to be carried out in a recovery tank before refilling the loader 12 supplied by the distribution device 500, in the manner described above.

[0069] Figures 12 to 15 illustrate a second version of the robot head 1 for which the storage rail 14 of the loader 12 comprises a lower end portion 75 which is curved so that its end 76, comprising the outlet 16, is in the plane of a plate 77 of a drawer 78. The plate 77 comprises two L-shaped grooves 79, 80 which each comprise an inlet 81 (only one visible in [Fig. 15]) and an outlet 83 (only one visible in [Fig. 15]), the two inlets 81 being arranged next to each other on an edge 85 of the plate 77, this edge 85 being juxtaposed with the outlet 16 of the storage rail 14. The two outlets 83, 84 are arranged in opposition respectively on the lateral edges 86, 87 of the plate 77.

[0070] With reference to Figures 12 to 15, the mounting member 13 comprises two mounting end pieces 88, 89 which each comprise a lower face 90, 91. The lower faces 90, 91 each comprise an orifice 92, 93 whose shape and dimensions are adapted to the body 9 of the component 2, in order to allow the body 9 of a component 2 to be fitted into the mounting end piece 88, 89, by introduction into this orifice 92, 93. The mounting end pieces 88, 89 are mounted in translation along two axes X15, X16 which extend in the direction of the length of the robot head 1, parallel to the axis XI of the component 2b placed on the plate 77 of the drawer 78, that is to say perpendicular to the plane of said plate 77. The translations of the mounting end pieces 88, 89 can be achieved by any suitable translation means. In Figures 12 to 15, two cylinders (not shown in detail) are mounted on the structure 94 of the robot head 1, the pistons 94 (only one piston is visible, in [Fig.15]) of these two jacks being respectively subject to the two mounting ends 88, 89. The jacks are preferably pneumatic.

[0071] With reference to Figures 12 to 15, the plate 77 of the drawer 78 is mounted in sliding connection 96 along an axis X17 which is transverse to the forward movement of the robot head 1 defined by the arrow F1, during the engagement of a component 2 in a notch 5 of an engagement zone 4. The plate 77 is activated by an actuator, preferably a pneumatic cylinder 97 which makes it possible to laterally shift the plate 77 on a first side illustrated in [Fig. 15], according to which the inlet 81 of the first rail 79 is arranged facing the outlet 16 of the storage rail 14, to allow the component 2a arranged downstream of the storage rail 14, at the outlet 16, to enter the rail 79 and to come to be positioned in the right-angled part 79a of said rail 79, while the component 2b placed in the square part 80a of the second rail 80 is positioned under the orifice 93 of the second mounting end piece 89.When the plate 77 is offset on this first side, the first mounting end piece 88, the orifice of which receives a previous extracted component 2c, can descend along the axis X15 so as to place the component 2c under the drawer 78, position in which the component 2c can be engaged in a notch 5 of an engagement zone 4, once the lower face. 90 of the first mounting end piece 88 bearing against an upper face 56 of an engagement zone 4, the robot head 1 then being advanced according to the arrow Fl. Concomitantly, the second mounting end piece 89 is lowered until its orifice 93 engages on the body 9 of the component 2b extracted and placed in the right-angled part 80a of the second rail 80. When the component 2c is engaged on the engagement zone 4 of the functional part 3', the piston 95 of the jack secured to the first mounting end piece 88 can rise to its initial position, above the plate 77.The plate 77 can then be shifted to the second side while the second mounting end piece 89 remains in the engaged position on the component 2b, allowing said component 2b to exit the second rail through its outlet 84 while remaining fitted onto the mounting end piece 89, which can then descend under the plate 77, as previously for the first mounting end piece 88, for engagement of the component 2b on another engagement zone 4 of the functional part 3'. The two mounting end pieces 88, 89 operate alternately, corresponding to the shifting of the plate 77 on the first side or on the second side.

[0072] In this second version of the robot head 1 illustrated in figures 12 to 15, the jacks (not illustrated) which allow the two mounting tips 88, 89 to be actuated respectively in translation along the respective axes X15, X16, also serve as a longitudinal compliance device 63, these working in compression when the lower faces 90, 91 of the mounting tips 88, 89 bear - alternately - on upper faces 56 of engagement zones 4, this longitudinal compliance device 63 making it possible to adjust the position along the axis X15 or X16 of the mounting tip 88, 89 and thus to adjust the head 10 of the component 2b - the body 9 of which is placed in the orifice 92, 93 - relative to the notch 5 of the engagement zone 4.

[0073] In this second version of the robot head 1 illustrated in Figures 12 to 15, the mounting member 13 also comprises a lateral compliance device 71 for adjusting the position along the axis X17 of the mounting tips 88, 89 which work alternately, so that the heads 10 of the components 2b fitted into the orifices 92, 93 can be centered properly with respect to the notches 5 of the engagement zones 4 during their engagement in these notches 5. The lateral compensation device 71 comprises, for each of the mounting tips 88, 89, a suspension member 99, 100 arranged between a support part 101, 102 and the mounting tip 88, 89, said support part 101, 102 being subject to the cylinder piston 95 moving said tip mounting 88, 89 along the axis X15, X16.This suspension member 99, 100, for example a return spring, is configured to work in compression and extension in the direction of the axis X17, to properly recenter the mounting tip 88, 89 with respect to the notch 5 when the head 10 of the component 2b begins. to enter notch 5.

[0074] Alternative embodiments remain conceivable for this second version of the robot head 1, as regards the implementations of the longitudinal compensation device 63 and the lateral compensation device 71, which could have configurations similar to those implemented for the first version described previously.

[0075] On this second version of the robot head 1, two mounting tips 88, 89 are provided. An alternative embodiment could be envisaged on the same principle, with a single mounting tip. This variant would however offer a lower component assembly rate. Another variant could also be envisaged with a single mounting tip which comprises two orifices for receiving the bodies 9 of two components 2 which will be consecutively extracted from a plate of a drawer similar to the plate 77 of the drawer 78.

[0076] On this second version of the robot head 1, a pressing member similar to the pressing member 26 described for the first version of the robot head, may be provided to guarantee the movement of the plurality of components 2 placed in the storage rail 14, in the direction of the outlet 16 of said storage rail 14.

[0077] The mounting of a component 2 may be carried out in the same way on a mounting head 6, the lower face 52 of the mounting end piece 39 for the first version of the robot head 1 or the lower face 90, 91 of the mounting end piece 88, 89 for the second version of the robot head 1, in this case bearing on the upper face 98 of the receiving zone 7 of the mounting head 6 illustrated in [Fig. 16].

[0078] The robot head 1 according to the first version or the second version may additionally comprise a camera 104 arranged in front of said robot head 1, as illustrated in FIGS. 1 and 4 to 15, i.e. in front of the mounting end piece(s) 39, 88, 89, this camera 104 allowing the robot 300 to check the correct mounting of a component 2 on an engagement zone 4 or 7 of the part 3. This camera 104 will also make it possible to check the identification of the functional part 3' and also to check the positions of the engagement zones 4 of the functional part 3' in order to make corrections to the trajectory of the robot 300 if necessary.

Claims

Claims

1. Robot head (1) for mounting staple-type components (2) on a part (3), the component (2) comprising a head (10) configured to be engaged in a notch (5, 8) of an engagement zone (4, 7) of the part and a body (9) configured to be engaged in a support during subsequent stapling on this support, the head (10) and the body (9) of the component (2) extending in length along a first axis, characterized in that the robot head (1) comprises a component loader (12) which comprises a storage rail (14) configured to receive the heads (10) of a plurality of components (2) arranged one after the other, the loader (12) comprising a drawer (17) configured to extract the components (2) one by one from the storage rail (14) and convey the extracted component (2b) to a mounting member (13), the mounting member (13) comprising a receiving area (40, 92, 93) configured to receive said extracted component (2b),said mounting member (13) being configured to push the extracted component (2b) placed in the receiving zone (40, 92, 93) during an advance movement of the robot head (1) along a second axis, until the head (10) of said extracted component (2b) enters a notch (5, 8) of an engagement zone (4, 7) of the part (3), the second axis being perpendicular to the first axis of the extracted component placed in the receiving zone.,

2. Robot head according to claim 1, wherein the mounting member (13) comprises a mounting tip (39, 88, 89) which comprises the receiving zone (40, 92, 93) and which is configured to bear on an engagement zone (4, 7) of the part (3), in the direction of a third axis parallel to the first axis of an extracted component placed in the receiving zone (40, 92, 93), during the thrust of said extracted component (2b) generated by an advance movement of the robot head (1) along the second axis and allowing the head (10) of said extracted component (2b) to penetrate into the notch (5, 8) of the engagement zone (4, 7).

3. Robot head (1) according to any one of claims 1 or 2, wherein the mounting member (13) comprises a longitudinal compensation device (63) configured to adjust the position along a third axis, of the head (10) of an extracted component (2b) placed in the receiving zone (40, 92, 93) relative to a notch (5, 8) of an engagement zone (4, 7) of a part (3) during engagement of the head (10) of the extracted component (2b) in this notch (5, 8), said third axis being parallel to the first axis of the extracted component (2b) placed in the receiving zone (40, 92, 93).

4. Robot head (1) according to claim 3, wherein the longitudinal compensation device (63) comprises: - a mounting end piece (39, 88, 89) comprising the receiving zone (40, 92, 93) and a lower face (52, 90, 91) configured to bear on an upper face (56, 98) of the engagement zone (4, 7) when the head (10) of the extracted component (2b) is engaged in the notch (5, 8) of the engagement zone (4, 7), - a sliding connection along the third axis arranged between the mounting end piece and a structure (28) of the robot head (1), and - a first suspension system arranged between the end piece (39, 88, 89) and the structure and configured to work in compression when the lower face (52, 90, 91) of the tip (39, 88, 89) rests on the upper face (56, 98) of the engagement zone (4; 7).

5. Robot head (1) according to any one of claims 1 to 4, wherein the mounting member (13) comprises a lateral compensation device (71) configured to adjust the position along a fourth axis, of the head (10) of the extracted component (2b) placed in the receiving zone (40, 92, 93) relative to a notch (5, 8) of an engagement zone (4, 7) of the part (3) during the engagement of the head of the (10) extracted component (2b) in this notch (5, 8), the fourth axis being perpendicular to the first axis of the extracted component placed in the receiving zone (40, 92, 93) and to the second axis.

6. Robot head (1) according to claim 5, wherein the lateral compensation device (71) comprises: - a mounting end piece (39, 88, 89) comprising the receiving zone (40, 92, 93), - a sliding connection along the fourth axis arranged between the mounting end piece (39, 88, 89) and a structure (28) of the robot head, and - a second suspension system arranged between the mounting end piece (39, 88, 89) and the structure and configured to work in compression and extension when the head (10) of the extracted component (2b) begins to penetrate into the notch (5, 8).

7. Robot head (1) according to any one of claims 1 to 6, wherein the mounting member (13) comprises a mounting tip (39) which comprises the receiving area (40) of the extracted component (2b), said receiving area (40) consisting of a receiving rail (41) of curved shape capable of receiving the head (10) of an extracted component (2b), the receiving rail (41) comprising an inlet (42) through which the head (10) of the extracted component (2b) supplied by the drawer (17) penetrates and an outlet (43) capable of corresponding with a notch (5, 8) of an engagement area (4, 7) of a part (3) during the mounting of the extracted component (2b) in this notch (5, 8), the mounting end piece (39) comprising a system for retaining the extracted component at the level of said outlet (43).

8. Robot head (1) according to claim 7, wherein the mounting member (13) comprises a pusher (46) and is configured so that the mounting tip (39) and the pusher (46) are in relative motion so as to be able to approach each other, the pusher (46) pressing on the extracted component (2b) placed in the receiving rail (41) so as to extract it through the outlet (43) of said receiving rail (41), when the mounting tip (39) and the pusher (46) are brought together.

9. Robot head (1) according to claim 8, wherein the mounting end piece (39) is mounted in sliding connection on a structure (28) of the robot head (1) along a fifth axis parallel to the second axis, said mounting end piece (39) comprising a stop element (53, 54) capable of bearing on an engagement zone (4, 7) of a part (3) during a movement of the robot head (1) along the second axis, so as to translate along the fifth axis the mounting end piece (39) in the direction of the pusher (46), the mounting member (13) comprising a return system arranged between the mounting end piece (39) and the structure (28) and configured to work in compression so as to return the mounting end piece (39) to an initial position when the stop ceases between the mounting end piece (39) and the engagement zone (4, 7) of the part (3).

10. Robot head (1) according to claim 9, in which the pusher (46) is mounted in sliding connection along a sixth axis parallel to the fifth axis, the mounting end piece (39) being configured to come into abutment against the pusher (46) beyond a movement of said mounting end piece (39) along the fifth axis when the stop element (53, 54) bears on the engagement zone (4, 7) of the part (3), the mounting member (39) comprising a third suspension system arranged between the pusher (46) and the structure (28) and configured to work in compression during a movement of the pusher (46) along the sixth axis. axis under the action of the mounting tip (39) or an anomaly of engagement of the extracted component (2b) in a notch (5, 8) of an engagement zone (4, 7) of a part (3).

11. Robot head (1) according to any one of claims 7 to 10, wherein the storage rail (14) extends in height and comprises an inlet (15) in the upper part and an outlet (16) in the lower part, the drawer (17) comprising a transfer rail (18) comprising an inlet (19) communicating with the outlet (16) of the storage rail (14) and an outlet (20) communicating with an inlet (42) of the receiving zone (40) on the mounting end piece (39), the drawer (17) comprising a plate (21) juxtaposed with the transfer rail (18) and an actuator configured to move the plate (21) back and forth, said plate (21) being configured to authorize the extraction of a component (2a) arranged downstream of the plurality of components (2), by the outlet (16) of the storage rail (14), the transfer rail (18) being configured to convey the extracted component (2b) to the receiving area (40).

12. Robot head (1) according to any one of claims 1 to 6, wherein the mounting member (13) comprises a mounting tip (88, 89) which has an orifice (92, 93) constituting the receiving zone (40) of the extracted component (2b), the orifice (92, 93) being configured to receive by fitting the body (9) of the extracted component (2b).

13. A robot head (1) according to claim 12, wherein the mounting member (13) comprises two mounting tips (88, 89) configured to operate alternately.

14. A robot head (1) according to any one of claims 12 or 13, wherein the drawer (78) comprises a plate (77) provided with an L-shaped groove (79, 80) having an inlet (81, 82) which is adapted to communicate with an outlet (16) of the storage rail (14) for engaging an extracted component (2b) on the plate (77) and an outlet (83, 84) for releasing the extracted component (2b) from the plate (77) once the body (9) of the extracted component (2b) is fitted into the orifice (92, 93) of the mounting end piece (88, 89), the drawer (78) comprising an actuator configured to reciprocally move the plate (77) in order to position the inlet (81, 82) of the L-shaped groove (79, 80) opposite the outlet (16) of the storage rail (14) and shift the extracted component (2b) placed in the L-shaped groove (79, 80) below the orifice (92, 93) of the mounting tip (88, 89), the mounting member (13) comprising an actuator configured to lower the mounting tip (88, 89) when the extracted component (2b) placed in the L-shaped groove (79, 80) is arranged under the orifice (92, 93), so as to fit the body (9) of the extracted component (2b) into the orifice (92, 93), then to lower the mounting tip (88, 89) under the plate (77) once said plate (77) is clear and the inlet (81, 82) of the L-shaped groove (79, 80) communicates with the outlet (16) of the storage rail (14).

15. Robot head (1) according to claim 14 attached to claim 13, wherein the plate (77) comprises two L-shaped grooves (79, 80) whose inlets (81, 82) are juxtaposed and whose outlets (83, 84) are arranged in opposition on the lateral sides, the inlet (81, 82) of one L-shaped groove (79, 80) communicating with the outlet (16) of the storage rail (14) while the extracted component (2b) placed in the other L-shaped groove (79, 80) is placed under the orifice (92, 93) of the mounting tip (88, 89) associated therewith, the actuator of the drawer (78) and the actuators of the mounting members (88, 89) being configured to alternately move the L-shaped grooves (79, 80) to alternating loading of components (2b) onto the mounting tips (88, 89).

16. Robot head (1) according to any one of claims 1 to 15, wherein the storage rail (14) comprises an inlet (15) and an outlet (16), the loader comprising a pressing member (26) configured to push the plurality of components (2) towards the outlet (16) of the storage rail (14).

17. Robot head (1) according to any one of claims 1 to 16, which comprises a camera (104) configured to control the mounting of an extracted component (2b) on an engagement zone (4, 7) of a part (3).

18. Installation for mounting (400) components (2) of the clip type on a part (3), which comprises: - a component distribution device (500) which comprises a storage rail (501) of components (2) configured to receive the heads (10) of a plurality of components (2) arranged one after the other, - a robot (300) which comprises a robot head (1) according to any one of claims 1 to 17, the robot (1) being configured to position an inlet (15) of the storage rail (14) of the loader (12) of components (2) in correspondence with an outlet (502) of the storage rail (501) of the distribution device (500), the distribution device (500) being configured to allow the simultaneous transfer of the plurality of components (2) from the storage rail (501) of said device distribution (500) to the storage rail (14) of the charger (13).

19. Installation (400) according to claim 18, in which the storage rail (501) of the distribution device (500) extends in height and the storage rail (14) of the charger (13) of the robot head (1) extends in height, the simultaneous transfer of the plurality of components (2) being done by gravity.

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