Robotic tool with screw-on abrasive disc and automated replacement.

Abstract

The invention relates to a robotic tool (1) comprising a rotating head (2) mounted at one end (7) of a robotic arm (8) of the tool (1), the robotic arm (8) being designed to move the rotating head (2) between a plurality of working positions and a separate maintenance position, the tool (1) comprising switching means designed to, when the rotating head (2) is in the maintenance position, attach an abrasive disc to the rotating head (2) and to detach it from the rotating head (2) after use, the tool (1) further comprising a magazine (15) designed to store a plurality of abrasive discs, the tool (1) comprising conveying means designed to bring an abrasive disc contained in the magazine (15) to a mounting position in which the abrasive disc is made available to be attached to the rotating head (2). (Figure 1)

Description

Title of the invention: Robotic tool with screw-on abrasive disc with automated replacement.

[0001] The technical field concerns robotic tools dedicated to sanding work using abrasive discs.

[0002] On automotive production lines, abrasion devices are commonly used for grinding, sanding and polishing various materials. These abrasion devices, also called grinders, can be electrically or pneumatically powered and generally rotate an abrasive disc, attached to the device, at speeds between 3,000 and 20,000 revolutions per minute. There are various methods for attaching the abrasive disc to the device, including abrasive discs with an attachment thread.

[0003] Abrasive devices used for the production of motor vehicles are generally automated. For this purpose, the abrasive devices are attached to robots that are implemented in closed cells for safety reasons. Inside a cell, and within the reach of the robot, there are several specific locations where the robot automatically changes the abrasive discs and / or replaces them when they are worn, without the intervention of the operator. Thus, to carry out the replacement of an abrasive disc fixed by a thread on the abrasive device, the robot is programmed to follow specific trajectories between a work area and two separate specific locations, one intended for the removal of the used abrasive disc and the other location intended for the attachment of a new abrasive disc.

[0004] The main disadvantage of the solutions currently available for replacing threaded abrasive discs is that they require several locations to replace an abrasive disc, thus imposing complex trajectories and significant losses of time during disc changes. Furthermore, there is no compact robot for the automatic replacement of a threaded abrasive disc.

[0005] Thus, there is a need for a solution that simplifies the trajectories for replacing an abrasive disc in robots used on motor vehicle production lines.

[0006] The present invention aims to overcome the problems set out above. In this technical context, one aim of the present invention is to provide a robotic tool having a simplified trajectory for replacing an abrasive disc.

[0007] To this end, the present invention relates to a robotic tool comprising a rotating head designed to rotate an abrasive disc attached thereto, the rotating head being mounted at one end of a robotic arm of the tool, the robotic arm being adapted to move the rotary head between a plurality of working positions and a separate maintenance position, the tool comprising switching means adapted to, when the rotary head is in the maintenance position, attach an abrasive disc to the rotary head and to detach it from the rotary head after use, the tool further comprising a magazine adapted to store a plurality of abrasive discs, the tool comprising conveying means adapted to bring an abrasive disc contained in the magazine to a mounting position in which the abrasive disc is made available to be attached to the rotary head by the switching means.

[0008] Thus, to replace an abrasive disc, the robotic tool simply needs to move the rotating head into a single maintenance position. In this single maintenance position, a used abrasive disc is removed from the rotating head using the swapping means, and then a new abrasive disc is attached to the rotating head using the same swapping means. Thanks to the conveying means that move the abrasive disc from a magazine to the mounting position, moving the rotating head is no longer necessary. The trajectory of a robotic tool, between the work area (comprising all the work positions) and the maintenance position, is therefore simplified and saves time compared to existing solutions for which two movements are necessary.

[0009] According to one embodiment of the robotic tool according to the invention, the permutation means comprise a motor designed to rotate the abrasive disc positioned in the mounting position.

[0010] According to one possibility of the robotic tool according to the invention, the fixing of the abrasive disc to the rotating head is carried out by an operation of screwing the abrasive disc onto the rotating head.

[0011] Advantageously, the rotating head comprises a circular support designed to allow the abrasive disc to be screwed onto the support.

[0012] According to one embodiment, the robotic tool further comprises evacuation means making it possible to evacuate an abrasive disc which has just been detached from the rotating head by the permutation means.

[0013] According to one possibility, the robotic tool comprises locking means designed to block the rotation of the rotating head when it is positioned in the maintenance position.

[0014] According to one embodiment, the conveying means comprise a bar movable by translation to move an abrasive disc between a supply position, in which the abrasive disc stored in the magazine is made available to the conveying means, and the mounting position.

[0015] According to one possibility, the conveying means and the permutation means have pneumatic actuators.

[0016] The invention will be better understood on reading the detailed description which follows, given solely by way of non-limiting example and made with reference to the appended drawings in which:

[0017] [Fig-1] [Fig.l] represents a perspective view of a robotic tool according to the invention;

[0018] [Fig.2] [Fig.2] represents a detailed view of the rotating head of the robotic tool of [Fig.l];

[0019] [Fig.3] [Fig.3] represents a detailed view of the permutation means of the robotic tool of [Fig.l], with an abrasive disc in the feed position;

[0020] [Fig.4] [Fig.4] represents a detailed view of the means of permutation of the tool robot of [Fig.l] with the disc of [Fig.3] in the mounting position;

[0021] [Fig.5] [Fig.5] represents a detailed view of the evacuation means of the robotic tool of [Fig.l];

[0022] [Fig.6] [Fig.6] represents a partial view of the permutation means of the robotic tool of [Fig.l];

[0023] In these figures, the same references are used to designate the same elements.

[0024] A robotic tool 1 according to the invention, illustrated in the figures, is intended to carry out automated polishing operations in a work area on parts, in particular automobile body parts.

[0025] The tool 1 comprises a rotating head 2, illustrated in particular in [Fig. 2], designed to rotate an abrasive disc 3, illustrated in [Fig. 2], attached thereto. In the example illustrated in [Fig. 2], the attachment of the abrasive disc 3 to the rotating head 2 is carried out by an operation of screwing the abrasive disc 3 onto the rotating head 2. In particular, the rotating head 2 comprises a fixing system 4 comprising a circular support 5 designed to allow the abrasive disc 3 to be screwed onto the support 5. For this purpose, the abrasive disc 3 comprises a thread, not illustrated in the figures. Such a fixing system 4 is known under the name “ROLOC” (registered trademark).

[0026] The rotary head 2 comprises, for example, a fixing flange 6 for mounting the rotary head 2 at one end 7 of a robotic arm 8 of the tool 1, as illustrated in [Fig.l]. The robotic arm 8 is, for its part, designed to move the rotary head 2 between a plurality of working positions, located in a working area, and a separate maintenance position, illustrated in [Fig.l].

[0027] The tool 1 comprises switching means 9, partially illustrated in [Fig. 6], designed to, when the rotary head 2 is in the maintenance position, attach an abrasive disc 3 to the rotary head 2 and to detach it from the rotary head 2, for example after use. In the example illustrated in [Fig. 6], the switching means 9 comprise a motor 10 designed to rotate the abrasive disc 3 positioned in a mounting position. In the example illustrated in [Fig. 6], in the mounting position the abrasive disc 3, arranged in a cartridge 11, is positioned on a plane 12, illustrated in [Fig. 6], under which the motor 10 is fixed, so as to be able to rotate the abrasive disc 3 arranged on the plane 12. The plane 12 and the motor 10 are movably mounted on a rail 13, illustrated in [Fig. 6], making it possible to move the abrasive disc 3 away from or towards the rotary head 2 in the maintenance position. In order to protect the switching means 9 when the tool 1 is in the working configuration, i.e. the rotary head 2 is in the working area, a closable protective flap 14 is mounted on the tool 1 in order to cover the switching means 9.

[0028] The tool 1 further comprises a magazine 15, illustrated in [Fig.l], designed to store a plurality of abrasive discs 3. The magazine 15 has, for example, walls 16 delimiting an interior space 17 capable of accommodating a stack of abrasive discs 3, each packaged in a cartridge 11, which are delivered one by one to one end of the magazine 15, in this case the lower end of the magazine 15. In order to facilitate the replenishment of abrasive discs 3, the magazine 15 is removable, that is to say it can be detached from the tool 1. Advantageously, the magazine 15 can be handled by means of handles 18, illustrated in [Fig.l]. The tool 1 advantageously comprises detection means, not illustrated, designed to detect the presence and / or absence of a cartridge 11 in the magazine 15 and / or in the mounting position.

[0029] As illustrated in Figures 3 to 5, the robotic tool 1 comprises locking means 19 designed to block the rotation of the rotary head 2, when it is positioned in the maintenance position. The locking means 19 are movable by pneumatic actuators 20 in order to move them closer to and further away from the rotary head 2 in the maintenance position. The locking means 19 comprise, for example, a plate 21 shaped to come into contact with the circular support 5 of the rotary head 2 so as to brake or block the rotation of the support 5. Moving the plate 21 away from the support 5, by means of the pneumatic actuators 20, makes it possible to release the rotary head 2 blocked by the locking means 19.

[0030] The tool 1 comprises conveying means 22 designed to bring an abrasive disc 3 contained in the magazine 15 to the mounting position in which the abrasive disc 3 is made available to be attached to the rotary head 2 by the permutation means 9. As illustrated in the figures, the conveying means 22 comprise a plate 23 allowing translation between a supply position (not illustrated) and the mounting position. In the supply position, illustrated in [Fig. 3], in which an abrasive disc 3 stored in the magazine 15 (in particular the one located at the bottom of the stack of abrasive discs 3 stored in the magazine 15) is made available to the conveying means 22, illustrated in Figures 3 and 4. The movement from the plate 23 is carried out using pneumatic actuators 20. In the example illustrated in [Fig.4], a bar 24, translated above the plate 23 makes it possible to move the abrasive disc 3 to the plane 12. The tool 1 is then shaped so that the motor 10, by its rotation, imparts to the abrasive disc 3 a rotational movement in a first direction of rotation to screw it onto the support 5 of the rotary head 2.

[0031] After use of the abrasive disc 3, the rotating head 2 is brought into the maintenance position and possibly locked by the locking means 19. The motor 10 is then brought directly or indirectly into contact with the abrasive disc 3 so that rotation in the opposite direction to the first direction allows unscrewing of the used abrasive disc 3.

[0032] The tool 1 further comprises evacuation means 25 making it possible to evacuate an abrasive disc 3 which has just been detached from the rotary head 2 by the permutation means 9. For example, the evacuation means 25 comprise an evacuation ramp 26, illustrated in [Fig. 5], onto which the abrasive disc 3 which has just been unscrewed is pushed, for example by suitable pneumatic actuators 20.

[0033] Thus, to carry out a replacement of the abrasive disc 3, the robotic tool 1 simply has to move the rotary head 2 to the single maintenance position. In this maintenance position, the used abrasive disc 3 is removed from the rotary head 2 using the permutation means 9 and then a new abrasive disc 3 is fixed to the rotary head 2 using the same permutation means 9. Thanks to the conveying means 22, moving the abrasive disc 3 from the magazine 15 to the mounting position, the movement of the rotary head 2 is no longer necessary.

[0034] The invention is not limited to the embodiment of the robotic tool described above, only by way of example, but other embodiments can be designed by those skilled in the art without departing from the scope and scope of the present invention.

Claims

Claims

1. A robotic tool (1) comprising a rotating head (2) adapted to rotate an abrasive disc (3) attached thereto, the rotating head (2) being mounted at one end (7) of a robotic arm (8) of the tool (1), the robotic arm (8) being adapted to move the rotating head (2) between a plurality of working positions and a separate maintenance position, the tool (1) comprising switching means (9) adapted to, when the rotating head (2) is in the maintenance position, attach an abrasive disc (3) to the rotating head (2) and to detach it from the rotating head (2) after use, the tool (1) further comprising a magazine (15) adapted to store a plurality of abrasive discs (3),the tool (1) comprising conveying means (22) adapted to bring an abrasive disc (3) contained in the magazine (15) to a mounting position in which the abrasive disc (3) is made available to be attached to the rotating head (2) by the permutation means (9).,

2. Robotic tool (1) according to claim 1, characterized in that the permutation means (9) comprise a motor (10) designed to rotate the abrasive disc (3) positioned in the mounting position.

3. Robotic tool (1) according to claim 1 or 2, characterized in that the fixing of the abrasive disc (3) to the rotating head (2) is carried out by an operation of screwing the abrasive disc (3) onto the rotating head (2).

4. Robotic tool (1) according to claim 3, characterized in that the rotating head (2) comprises a circular support (5) designed to allow the abrasive disc (3) to be screwed onto the support (5).

5. Robotic tool (1) according to one of claims 1 to 4, characterized in that the tool (1) further comprises evacuation means (25) making it possible to evacuate an abrasive disc (3) which has just been detached from the rotary head (2) by the permutation means (9).

6. Robotic tool (1) according to one of claims 1 to 5, characterized in that it comprises locking means (19) designed to block the rotation of the rotary head (2) when it is positioned in the maintenance position.

7. Robotic tool (1) according to one of claims 1 to 6, characterized in that the conveying means (22) comprise a bar (24) movable by translation to move an abrasive disc between a feed position, in which the abrasive disc (2) stored in the

8. store (15) is made available to the conveying means (22), and the mounting position. Robotic tool (1) according to one of claims 1 to 7, characterized in that the conveying means (22) and the permutation means (9) comprise pneumatic actuators (20).

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