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 relates to robotic tools dedicated to sanding work using abrasive discs.

[0002] On automotive production lines, abrasive devices are commonly used for grinding, sanding, and polishing various materials. These abrasive 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 a threaded mounting.

[0003] Abrasion devices used in the production of motor vehicles are generally automated. To this end, the abrasion devices are attached to robots which are operated in enclosed cells for safety reasons. Within a cell, and within the robot's reach, there are several specific locations where the robot automatically changes the abrasive discs and / or replaces them when they are worn, without operator intervention. Thus, to replace an abrasive disc attached by a thread to the abrasion device, the robot is programmed to follow specific trajectories between a work area and two distinct locations: one for removing the worn abrasive disc and the other for attaching a new abrasive disc.

[0004] The main drawback of currently available solutions for replacing threaded abrasive discs is that they require multiple locations to perform the replacement of an abrasive disc, thus imposing complex trajectories and significant time losses 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 to simplify the trajectories for replacing an abrasive disc on robots used on automotive production lines.

[0006] The present invention aims to overcome the problems described above. In this technical context, one objective of the present invention is to provide a robotic tool with 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 designed to move the rotating head between a plurality of working positions and a separate maintenance position, the tool comprising switching means designed to, when the rotating head is in the maintenance position, attach an abrasive disc to the rotating head and to detach it from the rotating head after use, the tool further comprising a magazine designed to store a plurality of abrasive discs, the tool comprising conveying means designed 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 rotating 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 worn abrasive disc is removed from the rotating head using the changing means, and then a new abrasive disc is attached to the rotating head using the same changing 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 working positions) and the maintenance position is therefore simplified, resulting in time savings compared to existing solutions that require two movements.

[0009] According to one embodiment of the robotic tool according to the invention, the switching 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 attachment of the abrasive disc to the rotating head is carried out by a screwing operation of the abrasive disc onto the rotating head.

[0011] Advantageously, the rotating head includes a circular support designed to allow the abrasive disc to be screwed in while resting on the support.

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

[0013] According to one possibility, the robotic tool includes 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 that can be moved by translation to move an abrasive disc between a feeding 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 interchange means include pneumatic actuators.

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

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

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

[0019] [Fig.3] [Fig.3] represents a detailed view of the means for interchanging the robotic tool of [Fig.1], with an abrasive disc in the feeding position;

[0020] [Fig.4] [Fig.4] shows a detailed view of the tool permutation means robotized from [Fig.1] with the disk from [Fig.3] in the mounting position;

[0021] [Fig.5] [Fig.5] represents a detailed view of the means of evacuation of the robotic tool of [Fig.1];

[0022] [Fig.6] [Fig.6] represents a partial view of the means of permutation of the robotic tool of [Fig.1];

[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 perform automated polishing operations in a work area on parts, in particular automotive body parts.

[0025] The tool 1 comprises a rotating head 2, illustrated in particular in [Fig. 2], designed to rotate an abrasive disc 3, also illustrated in [Fig. 2], attached thereto. In the example illustrated in [Fig. 2], the abrasive disc 3 is attached to the rotating head 2 by screwing the abrasive disc 3 onto the rotating head 2. In particular, the rotating head 2 includes a fastening 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 has a thread, not shown in the figures. Such a fastening system 4 is known as "ROLOC" (registered trademark).

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

[0027] The tool 1 includes interchange means 9, partially illustrated in [Fig. 6], designed to attach an abrasive disc 3 to the rotating head 2 when the rotating head 2 is in the maintenance position and to detach it from the rotating head 2, for example after use. In the example illustrated in [Fig. 6], the interchange means The means 9 include a motor 10 designed to rotate the abrasive disc 3 positioned in a mounting position. In the example shown in [Fig. 6], in the mounting position, the abrasive disc 3, contained in a cartridge 11, is positioned on a plane 12, shown in [Fig. 6], beneath which the motor 10 is fixed, so as to rotate the abrasive disc 3 positioned on the plane 12. The plane 12 and the motor 10 are movably mounted on a rail 13, shown in [Fig. 6], allowing the abrasive disc 3 to be moved closer to or further from the rotating head 2 in the maintenance position. In order to protect the changing means 9 when the tool 1 is in the working configuration, i.e., when the rotating head 2 is in the working area, a closable protective cover 14 is mounted on the tool 1 to cover the changing means 9.

[0028] The tool 1 further comprises a magazine 15, illustrated in [Fig. 1], designed to store a plurality of abrasive discs 3. The magazine 15 has, for example, walls 16 delimiting an internal space 17 that can hold a stack of abrasive discs 3, each packed 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. To facilitate replenishment of abrasive discs 3, the magazine 15 is removable, i.e., it can be detached from the tool 1. Advantageously, the magazine 15 is handled by means of handles 18, illustrated in [Fig. 1]. The tool 1 advantageously includes 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 includes locking means 19 designed to block the rotation of the rotating head 2 when it is positioned in the maintenance position. The locking means 19 are movable by means of pneumatic actuators 20 in order to move them closer to and further away from the rotating head 2 in the maintenance position. The locking means 19 include, for example, a plate 21 shaped to bear against the circular support 5 of the rotating 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, allows the rotating head 2, which is blocked by the locking means 19, to be released.

[0030] The tool 1 includes 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 rotating head 2 by the switching means 9. As illustrated in the figures, the conveying means 22 include a platform 23 allowing translation between a feeding position (not shown) and the mounting position. In the feeding position, illustrated in [Fig. 3], 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, allows the abrasive disc 3 to be moved to the plane 12. The tool 1 is then shaped so that the motor 10, by its rotation, imparts a rotational movement to the abrasive disc 3 in a first direction of rotation in order to screw it onto the support 5 of the rotating head 2.

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

[0032] The tool 1 further includes evacuation means 25 for evacuating an abrasive disc 3 which has just been detached from the rotating head 2 by the permutation means 9. For example, the evacuation means 25 include an evacuation ramp 26, illustrated in [Fig.5], on which the abrasive disc 3 which has just been unscrewed is pushed, for example by adapted pneumatic actuators 20.

[0033] Thus, to replace the abrasive disc 3, the robotic tool 1 simply moves the rotating head 2 to the single maintenance position. In this maintenance position, the worn abrasive disc 3 is removed from the rotating head 2 by means of the swapping means 9, and then a new abrasive disc 3 is attached to the rotating head 2 using the same swapping means 9. Thanks to the conveying means 22, which move the abrasive disc 3 from the magazine 15 to the mounting position, moving the rotating 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 a person skilled in the art without departing from the scope and extent of the present invention.

Claims

Demands

1. A robotic tool (1) comprising a rotating head (2) designed 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 designed to move the rotating head (2) between a plurality of working positions and a distinct maintenance position, the tool (1) comprising switching means (9) designed 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) designed to store a plurality of abrasive discs (3),the tool (1) comprising conveying means (22) designed 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 interchange means (9).

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

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

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

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

7. A robotic tool (1) according to any one of claims 1 to 6, characterized in that the conveying means (22) comprise a bar (24) movable by translation for moving an abrasive disc between a feeding position, in which the abrasive disc (2) stored in the

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

Images