ROBOT TOOL FOR OPENING A VEHICLE'S REAR DOOR

Abstract

A tool (OB) equips one end (EB) of an articulated arm (BA) of a robot suitable for intervening on a vehicle (V) comprising a rear door (PR) mounted to rotate, controlling access to an internal space and comprising an opening (OP). This tool (OB) has a curved shape and comprises a first end (E1) fixedly secured to the end (EB) of the articulated arm (BA) and a second end (E2) having a shape adapted to its at least partial housing in a predefined zone (ZP) of an internal face (FI) of the rear door (PR), after introduction into this internal space via this opening (OP), in order to allow the opening of this rear door (PR) by a thrust exerted on the latter by this articulated arm (BA). Figure 2

Description

Title of the invention: ROBOT TOOL FOR OPENING A VEHICLE'S REAR DOOR Technical field of the invention

[0001] The invention relates to robots comprising at least one articulated arm and suitable for intervening on a vehicle, and more precisely to the tools which equip such articulated arms. State of the art

[0002] Some robots are used on vehicle production lines to work on the rear doors of the latter, which are mounted to rotate, control access to an internal space which they include and have an opening (possibly intended to receive a window). It will be noted that these rear doors are installed on the rear ends of the vehicles and may, for example, be tailgates.

[0003] Such robots are for example used in paint booths to open the rear door so that paint can be sprayed inside the structure.

[0004] In order to carry out each opening of a rear door, a robot comprises at least one articulated arm comprising one end to which a first tool is fixedly secured. The latter is generally in the form of a rod on which two distant discs of different diameters are secured and intended to be coupled to a second tool previously fixedly secured (by screwing) to a predefined part of the rear door (generally located in the vicinity of its lower end when it is a tailgate opening by rotating upwards).

[0005] This second tool is generally in the form of a rod on which a rectangular frame is secured to which the first tool must be coupled by means of a first predefined trajectory of the articulated arm. Once the coupling is successful, the articulated arm is actuated in order to make the first tool follow a second predefined trajectory intended to cause the rear door to open. Then, once the rear door is placed in a predefined open position, the articulated arm is actuated again in order to decouple the first tool from the second tool, and for example paint spraying can begin, at least inside the internal space of the vehicle.

[0006] This method of proceeding to open the rear door of a vehicle has several disadvantages.

[0007] In fact, it requires the prior screwing of the second tool onto the rear door of each vehicle, generally in the boilermaking workshop of the chain assembly, then the unscrewing of this second tool (for example after the end of the painting operations), then the repatriation of the second tool to its starting point (the boilermaking workshop), which proves to be time-consuming and tedious and therefore increases the manufacturing cost of the vehicles.

[0008] Furthermore, when the vehicle is being painted, the second tool receives paint because it remains screwed onto the rear door. However, the accumulation of paint requires the second tool to be cleaned periodically (typically every twenty cycles) so that the first tool can continue to couple correctly to it, which results in additional manufacturing costs for the vehicles.

[0009] Furthermore, always when the vehicle is subject to painting operations, the second tool is subjected to thermal cycles, which accelerates its aging and therefore requires repairing it from time to time, or even replacing it, which results in another additional cost of manufacturing the vehicles.

[0010] Furthermore, it may happen that the frame of the second tool is incorrectly oriented, and therefore prevents its coupling to the first tool, which results in a rear door remaining in its closed position. It is then impossible to carry out the following planned operations, and when the robots responsible for carrying out the following planned operations hit the rear door, this may cause damage to this unopened rear door and / or to the aforementioned robots and / or to the extractor hoods, which leads, in particular, to further additional manufacturing costs for the vehicles.

[0011] The invention therefore aims in particular to improve the situation. Presentation of the invention

[0012] For this purpose, it proposes in particular a tool suitable for equipping one end of an articulated arm of a robot suitable for intervening on a vehicle comprising a rear door mounted to rotate, controlling access to an internal space and comprising an opening.

[0013] This tool is characterized by the fact that it has a curved shape, and comprises a first end suitable for being fixedly secured to the end of the articulated arm and a second end having a shape adapted to its housing at least partially in a predefined zone of an internal face of the rear door, after introduction into the internal space of the vehicle via the opening of the rear door, in order to allow an opening of this rear door by a thrust exerted on the latter by the articulated arm.

[0014] Thanks to the invention, it is no longer necessary to use two tools to open the rear door of vehicles, which makes it possible to eliminate several tedious operations, to simplify the assembly of vehicles, to avoid damage to the rear door and / or to robots carrying out post-opening operations and / or other devices involved in these operations, and thus reduce the manufacturing cost of the vehicles.

[0015] The tool according to the invention may include other characteristics which may be taken separately or in combination, and in particular:

[0016] - its second end may have at least a semi-spherical shape;

[0017] - it may comprise a foot comprising the first end and to which is fixedly secured a rod comprising the second end;

[0018] - in the presence of the last option, the foot can be straight, and the upper can be straight and can make a predefined angle with this foot;

[0019] - in the presence of the last sub-option, the predefined angle can be between 60° and 120°.

[0020] The invention also proposes a robot, on the one hand, suitable for intervening on a vehicle comprising a rear door mounted to rotate, controlling access to an internal space and comprising an opening, and, on the other hand, comprising at least one articulated arm comprising one end to which a tool of the type presented above is fixedly secured.

[0021] For example, the articulated arm of this robot may be capable of at least partially introducing the tool into the internal space of the vehicle via the opening of the rear door along a first predefined trajectory until the second end of the tool is at least partially housed in a predefined area of ​​an internal face of the rear door, then pushing the rear door in order to open it and place it in a predefined open position. In this case, the articulated arm may be capable, after placing the rear door in the predefined open position, of moving the second end away from the predefined area, then passing the tool through the opening of the rear door along a second predefined trajectory. Brief description of the figures

[0022] Other characteristics and advantages of the invention will appear on examining the detailed description below, and the appended drawings, in which:

[0023] [Fig-1] schematically and functionally illustrates, in a side view, a part of an example of an articulated robot arm comprising an example of an embodiment of a tool according to the invention,

[0024] [Fig.2] schematically illustrates, in a side view, an example of a vehicle of which the tailgate has just been placed in a predefined open position by the articulated robot arm of [Fig.l], and

[0025] [Fig.3] schematically and functionally illustrates, in a sectional view in a vertical and longitudinal plane, a part of an example of a vehicle rear door comprising a predefined area in which the second end of a tool according to the invention equipping an articulated robot arm (not shown). Detailed description of the invention

[0026] The invention aims in particular to propose a tool OB intended to equip an end EB of an articulated arm BA of a robot suitable for intervening on a vehicle V, comprising a rear door PR mounted to rotate, in order to cause the latter (PR) to be placed in a predefined open position to allow subsequent operations to be carried out on this vehicle V.

[0027] In the following, it is considered, by way of non-limiting example, that the vehicle V is of the automobile type, and more precisely of the utility type. But the invention is not limited to this type of vehicle. It in fact concerns any vehicle comprising a rear door PR mounted to rotate and on which operations must be carried out after opening its rear door PR.

[0028] Furthermore, it is considered in the following, by way of non-limiting example, that the operations to be carried out after opening the rear door PR of the vehicle V are painting operations. Consequently, the robot carrying out the placement of the rear doors of the vehicles in a predefined open position is part of a paint booth of a vehicle production line. But the invention does not only concern this type of operation(s). Indeed, it concerns all types of operation(s) to be carried out after opening the rear door of a vehicle by a robot.

[0029] Furthermore, it is considered in the following, by way of non-limiting example, that the rear door PR of the vehicle V is a tailgate. This tailgate can be rotated about a transverse and horizontal axis or a vertical axis. But the invention does not only relate to this type of vehicle rear door. It in fact relates to any vehicle rear door initially comprising an opening (possibly intended to receive a window).

[0030] Figures 1 and 2 schematically illustrate part of an example of an articulated arm BA of a robot suitable for intervening on a vehicle V comprising a rear door PR (here a tailgate) mounted to rotate, controlling access to an internal space (here a storage space) and comprising an opening OP.

[0031] As illustrated, the articulated arm BA comprises an end EB to which a tool OB according to the invention is fixedly secured, for example by screwing or tightening.

[0032] This tool OB has a curved shape and comprises first E1 and second E2 opposite ends. The first end E1 is suitable for being fixedly secured to the end EB of the articulated arm B A. As illustrated in [Fig.3], the second end E2 has a shape which is adapted to its at least partial housing in a predefined zone ZP of the face FI of the rear door PR, after the introduction of the tool OB (by means of the articulated arm BA) into the internal space of a vehicle V via the opening OP which its rear door PR comprises. This at least partial housing of the second end E2 in the predefined zone ZP of the rear door PR is intended to allow an opening of the latter (PR) by a thrust exerted on the latter (PR) by the articulated arm BA (see [Fig.2]).

[0033] It will be understood that the robot controls its articulated arm BA so that it at least partially introduces its tool OB into the internal space of the vehicle V via the opening OP according to a first predefined trajectory until the second end E2 of the tool OB is at least partially housed in the predefined zone ZP (of which it knows precisely the position in its reference frame). Then, the robot controls its articulated arm BA so that it pushes the rear door PR to open it and place it in a predefined open position (illustrated non-limitingly in [Fig. 2]). Then, the robot can control its articulated arm BA so that it moves the second end E2 of the tool OB away from the predefined zone ZP, then that it passes the tool OB through the opening OP of the rear door PR according to a second predefined trajectory.

[0034] It will also be understood that it is the curved shape of the tool OB which allows the articulated arm BA to position the second end E2 in the predefined zone ZP after passing through the opening OP, then to exert the thrust on the rear door PR.

[0035] Thus, there is no longer any need to secure a second tool fixedly and in advance (in the boilermaking workshop) to a predefined part of the rear door PR, and therefore there is no longer any need to detach a second tool after the end of the post-opening operations (in this case painting), nor to return a second tool to its starting point (the boilermaking workshop), which makes it possible to eliminate several tedious operations and simplify assembly, and thus reduce the manufacturing cost of the vehicles.

[0036] Furthermore, when the vehicles are subjected to painting operations, there is no longer any risk of a second tool receiving paint, and therefore there is no longer any need to periodically clean a second tool, which results in a further reduction in the cost of manufacturing the vehicles.

[0037] Furthermore, always when the vehicles are subject to painting operations, there is no longer a second tool subjected to thermal cycles, and therefore there is no longer any repair or replacement to be planned, which leads to yet another reduction in the manufacturing cost of the vehicles.

[0038] Furthermore, since the vehicle V is opened by pushing from the inside, there is no longer any risk that the rear door PR will remain in its closed position, and therefore it is certain that the planned post-opening operations can be carried out without risk. damage to the rear door PR and / or the robots carrying out these operations (here in the paint booth) and / or the extractor hoods (here of the paint booth).

[0039] For example, the end EB of the articulated arm BA may be a (or may be part of a) rotary mechanism for driving the tool OB in rotation in one plane or in several planes or even in any direction (like a wrist or a ball).

[0040] Also for example, the articulated arm BA can comprise at least two parts coupled together, possibly in rotation(s), and possibly telescopic.

[0041] Also for example, and as illustrated non-limitingly in Figures 1 to 3, the second end E2 of the tool OB may have an at least semi-spherical shape. In this case, the predefined zone ZP of the rear door PR may have a substantially semi-spherical concave shape, as illustrated non-limitingly in [Fig. 3]. But other shapes may be envisaged both for the second end E2 and for the predefined zone ZP since the shape of the predefined zone ZP can at least partially accommodate the second end E2 in order to promote the thrust of the rear door PR.

[0042] Also for example, and as illustrated non-limitingly in Figures 1 to 3, the tool OB may comprise a foot PO and a rod TO fixedly secured to each other. The foot PO comprises the first end E1, and is therefore fixedly secured to the end EB of the articulated arm BA, for example by screwing or tightening. The rod TO comprises the second end E2. It will be noted that the foot PO and the rod TO may possibly be two parts of a single piece, possibly made by molding a rigid and resistant material (plastic, synthetic or metallic). But this is not an obligation. Indeed, the foot PO may comprise a third end E3 to which a fourth end E4 of the rod TO is fixedly secured, for example by screwing.

[0043] Also for example, and as illustrated non-limitingly in Figures 1 to 3, the foot PO can be rectilinear (at least over its almost entirety), and the rod TO can be rectilinear and can make a predefined angle with the foot PO.

[0044] Also for example, and as illustrated non-limitingly in Figures 1 to 3, the predefined angle can be between 60° and 120°. As an illustrative example, this predefined angle can be equal to 90°.

[0045] In an alternative embodiment, the tool OB could be a single-piece part having at least one substantially constant curvature, rather than having two parts (PO and TO) making the predefined angle. In this case, the single-piece part can, for example, be made by molding a rigid and resistant material (plastic, synthetic or metallic).

Claims

Claims

1. Tool (OB) suitable for equipping one end (EB) of an articulated arm (BA) of a robot suitable for intervening on a vehicle (V) comprising a rear door (PR) mounted to rotate, controlling access to an internal space and comprising an opening (OP), characterized in that it has a curved shape and comprises a first end (El) suitable for being fixedly secured to said end (EB) and a second end (E2) having a shape adapted to its at least partial housing in a predefined zone (ZP) of an internal face (FI) of said rear door (PR), after introduction into said internal space via said opening (OP), in order to allow opening of said rear door (PR) by a thrust exerted on the latter (PR) by said articulated arm (BA).

2. Tool according to claim 1, characterized in that said second end (E2) has an at least semi-spherical shape.

3. Tool according to claim 1 or 2, characterized in that it comprises a foot (PO) comprising said first end (El) and to which a rod (TO) comprising said second end (E2) is fixedly secured.

4. Tool according to claim 3, characterized in that said foot (PO) is rectilinear, and said rod (TO) is rectilinear and makes a predefined angle with said foot (PO).

5. Tool according to claim 4, characterized in that said predefined angle is between 60° and 120°.

6. Robot suitable for intervening on a vehicle (V) comprising a rear door (PR) mounted to rotate, controlling access to an internal space and comprising an opening (OP), and comprising at least one articulated arm (BA), characterized in that said articulated arm (BA) comprises an end (EB) to which a tool (OB) according to one of claims 1 to 5 is fixedly secured.

7. Robot according to claim 6, characterized in that said articulated arm (BA) is capable i) of at least partially introducing said tool (OB) into said internal space via said opening (OP) along a first predefined trajectory until said second end (E2) is at least partially housed in a predefined zone (ZP) of an internal face (FI) of said rear door (PR), then ii) pushing said rear door (PR) in order to open it and place it in a predefined open position.

8. Robot according to claim 7, characterized in that said articulated arm (BA) is capable, after said placement of the rear door (PR) in said predefined open position, of moving said second end (E2) away from said predefined zone (ZP), then of passing said tool (OB) through said opening (OP) according to a second predefined trajectory.

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