A tool designed to be fitted to one end of a robot's multi-articulated arm.

Abstract

The invention relates to a tool (2) for equipping one end of a multi-articulated arm of a robot configured to operate on a motor vehicle having a rotating rear door and controlling access to a rear trunk. The tool (2) comprises a cylindrical sleeve (21) configured to be inserted into a gap between a rear door and a rear panel of the motor vehicle. The cylindrical sleeve (21) has an outer peripheral surface made of a soft material to avoid scratching or damaging the rear door of the motor vehicle. Figure to be published with the abbreviation: Fig. 2

Description

Title of the invention: Tool for equipping one end of a multi-articulated robot arm

[0001] The technical context of the present invention is that of automotive assembly line equipment. More particularly, the invention relates to a tool for equipping one end of a multi-articulated arm of a robot.

[0002] Certain robots are used on automotive assembly lines to operate the rear doors of these vehicles, which are mounted on a rotating mechanism, controlling access to a rear trunk. It should be noted that these rear doors are installed at the rear ends of the vehicles and can, 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 perform each opening of a rear door, a robot includes at least one multi-articulated arm having an end to which a first tool is fixedly attached. The latter is generally in the form of a rod on which are fixed two distant discs of different diameters intended to couple to a second tool previously fixed - for example by screwing - to a predefined part of the rear door, generally located near its lower end when it is a rear tailgate opening by rotation upwards.

[0005] This second tool is generally in the form of a rod to which a rectangular frame is attached. The first tool is coupled to this frame via a predefined trajectory of the articulated arm. Once coupling is successful, the articulated arm is actuated to move the first tool along a second predefined trajectory designed to open the rear door. Then, once the rear door is in a predefined open position, the articulated arm is actuated again to decouple the first tool from the second tool, and, for example, paint spraying can begin, at least inside the vehicle's interior.

[0006] This method of obtaining the opening of the rear door of a vehicle has several disadvantages.

[0007] Indeed, it requires the prior screwing of the second tool onto the rear door of each vehicle, generally in the sheet metal workshop of the assembly line, then the unscrewing of this second tool, for example after the completion of the painting operations, and then the return of the second tool to its starting point. (the metalworking shop), which proves to be time-consuming and tedious, and therefore increases the cost of manufacturing vehicles.

[0008] Furthermore, when the vehicle undergoes painting operations, the second tool receives paint because it remains screwed onto the rear door. However, the accumulation of paint necessitates periodic cleaning of the second tool—typically every twenty cycles—so that the first tool can continue to couple correctly with it, resulting in an additional manufacturing cost for the vehicles.

[0009] Moreover, when the vehicle is undergoing painting operations, the second tool is subjected to thermal cycles, which accelerates its aging and therefore requires it to be repaired from time to time, or even replaced, which leads to another additional cost in manufacturing the vehicles.

[0010] Furthermore, it may happen that the frame of the second tool is misaligned, thus preventing its coupling to the first tool, resulting in the rear door remaining in its closed position. It is then impossible to perform the subsequent planned operations, and when the robots tasked with performing these subsequent operations collide with the rear door, this can cause damage to the closed rear door and / or the aforementioned robots and / or the extraction hoods, leading, among other things, to further additional vehicle manufacturing costs.

[0011] Finally, such tools can lead to scratches or damage to the surface of the rear door against which they are placed.

[0012] Of course, not all of these situations are desirable.

[0013] The present invention aims to provide a new tool for a multi-articulated robot handling rear doors of motor vehicles on a production line in order to address at least largely the previous problems and to lead to other advantages.

[0014] Another object of the invention is to facilitate the implementation of such a tool on automotive assembly lines.

[0015] Another object of the invention is to reduce the risks of damage or scratching of the rear doors handled by such a tool.

[0016] Another objective of the invention is to reduce the production costs and manufacturing times of a motor vehicle.

[0017] According to a first aspect of the invention, at least one of the aforementioned objectives is achieved with a tool for equipping one end of a multi-articulated arm of a robot configured to work on a motor vehicle having a rear door mounted to rotate and controlling access to a rear trunk. According to the invention, the tool comprises a cylindrical sleeve and means for connecting it to the multi-articulated arm of the robot, the cylindrical sleeve having an outer peripheral surface formed of a soft material so as not to scratch or damage the rear door of the motor vehicle.

[0018] In the context of the present invention, the rear door is of the type of a swing door or a tailgate. A swing door is a rear door mounted to pivot around a hinge whose axis of rotation is vertical and located along a lateral edge of the motor vehicle. Conversely, a tailgate is a rear door mounted to pivot around a hinge whose axis of rotation is horizontal and located along a roof panel of the motor vehicle.

[0019] In the context of the present invention, the robot is of the type of intervention robot for an automotive assembly line, and in particular associated with a paint station for the automotive vehicle being assembled. The robot comprises a multi-articulated arm, that is to say, comprising several segments connected to each other by joints allowing at least one degree of freedom relative to each other, so that the multi-articulated arm is configured to be able to move and / or orient itself in several directions. By way of non-limiting example, the multi-articulated arm is orientable along six degrees of freedom. Naturally, the articulated arm is motorized so that it can be controlled remotely and so that its movements, and / or trajectories, and / or rotations, and / or orientations are controlled by motorized actuators.

[0020] In the context of the present invention, the tool is configured to be attached to a free end of the multi-articulated arm, that is to say, at the terminal end of the chain of segments described above. The tool thus comprises means for attaching it to the end of the multi-articulated arm, these means being able to be of any type.

[0021] In the context of the present invention, the tool has an elongated shape along its own axis of elongation, determined by a generatrix of the cylindrical sleeve. The cylindrical sleeve is defined by a closed curve, preferably circular, possibly polygonal, and projected along a straight line that extends secantly from the closed curve, the generatrix. The generatrix preferably extends perpendicularly to a plane of extension of the closed curve. In the context of the present invention, the outer peripheral surface of the cylindrical sleeve is the cylindrical surface. Thus, by its elongation along its own axis, the tool conforming to the first aspect of the invention has directions adapted for gentle contact with the rear door.Indeed, the outer peripheral surface of the cylindrical sleeve thus forms a larger contact surface, due to the elongation along the tool's own elongation axis according to the invention, thereby reducing the pressure exerted on the rear door when said tool is brought into contact with it.

[0022] In the context of the present invention, in order to avoid scratching or damaging the rear door, the cylindrical sleeve has, at least on its outer peripheral surface, a soft material that provides a gentle and cushioned contact against the rear door. In the context of the present invention, a soft material is contrasted with a hard material. A hard material is, for example, a metallic material with a high Young's modulus, that is, on the order of several hundred gigapascals or more. Conversely, a soft material is a material with a lower Young's modulus, for example, on the order of a few gigapascals or less.

[0023] Thus, the invention solves the technical problem in that it is no longer necessary to use two tools to open the rear door of vehicles, thereby eliminating several tedious operations, simplifying vehicle assembly, preventing damage to the rear door and / or robots performing post-opening operations and / or other devices involved in these operations, and thus reducing vehicle manufacturing costs. Furthermore, due to the elongated shape of the tool and the presence of a soft interface with the rear door, the tool conforming to the first aspect of the invention prevents damage to the rear door during tool deployment and / or scratching during opening or closing by a multi-articulated arm of a robot equipped with such a tool.

[0024] The tool conforming to the first aspect of the invention advantageously comprises at least one of the improvements below, the technical characteristics forming these improvements being able to be taken alone or in combination:

[0025] - the soft material forming the peripheral surface is of the type of a material exhibiting a modulus of elasticity less than 10 GPa;

[0026] - the soft material forming the peripheral surface is of the polymer type technical, such as for example a polyurethane. In particular, the polyurethane material forming the outer peripheral surface of the cylindrical sleeve has a thickness of less than 5 mm, preferably between 1 mm and 3 mm;

[0027] - the cylindrical sleeve comprises an internal shaft integral with the end of the robot's multi-articulated arm, the cylindrical sleeve covering the inner shaft. Optionally, the inner shaft is fixed to the end of the multi-articulated arm by any means of fastening. Alternatively, the inner shaft is formed from the same material as the end of the multi-articulated arm by any means of fastening;

[0028] - The tool according to the invention comprises means for retaining the cylindrical sleeve on the inner shaft. For example, the retaining means include a shoulder formed at one axial end of the cylindrical sleeve and a screw fastening linking the shoulder to the inner shaft. This advantageous configuration allows easy replacement of the cylindrical sleeve on the tool conforming to the first aspect of the invention, for example following premature wear of the outer cylindrical surface;

[0029] - according to a first embodiment, the cylindrical sleeve is mounted rotating relative to the inner shaft. Alternatively, according to a second embodiment, the inner shaft is mounted to rotate relative to the end of the robot's multi-articulated arm. This advantageous configuration prevents the tool from sliding against the rear door. More specifically, this advantageous configuration prevents the outer peripheral surface of the cylindrical sleeve from dragging on the rear door, thus reducing the risk of scratching;

[0030] - an outside diameter of the cylindrical sleeve is less than a measured interval on the motor vehicle between the rear door and a rear panel of the motor vehicle, measured along a longitudinal axis and at the level of a lateral edge of said rear door. In other words, the cylindrical sleeve is configured so that it can be inserted between the lateral edge of the rear door and the rear panel of the motor vehicle, in order to be able to open the rear door;

[0031] According to a second aspect of the invention, a robot for intervention on a motor vehicle is proposed, comprising a rear door mounted pivoting and controlling access to a rear trunk of the motor vehicle, the robot comprising at least one multi-articulated arm, one free end of which is attached to a tool conforming to the first aspect of the invention or to any one of its improvements.

[0032] According to a third aspect of the invention, a method for manipulating a rear door of a motor vehicle using a robot is proposed in accordance with the second aspect of the invention, the manipulation method comprising a step of placing the cylindrical sleeve against the rear door and a step of applying a force against the rear door by the tool.

[0033] According to a first embodiment, the manipulation method is of the type of a method for opening the rear door of a motor vehicle. More particularly, the support step of the manipulation method according to the invention consists of an insertion step of the tool between the rear door and a rear panel of the motor vehicle, and in which the force application step is an opening step of the rear door so as to exert a torque on the rear door leading to its rotation and opening.

[0034] During the insertion step, the tool is inserted into the gap so that the cylindrical surface is pressed against the rear door. More specifically, the tool is inserted into the gap parallel or substantially parallel to the axis elongation of the cylindrical sleeve, so that the peripheral surface approaches the rear door tangentially or substantially tangentially.

[0035] According to a second embodiment, the manipulation method is of the type of a method for closing the rear door of a motor vehicle. More particularly, the support step of the manipulation method according to the invention consists of supporting the cylindrical sleeve against the rear door, and in which the force application step is a rear door closing step so as to exert a torque on the rear door leading to its rotation and closure.

[0036] Various embodiments of the invention are provided, incorporating, according to all their possible combinations, the different optional features set out here.

[0037] Other features and advantages of the invention will become apparent from the following description on the one hand, and from several illustrative and non-limiting examples of embodiments given by reference to the accompanying schematic drawings on the other hand, in which:

[0038] [Fig-1] illustrates a schematic view of a robot equipped with a tool conforming to the first aspect of the invention;

[0039] [Fig.2] illustrates a three-dimensional view of a tool conforming to the first aspect of the invention;

[0040] [Fig.3] illustrates a cross-sectional view along the elongation axis of the tool shown on the [Fig.2];

[0041] [Fig.4] illustrates a schematic view of the use of the tool according to the invention for open a rear door of a motor vehicle;

[0042] [Fig.5] illustrates a synoptic diagram of the manipulation process according to the third aspect of the invention.

[0043] Of course, the features, variants, and different embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive. In particular, variants of the invention may be conceived comprising only a selection of features, described hereafter in isolation from the other described features, if this selection of features is sufficient to confer a technical advantage or to differentiate the invention from the prior art.

[0044] In particular, all the variants and embodiments described are combinable with each other if there is no technical obstacle to this combination.

[0045] In the figures, the elements common to several figures retain the same reference.

[0046] As seen in [Fig.1], the invention addresses a tool 2 intended to equip one end of a multi-articulated arm 1 of a robot configured to intervene on a motor vehicle 3 having a rear door 31 mounted to rotate and controlling access to a rear trunk.

[0047] As seen in FIGURES 2 to 4, the tool 2 comprises a cylindrical sleeve 21 and means for connecting to the multi-articulated arm 1 of the robot, the cylindrical sleeve 21 having an outer peripheral surface formed of a soft material so as not to scratch or damage the rear door 31 of the motor vehicle 3.

[0048] The multi-articulated arm 1 comprises several segments 11 which are connected to each other via motorized links allowing control of the orientation and movement of the end of the multi-articulated arm 1.

[0049] The cylindrical sleeve 21 is fixed rigidly to a base 22 which includes means 23 for attaching it to the multi-articulated arm 1 of the robot. The base 22 has a generally cylindrical shape. A diameter of the base 22 is greater than that of the cylindrical sleeve 21 of the tool 2.

[0050] The tool 2 has a slender shape along a proper elongation axis 01 which extends perpendicularly to the base 22.

[0051] In the embodiment illustrated in FIGURES 2 to 4, the tool 2 has an inner shaft 20 which is fixed rigidly to the base 22. The inner shaft 20 is made of a rigid metallic material in order to provide the robustness expected by the tool 2. For example, the material forming the inner shaft 20 comprises steel or a steel alloy.

[0052] The inner shaft 20 is for example screwed into the flange and held as such via a clamping nut 24.

[0053] The inner shaft 20 is then fitted with the cylindrical sleeve 21. For this purpose, the cylindrical sleeve 21 is fitted around the inner shaft 20 and connected to it by an end flange 27 and a fixing screw 26 to the inner shaft 20, at the level of a free end 25 of the tool 2. This advantageous configuration thus allows easy interchangeability of the cylindrical sleeve 21 in case of wear or breakage.

[0054] The object of the invention is to manipulate the opening and closing of the rear door 31 of the motor vehicle 3 without leaving any marks on the rear door 31 and without damaging it, i.e., for example, without scratching it. To this end, the cylindrical sleeve 21 is made of a soft material, compared to the metallic material forming the inner shaft 20, for example. The soft material forming the outer cylindrical sleeve 21 allows for a soft or even cushioned contact with the rear door 31 of the motor vehicle 3 and when the robot positions the multi-articulated arm 1 and the tool 2 against the rear door 31. In particular, the material tender forming the cylindrical sleeve 21 exhibits a Young's modulus on the order of a few Gigapascals or less.

[0055] According to a preferred embodiment of the invention, the soft material forming the cylindrical sleeve 21 is of the type of a technical polymer, such as for example a polyurethane.

[0056] To avoid damaging the rear door 31 of the motor vehicle 3, the cylindrical sleeve 21 is mounted to rotate freely relative to the end of the multi-articulated arm 1 of the robot. More specifically, the cylindrical sleeve 21 can be mounted to rotate freely relative to the inner shaft 20 of the tool 2, or the tool 2 itself can be mounted to rotate freely relative to the end of the multi-articulated arm 1. Of course, the rotation of the tool 2 about its own axis of extension 01 is considered here.

[0057] With reference to FIGURES 4 and 5, the tool 2 is inserted between the rear door 31 and a rear panel 32 of the motor vehicle 3 in order to manipulate said rear door 31 and to open it. For this purpose, the tool 2 is inserted into a gap 33 existing between the rear door 31 and the rear panel 32 of the motor vehicle 3. This is why the tool 2 has an elongated shape; and the cylindrical sleeve 21 has dimensions smaller than those of the gap 33 to allow easy insertion.

[0058] More particularly, the cylindrical sleeve 21 is inserted along the transverse axis of the motor vehicle 3, in the free interval 33 existing between the rear panel 32 and the rear door 31, and at the level of a lower part of the rear door 31, relative to the vertical axis.

[0059] Once the tool 2 is inserted into the gap 33, force can be applied against the rear door 31 to open it. The soft material used for the cylindrical sleeve 21 ensures that the rear door 31 or the rear panel 32 will not be damaged during the insertion of the tool 2 into the gap 33 and during the application of force against the rear door 31.

[0060] Thus, with reference to [Fig. 5] more particularly, the invention also relates to a method for manipulating the rear door 31 of the motor vehicle 3 using a robot comprising a tool 2 at the end of a multi-articulated arm 1, as described above. The manipulation method 4 comprises a step of placing the cylindrical sleeve 21 against the rear door 31 and a step of applying a force 42 against the rear door 31 by the tool 2.

[0061] According to a first embodiment, the handling method 4 is of the type of a method for opening the rear door 31 of the motor vehicle 3; and the support step 41 of the handling method 4 according to the invention consists of an insertion step of the tool 2 into the gap 33 existing between the rear door 31 and the rear panel 32 of the motor vehicle 3. Consequently, the application step 42 of the force is an opening step of the rear door 31 so as to exert a torque on the rear door 31 leading to its rotation and opening.

[0062] According to a second embodiment, the handling method 4 is of the type of a method for closing the rear door 31 of the motor vehicle 3; and the support step 41 of the handling method 4 according to the invention consists of supporting the cylindrical sleeve 21 against the rear door 31 - at the level of an external face of the rear door 31. Consequently, the force application step 42 is a closing step of the rear door 31 so as to exert a torque on the rear door 31 leading to its rotation and closure.

[0063] In summary, the invention relates to a tool 2 intended to equip one end of a multi-articulated arm 1 of a robot configured to intervene on a motor vehicle 3 having a rear door 31 mounted to rotate and controlling access to a rear trunk, the tool 2 having a cylindrical sleeve 21 configured to be able to be inserted into a gap 33 existing between a rear door 31 and a rear panel 32 of the motor vehicle 3, the cylindrical sleeve 21 having an outer peripheral surface formed of a soft material so as not to scratch or damage the rear door 31 of the motor vehicle 3.

[0064] Of course, the invention is not limited to the examples just described, and many modifications can be made to these examples without departing from the scope of the invention. In particular, the various features, forms, variants, and embodiments of the invention can be combined with one another in various ways, provided they are not incompatible or mutually exclusive. In particular, all the variants and embodiments described above are combinable.

Claims

Demands

1. Tool (2) for equipping one end of a multi-articulated arm (1) of a robot configured to work on a motor vehicle (3) having a rear door (31) mounted to rotate and control access to a rear trunk, characterized in that the tool (2) comprises a cylindrical sleeve (21) and means for connecting to the multi-articulated arm (1) of the robot, the cylindrical sleeve (21) having an outer peripheral surface made of a soft material so as not to scratch or damage the rear door (31) of the motor vehicle (3).

2. Tool (2) according to the preceding claim, wherein the soft material forming the peripheral surface is of the type of a material having a modulus of elasticity less than 10 GPa.

3. Tool (2) according to any one of the preceding claims, wherein the soft material forming the peripheral surface is of the type of an engineering polymer, such as, for example, a polyurethane.

4. Tool (2) according to any one of the preceding claims, wherein the cylindrical sleeve (21) has an inner shaft (20) fixed securely to the end of the multi-articulated arm (1) of the robot, the cylindrical sleeve (21) covering the inner shaft (20).

5. Tool (2) according to the preceding claim, in which the cylindrical sleeve (21) is rotatably mounted relative to the inner shaft (20) or relative to the end of the multi-articulated arm (1) of the robot.

6. Tool (2) according to any one of the preceding claims, wherein an outside diameter of the cylindrical sleeve (21) is less than an interval (33) measured on the motor vehicle (3) between the rear door (31) and a rear panel (32) of the motor vehicle (3), measured along a longitudinal axis and at the level of a lateral edge of said rear door (31).

7. Robot for intervening on a motor vehicle (3) comprising a rear door (31) mounted pivoting and controlling access to a rear trunk of the motor vehicle (3), the robot comprising at least one multi-articulated arm (1) of which a free end (25) is integral with a tool (2) according to any one of the preceding claims.

8. A method for manipulating (4) a rear door (31) of a motor vehicle (3) using a robot according to the preceding claim, the manipulation method (4) comprising a step of putting into support (41) of the cylindrical sleeve (21) against the rear door (31) and an application step (42) of a force against the rear door (31) by the tool (2).

9. A manipulation method (4) according to claim 8, wherein the support step (41) consists of an insertion step of the tool (2) between the rear door (31) and a rear panel (32) of the motor vehicle (3) and wherein the force application step (42) is an opening step of the rear door (31) so as to exert a torque on the rear door (31) leading to its rotation and opening.

10. A handling method (4) according to claim 8, wherein the support step (41) consists of supporting the cylindrical sleeve (21) against the rear door (31) and wherein the force application step (42) is a closing step of the rear door (31) so as to exert a torque on the rear door (31) leading to its rotation and closure.