Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
  • B25J15/0042—V-shaped gripping surfaces
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
  • B25J15/0038—Cylindrical gripping surfaces
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/02—Gripping heads and other end effectors servo-actuated
  • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
  • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components

Definitions

• the object of the invention is a method for assembling a heating, ventilation and / or air conditioning device for a motor vehicle.
• Such a ventilation, heating and / or air conditioning device regulates the temperature of an air flow intended to supply the interior of the vehicle.
• the ventilation, heating and / or air conditioning devices are mainly assembled manually by an operator who fixes on a production line each of the elements constituting the devices one after the other.
• the aim of the invention is to increase the productivity of production lines by simplifying gripping and assembly solutions.
• the invention relates to a method for assembling a heating, ventilation and / or air conditioning device for a motor vehicle, comprising a step of moving at least one part by a manipulator, by example a robot, provided with gripping means, the gripping means comprising at least a first finger delimiting a triangular shape, said part comprising an element of a shape complementary to the triangular shape of the manipulator's finger, called counter-shape, so that, during the displacement step, the manipulator grasps the part by the gripping means, the counter-shape of the part cooperating with the triangular shape of the finger.
• the manipulator allows the automation of the assembly of the device, since it grasps, transports and mounts each element in a robust and repeatable manner, while taking into account the initial dispersions of laying.
• the gripping means of the manipulator comprise a second finger, and, when the manipulator grasps the part, the second finger cooperates with another element of the part.
• the part pivots or translates to reach a specific position, called the repeatable position before assembly.
• the manipulator comprises a second finger having a cylindrical shape or a flat shape.
• the fingers of the manipulator extend parallel to a direction called the longitudinal direction and the part pivots along an axis parallel to the longitudinal direction.
• the invention also relates to a manipulator for implementing the method of assembling a heating, ventilation and / or air conditioning device for a motor vehicle as described above, comprising gripping means provided with at least a finger delimiting a triangular shape configured to cooperate with a complementary shape, called counter-shape, of an element of a part to be assembled in said heating, ventilation and / or air conditioning device.
• the first and second fingers extend parallel to a direction, called the longitudinal direction.
• the triangular shape is a recess.
• the triangular shape is a protuberance.
• the triangular shape can be arranged on the finger in the form of a triangle-shaped recess, in this case the part having the counter-shape will be in the form of a triangular-shaped protuberance of complementary shape. with the triangular shape present on the finger.
• the invention relates to the reverse configuration where the triangular shape can be arranged on the finger in the form of a triangle-shaped protuberance, and in this case the part having the counter-shape will be in the form of a triangular shaped recess complementary to the triangular shape present on the finger.
• the invention also relates to a part for a motor vehicle heating, ventilation and / or air conditioning device, shaped for the implementation of the assembly method as described above, comprising an element of a complementary shape of 'a triangular shape of a manipulator's finger, called counterform.
• the triangular counter-shape protrudes from a component of the part.
• FIG. 1 illustrates a perspective view of a manipulator according to a first embodiment of the present invention.
• Fig. 2 illustrates a perspective view of a manipulator according to a first embodiment of the present invention.
• FIG. 2 illustrates a detail view of FIG. 1.
• FIG. 3 illustrates a perspective view of a manipulator according to a second embodiment of the present invention.
• Fig. 4 illustrates a perspective view of a manipulator according to a second embodiment of the present invention.
• FIG. 4 illustrates a detail view of FIG. 1.
• FIG. 5 illustrates a perspective view of a part of a heating, ventilation and / or air conditioning device configured to be grasped and moved by the manipulator of Figure 1 or the manipulator of Figure 3.
• FIG. 6 illustrates a top view of the part of FIG. 5 in the position entered by the manipulator of FIG. 1.
• Fig. 7 illustrates a top view of the part of FIG. 5 in the position entered by the manipulator of FIG. 1.
• FIG. 7 illustrates a top view of the part of FIG. 5 in the position entered by the manipulator of FIG. 3.
• FIG. 8 illustrates an angular positioning dispersion of the part of FIG. 5 in the position entered by the manipulator of FIG. 3.
• FIG. 9 illustrates a top view of the part of figure 5 for a calculation of the angular dispersion of figure 8.
• FIG. 10 illustrates a timing diagram of a method of assembling a heating, ventilation and / or air conditioning device according to the present invention.
• the subject of the invention is a method for assembling a heating, ventilation and / or air conditioning device for a motor vehicle, referenced 100 in FIG. 10.
• the invention also relates to a manipulator, we can also speak of a gripper or according to a given embodiment of a robot, and a part shaped to cooperate together so as to implement the method 100 .
• the manipulator is referenced 1 in the figures, while the part is referenced 10.
• the method 100 comprises a step 101 of moving at least the part by the manipulator 1.
• the displacement step 101 comprises a gripping step 102, during which the manipulator 1 grasps the part 10 as will be detailed later.
• the displacement step 101 also includes a step 103 for transporting the part 10.
• the manipulator 1 is now detailed.
• the manipulator 1 comprises gripping means 2 provided with at least one finger 3 defining a shape of triangular section.
• the finger 3 forms a free end of an articulated arm 4 of the manipulator 1 and mounted on a body 5 of the manipulator 1.
• the triangular shape of the finger 3 is configured to cooperate with a complementary shape, called counter-shape, of the part 10, as will be detailed later.
• This triangular shape makes it possible to make up for a very large angular dispersion of the initial positioning of the part 10 as will be explained in relation to Figures 8 and 9.
• the triangular shape is a concave triangular prism, formed by a recess of triangular section 6 in the arm 3.
• the gripping means 2 of the manipulator 1 comprises a second finger 7 having a f a planar shape ( Figures 1 and 2) or cylindrical shape ( Figures 3 and 4).
• the assembly of the first finger 3 and the second finger 7 forms a gripper of the manipulator 1.
• first finger 3 and the second finger 7 extend parallel to a direction, called the longitudinal direction, denoted L in the figures.
• a planar wall 8 of the second finger 7 of the manipulator 1 faces the triangular recess 6 of the first finger 3.
• the planar wall 8 extends in a plane containing the longitudinal direction L.
• the cylindrical shape of the finger 7 faces the triangular recess 6 of the first finger 3.
• the cylindrical shape is constituted by a right cylinder 9, a longitudinal axis extending parallel to the longitudinal direction L .
• the triangular recess 6 is arranged at the end of the first finger 3, such a positioning allows easier gripping of the part.
• the first finger 3 and the second finger 7 are of different shape, in other words, the first and second fingers are not identical, that is to say are not of identical shape.
• the first finger 3 comprises a triangular recess 6 while the second finger 7 does not have such a recess.
• the gripper fingers may also be able to grip other parts which would not have the triangle countershapes such as parts with flat surfaces.
• the part 10 comprises a against form 1 1 intended to cooperate with the first finger 3 of the manipulator 1.
• against form 1 1 is of triangular section whose dimensions coincide with those of the recess 6 of the first finger 3 of the manipulator 1 so that when the manipulator 1 grasps the part 10, the against form 1 1 is perfectly inserted into the recess 6.
• the against form 1 1 has a sufficient height so that the part 10 can be carried by the manipulator 1, for example a height H greater than or equal to 5 mm.
• a gripping position of the part 10 is illustrated in Figures 6 and 7.
• the gripping means 2 formed by the fingers 3 and 7 firmly grip the part 10, the recess 6 cooperating with the counter-form 11.
• the part 10 pivots along an axis parallel to the longitudinal direction L during the gripping step 102 to reach a position specific, known as the repeatable position before assembly.
• the manipulator 1 is able to grip and transport the part 10, even if the initial position thereof deviates from the repeatable position, to position the part 10 in the repeatable position.
• An angle a between the positions A and B defines the angular dispersion allowed by the method 100.
• manipulator 1 is able to self-center part 10 to reach the repeatable position before assembly.
• the angle a depends on an R parameter and on a T parameter shown in Figure 9.
• the parameter R is the distance between a point of contact P and the end of the triangle of the part to be gripped.
• the point of contact P is the distance between the part 10 and the second finger 7 of the manipulator 1.
• the parameter T is the length of the base B of the triangle of the recess 6.
• the angle a is written according to the following equation [MATH 1]
• the initial positioning of the part 10 is less restrictive thanks to the association of the manipulator 10 and the counter-form 11, which ensures that the assembly process 100 can take place despite a imperfect positioning of the part 10.
• the method according to the present invention makes it possible to increase the productivity of production lines, since it provides for adapting each part 10 to be mounted of a device of a heating, ventilation and / or air conditioning device for a vehicle. automobile, and thus automate the entire assembly of the device.

Landscapes

• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Manufacturing & Machinery (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Transportation (AREA)
• Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
• Manipulator (AREA)
• Air-Conditioning For Vehicles (AREA)

Applications Claiming Priority (2)

Publications (1)

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Family Applications (1)

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Citations (1)

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• 2019
  • 2019-02-25 FR FR1901915A patent/FR3093020A1/fr not_active Withdrawn
• 2020
  • 2020-02-10 WO PCT/FR2020/050235 patent/WO2020174145A1/fr not_active Ceased
  • 2020-02-10 US US17/433,452 patent/US11975443B2/en active Active
  • 2020-02-10 CN CN202080015791.9A patent/CN113453853A/zh active Pending
  • 2020-02-10 EP EP20708162.1A patent/EP3930968A1/de active Pending

Patent Citations (1)

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