• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of gripping a motor vehicle door (1) by means of a gripping device (2), said device (2) comprising: - a frame (16) comprising a beam (17); - A shoe (18) mounted on the beam (17) and comprising a bearing face and a positioning finger projecting from the bearing face; a holding device (21); the method comprising the following steps: positioning the finger opposite an opening made in a lower border of the door (1); - The introduction of the finger within the opening until the bearing face comes into abutment against the lower edge; - The maintenance of the door (1) in an upper portion thereof, by means of the device (21) for holding.
    公开号:FR3024865A1
    申请号:FR1457827
    申请日:2014-08-14
    公开日:2016-02-19
    发明作者:Francois-Noel Legrand；Sylvain Jolly
    申请人:Peugeot Citroen Automobiles SA；
    IPC主号:
    专利说明:

    [0001] The invention relates to the mounting of a motor vehicle and more particularly to a device for gripping a door, with a view to mounting it on a motor vehicle body. . During the construction of motor vehicles on an assembly line, operators and industrial robots distributed by stations assemble in a pre-established order the interior and exterior equipment of the vehicles. The handling of heavy loads, such as bodywork elements, is carried out by industrial robots or by operators having, for example, a balanced arm manipulator. Thus, when mounting a door, the robot or the operator equipped with the arm balanced manipulator retrieves the door, using a gripping device, within a supply point, before the position and fix it on the car body during assembly. Car manufacturers are constantly seeking to improve production rates and the quality of finished products.
    [0002] Manufacturers are also trying to minimize the costs of tooling needed to assemble a vehicle, standardizing these tools to different models of the brand. Thus, it is known from FR 2 909 300, a device for gripping motor vehicle door panels, these panels comprising two gripping holes, this device comprising: - a frame comprising a beam; a shoe mounted on the beam and comprising a bearing face and a positioning finger projecting therefrom; A holding device. More specifically, in this device of the state of the art, the frame consists of a central beam connected to a handling robot, an end beam being fixed to the central beam, the frame thus having a The frame carries a first locating finger movable in translation along the longitudinal axis of the central beam. The frame carries a second positioning finger 3024865 2, fixedly mounted on the end beam, the distance between the two positioning fingers thus being variable. Two retractable fingers are mounted on each of the two positioning fingers and penetrate into excavations of the panels to be grasped. The gripping device further comprises two anti-tilt supports, mounted at each end of the end beam, on either side of the second positioning finger. Each of these two supports carries a buffer mounted to move on a jack and coming against the inner face of the panels to be handled, when the second positioning finger is in its positioning hole. This architecture is not without drawbacks. [0007] Indeed, the position of a door on a supply point varies from one door to the other, whereas the gripping device, under the action of the robot, is positioned at pre-recorded points in FIG. space. There is a risk of misalignment between the fingers and the positioning holes. This misalignment may result in deformation of the liner or outer skin of the door panel. [0008] These risks are all the more critical as it is necessary to ensure precise positioning of the door on the body. These risks are also critical when the outer skin and the inner lining are of low thickness. The deformed doors must subsequently, depending on the amplitude of the deformations, either be retouched in order to be mounted on the vehicle, or be discarded. A first objective is to provide a method of gripping a motor vehicle door, by means of a gripping device, without degradation of the door. A second objective is to simplify the grip of a motor vehicle door, in particular to increase productivity. A third objective is to have a gripping device adapted to different models of motor vehicle doors. For this purpose, it is proposed, in the first place, a method of gripping a motor vehicle door by means of a gripping device, this device comprising: - a frame comprising a beam; A shoe mounted on the beam and comprising a bearing face and a positioning finger projecting from the bearing face; a holding device; the method comprising the steps of: positioning the finger opposite an opening made in a lower border of the door; introducing the finger into the opening until the bearing face abuts against the lower edge; holding the door, in an upper portion thereof, by means of the holding device. Various additional features may be provided, alone or in combination: the gripping method comprises a step of rotating the pad until it abuts against the frame; The positioning step also comprises positioning a roll of the holding device within a window frame of the door and opposite a lower edge of the frame; the holding step is to lower the roll of the holding device until the roll abuts with the lower edge of the window frame. It is proposed, secondly, a gripping device for carrying out the method of gripping a door, described above, this device comprising: a frame comprising a beam; A shoe mounted on the beam and comprising a bearing face and a positioning finger projecting therefrom; a holding device; the finger being fixed on an upper surface of a cross member, the cross member being connected to the beam by means of an arm. Various additional features may be provided, alone or in combination: the pad comprises a buffer fixed on the crosspiece, this pad having an upper face and a lower face placed opposite the crossbar, the bearing face being the upper side of the stamp; The arm is fixed firstly on a lower surface of the cross member and secondly to a shaft forming an axis of rotation X of the pad relative to the frame; the shoe is movable about the axis of rotation X between a working configuration in which the arm abuts against the frame and a rest configuration in which the arm is away from the frame; the gripping device comprises a side stand, this stand comprising a rod attached at one of its ends to the shaft, and a knocker fixed on the other end of the stick so that it is facing a side edge of the door; the holding device comprises a roller adapted to come into contact with a lower edge of a window frame. It is proposed, thirdly, a use of the gripping device 15 for the implementation of the method of gripping a door, described above, this door comprising an inner liner integral with an outer skin, the lining having a panel delimited by a lower border folded towards the outer skin, this lower edge including an opening adapted to receive the positioning finger. Other objects and advantages of the invention will become apparent in the light of the description of an embodiment, given below with reference to the accompanying drawings, in which: FIG. 1 is a front perspective view of a door 25 mounted on a gripping device, this device comprising a shoe in a working configuration and a holding device in a holding configuration; Figure 2 is a rear perspective view of the door mounted on the gripper, the pad and the locking device being respectively in the work and holding configuration; Figure 3 is a rear perspective view of the gripper, the pad being in a rest configuration and the holding device being in a free configuration; FIG. 4 is a detailed perspective medallion illustrating the introduction of a positioning pin of the pad within a door opening during the gripping of the latter, the pad being in working configuration ; Figure 5 is a detail medallion in perspective of the connection between the pad and a frame of the gripping device; Figure 6 is a cross-sectional view of the door gripper, taken along section plane VI-VI of Figure 5, with the shoe in the working configuration. [0019] FIG. 1 shows a door 1 of a motor vehicle mounted on a gripping device 2, this door 1, for example initially stored in a supply point located near an assembly line. , being intended to be assembled on a vehicle body during assembly using the device 2 gripping. The door 1 comprises an outer skin 3 and an internal lining 4 integral with the outer skin 3. The door 1 has, in addition, in an upper part, a frame 5 of glass, this frame 5 being delimited by a substantially horizontal lower edge 6, lateral edges 7 substantially parallel and perpendicular to the lower edge 6, and an edge 8 upper, opposite the lower edge 6, connecting the lateral edges 7. The outer skin 3 is of substantially rectangular shape, and comprises a cavity 9, near the lower edge 6 of the window frame 5, adapted to receive an external opening control device. The outer skin 3 further comprises, in a lower portion, a substantially rectangular support zone 10 adapted to receive a trim 11 (shown in dashed lines in FIGS. 1 and 2). As illustrated in Figures 2 and 4, the inner lining 4 comprises a panel 12 spaced apart from the outer skin 3, and delimited, opposite the frame 5 of glass, by a folded lower edge 13 to the outer skin 3. The panel 12 is further delimited laterally by two lateral edges 14 also folded towards the outer skin 3. The lateral edges 14 are substantially parallel and perpendicular to the bottom edge 13, each lateral edge 14 being connected on the one hand to the lower edge 13 and on the other hand to the window frame 5. The panel 12 of the liner 4 also includes various indentations 15, able to receive different equipment, such as an interior opening control device, a window lifter mechanism or a loudspeaker (not shown). As illustrated in Figures 2 and 3, the gripping device 2 comprises: a frame 16 comprising a beam 17; a shoe 18 mounted on the beam 17 and comprising a bearing surface 19 and a positioning finger 20 protruding from the bearing face 19; a device 21 for holding. The gripping device 2 is adapted to be mounted on a balanced arm manipulator. For the sake of clarity, the manipulator is not shown in the figures. The gripping device 2 could be, alternatively, mounted on the manipulator arm of an industrial robot. The frame 16 of the gripping device 2 comprises a tubular upright 22 of circular section, vertical. This post 22 is fixed on the manipulator at an upper end 23. This upright 22 is fixed at a lower end 24 to the square section tubular beam 17 via a reinforced bend 25. The finger 20 for positioning the pad 18 is oblong, and is fixed on an upper surface 26 of a cross member 27 20 through two screws embedded in the finger 20. The pad 18 comprises two buffers 28 fixed on the crosspiece 27, on either side of the finger 20, by means of screws embedded in the buffers 28. Each buffer 28 has an upper face 29, and a lower face placed opposite the The upper surface 26 of the crossbar 27. Advantageously, in order not to degrade the door 1, the pads 28 are made of an elastic material such as rubber. According to an embodiment not shown, the shoe 18 comprises a single buffer 28 surrounding the positioning finger 20. The cross-member 27 is connected to the beam 17 of the frame 16 via an arm 31, this arm 31 being fixed on the one hand on a lower surface 32 of the cross-member 27 and on the other hand to a shaft 33 forming an axis of rotation X of the shoe 18 relative to the frame 16. According to an alternative embodiment not shown, the shoe 18 is fixed relative to the frame 16, the arm 31 being thus fixed with a part 3024865 7 on the lower surface 32 of the cross member 27 and secondly on the beam 17 of the frame 16. The shaft 33 is guided in rotation relative to the beam 17 of the frame 16 via a two-part primary bearing 34 and a two-piece secondary bearing 35. The shoe 18 is movable about the axis of rotation X between a working configuration (shown in Figures 1, 2, 4, 5 and 6) and a rest configuration (shown in Figure 3). The primary bearing 34 comprises a sole 36 fixed to the beam 17 of the frame 16, sole 36 on which is fixed a cover 37 by means of screws. The assembly of the cover 37 on the sole 36 defines a cylindrical housing adapted to receive a preassembled bushing 38 on the shaft 33. The secondary bearing 35, shown in particular on the detail locket of FIG. 5, has a base 39 overlapping the beam 17, this base 39 being fixed on the beam 17 with a support 40 also overlapping the beam 17, the holding in position being formed by screws. Two ears 41 protrude from the base and are positioned on either side of the arm 31. On these ears 41, the caps 42 are fixed by means of screws, the assembly of the caps 42 on the ears 41 defining a cylindrical housing adapted to receive pads 43 flanged, pre-assembled on the shaft 33. According to the embodiment illustrated in the figures, the pad 18 is movable about the axis of rotation X between a configuration 25 (shown in Figures 1, 2, 4, 5 and 6) in which the arm 31 abuts against the frame 16 and a rest configuration (shown in Figure 3) in which the arm 31 is away from the frame 16 [0031] More precisely, as illustrated on the detail locket of FIG. 6, the shoe 18 comprises a pin 44 fixed on a plane face 45 of the arm 31, this face 45 being substantially parallel to the base 39 of the secondary bearing 35 when the shoe 18 is in conf iguration work. When the shoe 18 is in working configuration, the pin 44 abuts a stopper 46 fixed on the base 39 of the secondary bearing 35. When the shoe 18 is in the rest configuration, the pin 44 is moved away from the stop 46. As shown in FIG. 6, when the pad 18 is in the work configuration, the angle A between the finger 20 and positioning a vertical plane P, parallel to the beam 17 of the frame 16 is preferably 16.5 degrees. The positioning of the pad 18 in working configuration or rest configuration is controlled by a jack 47 having a body 48 secured to the upright 22 by a frame 49, and a rod 50 movable relative to the body 48. The rod 50 of the cylinder 47 comprises at one end a ball 51 assembled on a lug 52 attached to the shaft 33. The cylinder 47, under the action of the displacement of the rod 50, thus allows the shaft 33 to be driven in order to position the pad 18 in working configuration or rest configuration. The gripping device 2 comprises a lateral stand 53, this stand 53 comprising a stick 54 fixed at one of its ends to the shaft 33, and a knocker 55 fixed by means of two screws drilled to within it on the other end of the rod 54 so that it is facing one of the side edges 14 of the lining 4 door 1. This side stand 53 simultaneously moves to the pad 18, stops the parasitic movements and 20 prevents a tilting of the door 1 during its gripping. According to an alternative embodiment not shown, the shaft 33 is manually controlled by a handle fixed on the shaft 33. According to the embodiment illustrated in the figures, the holding device 21 comprises a linkage 56 deformable parallelogram type. This linkage 56 comprises, firstly, an upper rod 57 hinged at one end thereof relative to a frame 58 fixed to the upright 22, and hinged at the other end, relative to a housing 59 within a groove formed therein. The linkage 56 comprises, on the other hand, two parallel lower links 60, articulated at one of their ends with respect to the frame 58, and articulated, at the other end, with respect to the housing 59 on blanks of it. The holding device 21 further comprises a rocker arm 61 rotatable relative to the housing 59, this rocker arm 61 having a primary roller 62 and a secondary roller 63 capable of coming into contact with the lower edge 6 of FIG. the frame 5 of glass, or 3024865 9 with the upper edge of the door, in particular for a door without glass. According to alternative embodiments not shown, the holding device 21 comprises a single roller adapted to come into contact with the lower edge 6 of the window frame 5 or with the upper edge of the door. The holding device 21 is movable between a holding configuration (shown in Figures 1 and 2) in which the rollers 62, 63 primary and secondary are in contact and exert a slight force 10 on the lower edge 6 of the frame 5 of glass, and a free configuration (shown in Figure 3) in which the rollers 62, 63 primary and secondary are remote from the lower edge 6 of the frame 5 of glass. [0042] Advantageously, in order not to degrade the door 1, the primary and secondary rollers 62, 63 are made of an elastic material such as rubber. The positioning of the holding device 21 in holding configuration or in free configuration is controlled by an upper jack 64 and a lower jack 65 mounted and fixed in opposition one with respect to the other. The upper jack 64 comprises a rod 66 movable relative to a body 67, the rod 66 of the upper jack 64 being articulated on a yoke 68 fixed on the upper rod 57 of the holding device 21. The lower jack 65, like the upper jack 64, comprises a rod 69 movable relative to a body 70, the rod 69 being articulated on a base 71 fixed to the upright 22 of the frame 16. The device 2 of FIG. gripping also comprises a user interface 72 comprising a control box 73 enabling the operator to control the various cylinders 47, 64, 65 driving in particular the pad 18 and the holding device 21, and a bar 74 handling allowing the operator to move the gripping device 2. The gripping device 2 further includes a stopper 75 fixed to the beam 17 of the frame 16, this stopper 75 making it possible to limit the vertical travel of the gripping device 2. In the remainder of the description, we will describe a gripping method for gripping the door 1, for example on a swing located near the assembly line, in order to assemble it on a crate of motor vehicle being assembled, by means of the gripping device 2 described above, this gripping method comprising the following steps: the positioning of the finger 20 of the shoe 18 facing an opening 76 made in the lower edge 13 door 1; the insertion of the finger 20 into the opening 76, represented by the arrow in FIG. 4, until the bearing face 19 comes into abutment against the lower edge 13; maintaining the door 1 in an upper portion thereof by means of the holding device 21. The opening 76, adapted to receive the finger 20, is formed in the lower edge 13 of the lining 4 of the door 1. The upper face 29 of each buffer 28 forms the support surface 19 on which the border rests 13 at the end of the gripping and during the displacement of the door 1. When the pad 18 is movable, as is the case in the example illustrated, the method comprises a step prior to the positioning of the finger 20 of pivoting the pad 18 until it abuts against the frame 16 and more specifically, according to the illustrated example, until the pin 44 comes in stop on the stop 46 (pad 18 in work configuration). The step of positioning the method comprises positioning the primary and secondary rollers 62, 63 within the window frame 5 and facing the lower edge 6 of the frame 5. The step maintaining the method consists in lowering the primary and secondary rollers 62, 63 of the holding device 21 until they abut with the lower edge 6 of the window frame 5 and exert a slight force on the latter. ci (holding device 21 in maintenance configuration). The method, described above, is used for mounting a door 1. The gripping method by means of the gripping device 2 could also be implemented during the dismantling of a door 1 According to the illustrated example, the method, described above, is applied to a door 1 devoid of all the equipment and fittings which will be mounted on it during subsequent steps. on the assembly line. The gripping method by means of the gripping device 2 could also be implemented with a door 1 assembly that is to say provided with its various equipment and fittings. [0051] The gripping device 2 (and its mode of operation) offers the following advantages. The gripping of the door 1 by means of the gripping device 2 does not degrade it. The bearing zones between the door 1 and the gripping device 2, in particular at the level of the shoe 18 and the holding device 21, are large, making it possible to distribute the forces and thus to avoid local deformations of the door. 1. The pads 28 of the pad 18 and the rollers 62, 63 primary and secondary, in contact with the door 1, are preferably made of an elastic material. [0053] The gripping of the door 1 is simple and fast, to the benefit of productivity. The gripping device 2 can be used for different models of doors 1.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A method of gripping a motor vehicle door (1) by means of a gripping device (2), said device (2) comprising: a frame (16) comprising a beam (17); a shoe (18) mounted on the beam (17) and comprising a bearing face (19) and a positioning finger (20) projecting from the bearing face (19); a holding device (21); the method being characterized in that it comprises the following steps: the positioning of the finger (20) opposite an opening (76) made in a lower border (13) of the door (1); introducing the finger (20) into the opening (76) until the support face (19) abuts against the lower edge (13); maintaining the door (1) in an upper portion thereof by means of the holding device (21).
    [0002]
    2. A method of gripping a door (1) according to claim 1, characterized in that it comprises a step of pivoting the pad (18) until it abuts against the frame (16). ).
    [0003]
    3. A method of gripping a door (1) according to one of the preceding claims, characterized in that the positioning step also comprises the positioning of a roller (62), (63) of the device (21). ) of maintenance within a frame (5) of glass door (1) and facing a lower edge (6) of the frame (5).
    [0004]
    4. A method of gripping a door (1) according to claim 3, characterized in that the holding step is to lower the roller (62), (63) of the device (21) for holding until the roller (62), (63) abuts the lower edge (6) of the window frame (5). 3024865 13
    [0005]
    5. Device (2) for gripping for the implementation of the method of gripping a door (1) according to any one of claims 1 to 4, this device (2) comprising: a frame (16) comprising a beam (17); A shoe (18) mounted on the beam (17) and having a bearing face (19) and a projecting finger (20) projecting therefrom; a holding device (21); the gripping device (2) being characterized in that the finger (20) is fixed on an upper surface (26) of a cross-member (27), the cross-member (27) being connected to the beam (17) by the intermediate of an arm (31).
    [0006]
    6. Device (2) for gripping according to one of claims 5 or 6, characterized in that the arm (31) is fixed firstly on a lower surface (32) of the cross member (27) and other part of a shaft (33) 15 forming an axis of rotation (X) of the shoe (18) relative to the frame (16).
    [0007]
    7. Device (2) for gripping according to claim 6, characterized in that the pad (18) is movable about the axis of rotation (X) between a working configuration in which the arm (31) abuts against the frame (16) and a rest configuration in which the arm (31) is remote from the frame (16).
    [0008]
    8. Device (2) for gripping according to one of claims 6 or 25, characterized in that it comprises a side stand (53), this stand (53) comprising a rod (54) attached to one of its ends on the shaft (33), and a knocker (55) fixed on the other end of the rod (54) so that it faces a lateral edge (14) of the door (1) . 30
    [0009]
    9. Device (2) for gripping according to one of claims 5 to 8, characterized in that the device (21) for holding comprises a roller (62), (63), adapted to come into contact with an edge (6). ) of a frame (5) of glass. 35
    [0010]
    10. Use of the device (2) gripping for the implementation of the method of gripping a door (1) according to any one of the preceding claims, this door (1) comprising a lining (4) integral internal an outer skin (3), the lining (4) having a panel (12) delimited by a lower border (13) folded towards the outer skin (3), this lower border (13) comprising an aperture (76) capable of receiving the positioning finger (20).
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    同族专利:
    公开号 | 公开日
    FR3024865B1|2016-08-26|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE3934260A1|1989-10-13|1991-04-18|Bernhard Grzeschik|Device for handling motor vehicle door - comprises mobile baseplate to which is attached vertical swinging bearer and horizontal bearer|
    FR2906797A1|2006-10-05|2008-04-11|Peugeot Citroen Automobiles Sa|Gripper for carrying door of motor vehicle, has mobile part including screw jacks for positioning mobile part with respect to support, and integrated to support by double articulation so as to be movable in rotation around distinct axes|
    FR2909300A1|2006-12-04|2008-06-06|Renault Sas|Sheet metal e.g. front door panel, gripper for motor vehicle, has multifunction devices in which one of device is movable in translation on frame using translation unit and movably placed along longitudinal axis of central beam|
    EP2251252A1|2008-03-10|2010-11-17|Honda Motor Co., Ltd.|Door removing system and door removing method|
    JP2010264855A|2009-05-14|2010-11-25|Honda Motor Co Ltd|Vehicle door handling tool, vehicle and door handling method|IT201800007537A1|2018-07-26|2020-01-26|Fca Italy Spa|"Support for motor vehicle doors, particularly suitable for installation on a mobile assembly station for motor vehicles"|
    CN110844573A|2019-11-27|2020-02-28|奇瑞汽车股份有限公司|Novel vehicle door carrier|
    WO2020109688A1|2018-11-30|2020-06-04|Psa Automobiles Sa|Handling device for inserting a piece of equipment at an angle into a system|
    FR3089485A1|2018-12-11|2020-06-12|Renault S.A.S|VERTICAL REALIGNMENT DEVICE|
    法律状态:
    2015-07-27| PLFP| Fee payment|Year of fee payment: 2 |
    2016-02-19| PLSC| Search report ready|Effective date: 20160219 |
    2016-07-20| PLFP| Fee payment|Year of fee payment: 3 |
    2017-07-20| PLFP| Fee payment|Year of fee payment: 4 |
    2018-06-29| CA| Change of address|Effective date: 20180312 |
    2018-06-29| CD| Change of name or company name|Owner name: PEUGEOT CITROEN AUTOMOBILES SA, FR Effective date: 20180312 |
    2018-07-20| PLFP| Fee payment|Year of fee payment: 5 |
    2019-07-22| PLFP| Fee payment|Year of fee payment: 6 |
    2020-07-21| PLFP| Fee payment|Year of fee payment: 7 |
    2021-07-22| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1457827A|FR3024865B1|2014-08-14|2014-08-14|METHOD FOR PREHENDING A MOTOR VEHICLE DOOR|FR1457827A| FR3024865B1|2014-08-14|2014-08-14|METHOD FOR PREHENDING A MOTOR VEHICLE DOOR|
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