• 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:
    The invention relates to a device (10) for depositing a bead (12) of a plastic substance on a profile (14) delimited by at least one laying face (16) of the bead (12), the device ( 10) comprising a robotic arm (26), an effector (28) for depositing comprising an extrusion nozzle (34) which is connected to a reserve (30) of plastic substance and which extends axially along an axis (A) of extrusion, a force feedback sensor which makes it possible to measure the force applied by the nozzle (34) on the profile (14) during the removal of the cord (12), characterized in that it comprises a calculator electronic device (42) implementing a computer program which is designed to control the robotic arm (26) in the space along a predetermined theoretical trajectory, and to correct said theoretical trajectory according to the measurements recorded by the force feedback sensor, so that the force (F) of support of the nozzle (34) on the profile (14), measured by the force feedback sensor, biased to a predefined value, to allow the nozzle (34) to remain in contact on the profile (14).
    公开号:FR3076239A1
    申请号:FR1763352
    申请日:2017-12-29
    公开日:2019-07-05
    发明作者:Didier BARBARIT；Erwan Janty；Bertrand Soufflet
    申请人:Safran Nacelles SAS；
    IPC主号:
    专利说明:

    DEVICE FOR DEPOSITING A CORD OF A SUBSTANCE
    PLASTIC AND METHOD FOR IMPLEMENTING SAME
    The invention relates to the field of the deposition of a bead of a plastic substance on a profile.
    It is known to deposit a bead of a plastic substance, for example putty, on a profile, for example in order to produce a seal.
    The profile is typically delimited by two faces which belong to two separate parts, the cord making it possible to ensure the seal between the two faces.
    In the aeronautical field, a plastic bead must meet quality criteria.
    These quality criteria relate in particular to the shape of the bead, the smoothing of the bead, the absence of burrs beyond the bead, the regularity of the bead and the monitoring of the profile by the bead.
    Manual removal of the bead successively consists of depositing the bead on the profile, smoothing the bead and then visually checking the bead.
    One drawback of manual removal of the cord is the difficulty in meeting the quality criteria defined above.
    In addition, manual removal of the cord presents a difficulty in being reproduced constantly, differences in quality can appear from one cord to another, in particular if several operators make the cords.
    The present invention aims in particular to solve these drawbacks and to do this relates to a device for depositing a bead of a plastic substance on a profile delimited by at least one face for depositing the bead, the device comprising:
    - a robotic arm,
    - a dispensing effector comprising an extrusion nozzle which is connected to a reserve of plastic substance and which extends axially along an extrusion axis, and
    - a force feedback sensor which measures the force applied by the nozzle to the profile during the removal of the cord, characterized in that it includes an electronic computer implementing a computer program which is designed for:
    - pilot the robotic arm in space along a theoretical trajectory which is predetermined,
    - correct said theoretical trajectory according to the measurements recorded by the force feedback sensor, so that the force for supporting the nozzle on the profile, measured by the force feedback sensor, tends towards a predefined value, to allow the nozzle to stay in contact on the profile.
    The device according to the invention makes it possible to obtain a cord which meets the quality criteria and which is capable of adapting to any type of profile.
    In addition, the device makes it possible to follow the profile of the part even if the profile has a dispersion or a defect not listed by the theoretical trajectory of the robotic arm.
    According to another characteristic, said predefined value is equal to approximately ten newtons.
    This value does not hurt the profile.
    According to another characteristic, the device comprises a deposit sensor which is adapted to measure the quantity of plastic substance deposited on the profile, the speed of movement of the robotic arm being controlled by the quantity of plastic substance actually deposited.
    This characteristic makes it possible to correct any discrepancy between the flow rate of plastic substance and the speed of movement of the nozzle.
    According to another characteristic, the removal sensor is a laser sensor which is oriented towards the bead of deposited plastic substance.
    According to another characteristic, the speed of movement of the robotic arm is controlled by the speed of extrusion of the plastic substance.
    This characteristic makes it possible to obtain a bead of constant geometry.
    According to another characteristic, the device comprises a control member which is suitable for reading control data on the physical appearance of the bead of plastic substance, and said computer program is designed to process the control data and validate or invalidate the quality of the bead of plastic material removed.
    This characteristic makes it possible to save visual inspection of the cord by an operator.
    According to another characteristic, the control data are collected by the control body during the removal of the cord.
    According to another characteristic, a smoothing of the bead is carried out by the extrusion nozzle, simultaneously with the removal of the bead.
    According to another characteristic, the reserve of plastic substance is a cartridge provided with a piston, and the device comprising an actuator which is adapted to push the piston in order to extrude said plastic substance through the extrusion nozzle.
    The invention also relates to a method for the implementation of a device of the type described above, characterized in that it comprises at least:
    - a step of piloting the robotic arm in space along a theoretical trajectory which is predetermined,
    a step for correcting said theoretical trajectory according to the measurements recorded by the force feedback sensor, so that the force for supporting the nozzle on the profile, measured by the force feedback sensor, tends towards a value preset, to allow the nozzle to stay in contact on the profile.
    According to another characteristic of the method, the speed of movement of the robotic arm is controlled by the amount of plastic substance actually deposited.
    According to another characteristic, the method comprises a step of checking the bead of plastic substance, which consists in processing the control data and validating or invalidating the quality of the bead deposited.
    Other characteristics and advantages of the invention will appear on reading the following detailed description for the understanding of which reference will be made to the appended drawings in which:
    - Figure 1 is an overall perspective view which illustrates the device for depositing a bead of a plastic substance on a profile comprising a robotic arm, according to the invention;
    - Figure 2 is a detailed perspective view which illustrates the plastic deposition effector and the associated actuator;
    - Figure 3 is a detailed perspective view which illustrates a bead of plastic substance deposited on the profile;
    - Figure 4 is a side view which illustrates the 45 degree inclination of the ejection nozzle;
    - Figure 5 is a front view which illustrates the 10 degree inclination of the ejection nozzle.
    In the description and the claims, longitudinal, vertical and transverse terminology will be used without limitation, with reference to the trihedron L, V, T indicated in the figures.
    FIG. 1 shows a device 10 for depositing a bead 12 of a plastic substance.
    The term "plastic substance" means any material which, at a certain stage of its development, may undergo permanent deformation and take the form which it is desired to give it. According to the embodiment described here, the plastic substance is a putty which is suitable for producing a seal.
    The cord 12 is placed on a profile 14 which has the shape of a scalloped border.
    As can be seen in FIGS. 3 and 4, the profile 14 is delimited by a first depositing face 16 and a second depositing face 18 which are arranged at right angles to form the profile 14.
    The first depositing face 16 and the second depositing face 18 belong to a first support part 20 and to a second covering part 22 respectively.
    The device 10 includes a robotic arm 26.
    The robotic arm 26 carries an effector 28 for depositing which comprises a cartridge 30 of plastic substance, the cartridge 30 being provided with a piston 32 and a nozzle 34 for extruding the plastic substance.
    The cartridge 30, the piston 32 and the nozzle 34 extend axially along an axis A of extrusion.
    In addition, the device 10 comprises an actuator 36 comprising an electric actuator 38 which is associated with a motor 40.
    The electric actuator 38 has a free end which is axially sliding along the axis A of extrusion and which is fixed on the piston 32 of the cartridge 30 to push the plastic substance through the nozzle 34 of extrusion.
    The motor 40 is a direct current motor which is associated with a rotary encoder (not shown), to make it possible to determine the speed of rotation of the motor shaft and therefore the flow of plastic substance through the extrusion nozzle 34.
    Also, the device 10 according to the invention comprises a force feedback sensor (not visible) which is housed in the robotic arm, and which makes it possible to measure the force F (illustrated in FIG. 4) applied by the nozzle 34 d extrusion on the depositing faces 16, 18, along the axis A of extrusion.
    The force feedback sensor can include several elements suitable for measuring a force, such as strain gauges for example.
    According to another aspect, the device 10 comprises an electronic computer 42, of the computer type, which implements a computer program.
    The computer program is designed to control the robotic arm 26 in space along a theoretical path which is predetermined.
    The theoretical trajectory is a three-dimensional digital representation of the geometry of the profile 14 on which the bead 12 must be deposited.
    However, it is possible that the profile 14 has a geometry which differs significantly from the theoretical path, for example if the profile 14 has a manufacturing defect.
    Thus, the computer program is designed to correct the theoretical trajectory according to the measurements recorded by the force feedback sensor, so that the force F for supporting the nozzle 34 on the depositing faces 16, 18 measured by the sensor force feedback, tends towards a predefined value, to allow the nozzle 34 to remain in contact on the depositing faces 16,
    18.
    Typically, if the profile 14 has a trough which is not referenced by the theoretical path, the force feedback sensor will measure a drop in the force F for supporting the nozzle 34 on the profile 14 when the nozzle goes reaching the trough, this measured drop immediately resulting in a correction which consists in moving the nozzle 34 towards the profile 14 so that the support force F tends towards the predetermined value.
    According to a preferred embodiment, the predefined value of the force F to be reached must not be too high in order not to mark the profile. According to a preferred embodiment, the predefined value of the force F is equal to approximately ten newtons.
    The computer program implemented by the electronic computer 42 is designed to allow the nozzle 34 to deviate from the theoretical trajectory more markedly in a plane perpendicular to the direction of advancement of the nozzle 34, that is to say say in a transverse vertical plane according to FIG. 4, to promote the quality of the cord 12.
    In other words, the displacement of the nozzle 34 is "flexible" in a plane perpendicular to the direction of advancement of the nozzle 34 and "rigid" in the plane of displacement of the nozzle 34.
    In addition, the device 10 comprises a deposit sensor 43 which is mounted on the frame of the effector 28, facing the outlet mouth of the extrusion nozzle 34.
    The depositing sensor 43 is adapted to measure the quantity of plastic substance deposited on the depositing face, the speed of movement of the robotic arm 26 being controlled by the quantity of plastic substance actually deposited, by the computer program.
    According to an exemplary embodiment, the removal sensor 43 is a laser sensor. The laser removal sensor 43 makes it possible to read the geometry of the bead 12, and in particular the height of the bead 12.
    Thus, if the height of the cord 12 detected by the removal sensor 43 exceeds a predetermined value, the speed of movement of the effector 28 is increased so that the quantity of plastic substance deposited forming the cord 12 decreases.
    By way of non-limiting example, the depositing sensor 43 can also be a digital camera or any other type of sensor suitable for determining the geometry of the cord 12.
    In addition, the speed of movement of the effector 28 is also controlled by the plastic substance extrusion rate, which is determined by the rotary encoder associated with the motor 40.
    As can be seen in FIG. 5, the extrusion nozzle 34 extends axially perpendicular to its direction D of advancement, with an inclination of an angle a1 of ten degrees, so as to smooth the bead 12 simultaneously with removing the cord 12, in a longitudinal and vertical plane according to FIG. 5.
    According to the example described in FIG. 5, the inclination of the nozzle 34 along the angle a1 is oriented towards the rear. However, the inclination of the nozzle along the angle a1 can be oriented forwards.
    Similarly, with reference to FIG. 4, the extrusion nozzle 34 extends axially along the bisector of the angle delimited by the first depositing face 16 and the second depositing face 18, in a vertical and transverse plane along Figure 4.
    In other words, the extrusion nozzle 34 is inclined by about 45 degrees relative to the first depositing face 16 and to the second depositing face 18.
    According to another aspect of the invention, the device 10 comprises a control member 44 which is adapted to take control data on the physical appearance of the bead 12 of plastic substance.
    The control data are read by the control member 44 during the removal of the cord 12.
    However, without limitation, the control data can be read by the control member 44 during a second movement of the robotic arm 26 which is carried out after a first movement of removing the cord 12.
    The control member 44 is for example a digital camera.
    The computer program implemented by the electronic computer 42 is designed to process the control data delivered by the control body 44, and to validate or invalidate the quality of the bead 12 of plastic substance deposited, in comparison with a predetermined benchmark.
    The invention also relates to a method for implementing the device 10 described above.
    The method includes a step of piloting the robotic arm 26 in space along the predetermined theoretical trajectory of the robotic arm 26.
    Simultaneously with the piloting step, the method performs a step of correcting the theoretical trajectory according to the measurements recorded by the force feedback sensor, so that the force F for supporting the nozzle 34 on the profile 14, measured by the force feedback sensor, tends towards a predefined value of around ten newtons, to allow the nozzle 34 to remain in contact on the depositing faces 16, 18.
    In addition, the method according to the invention controls the speed of movement of the robotic arm 26 to the amount of plastic substance actually deposited which is measured by the removal sensor 43, so as to obtain a bead 12 of constant geometry.
    The method also includes a step of checking the cord 12 of plastic substance, which consists in processing the control data supplied by the control member 44 and validating or invalidating the quality of the cord 12 deposited.
    The present description of the invention is given by way of nonlimiting example.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1. Device (10) for depositing a bead (12) of a plastic substance on a profile (14) delimited by at least one depositing face (16) of the bead (12), the device (10) comprising :
    - a robotic arm (26),
    - a dispensing effector (28) comprising an extrusion nozzle (34) which is connected to a reserve (30) of plastic substance and which extends axially along an extrusion axis (A), and
    - a force feedback sensor which measures the force applied by the nozzle (34) on the profile (14) during the removal of the cord (12), characterized in that it comprises an electronic computer (42 ) implementing a computer program that is designed to:
    - pilot the robotic arm (26) in space along a theoretical trajectory which is predetermined, and
    - Correct said theoretical trajectory according to the measurements recorded by the force feedback sensor, so that the force (F) for supporting the nozzle (34) on the profile (14), measured by the force feedback sensor , tends towards a predefined value, to allow the nozzle (34) to remain in contact on the profile (14).
    [2" id="c-fr-0002]
    2. Device (10) for depositing a bead (12) according to claim 1, characterized in that said predefined value is equal to about ten newtons.
    [3" id="c-fr-0003]
    3. Device (10) for the removal of a cord (12) according to any one of the preceding claims, characterized in that it comprises a removal sensor (43) which is adapted to measure the quantity of plastic substance deposited on the profile (14), the speed of movement of the robotic arm (26) being controlled by the amount of plastic substance actually deposited.
    [4" id="c-fr-0004]
    4. Device (10) for the removal of a bead (12) according to claim 3, characterized in that the removal sensor (43) is a laser sensor which is oriented towards the bead (12) of deposited plastic substance.
    [5" id="c-fr-0005]
    5. Device (10) for depositing a bead (12) according to any one of the preceding claims, characterized in that the speed of movement of the robotic arm (26) is controlled by the speed of extrusion of the substance plastic.
    [6" id="c-fr-0006]
    6. Device (10) for depositing a cord (12) according to any one of the preceding claims, characterized in that it comprises a control member (44) which is adapted to take control data from the physical appearance of the cord (12) of plastic substance, and said computer program is designed to process the control data and validate or invalidate the quality of the cord (12) of plastic substance deposited.
    [7" id="c-fr-0007]
    7. Device (10) for the removal of a cord (12) according to claim 6, characterized in that the control data are collected by the control member (44) during the removal of the cord (12) .
    [8" id="c-fr-0008]
    8. Device (10) for depositing a bead (12) according to any one of the preceding claims, characterized in that a smoothing of the bead (12) is carried out by the extrusion nozzle (34), simultaneously when removing the cord (12).
    [9" id="c-fr-0009]
    9. Device (10) for removing a cord (12) according to any one of the preceding claims, characterized in that the reserve (30) of plastic substance is a cartridge (30) provided with a piston (32 ), and the device (10) comprising an actuator (36) which is adapted to push the piston (32) in order to extrude said plastic substance through the extrusion nozzle (34).
    [10" id="c-fr-0010]
    10. A method for implementing a device (10) for depositing a bead of a plastic substance according to any one of the preceding claims, characterized in that it comprises at least:
    a step of piloting the robotic arm (26) in space along a theoretical trajectory which is predetermined, and
    a step of correcting said theoretical trajectory according to the measurements recorded by the force feedback sensor, so that the force (F) for supporting the nozzle (34) on the profile (14), measured by the sensor force feedback, tends to a predefined value, to allow the nozzle (34) to remain in contact on the profile (14).
    [11" id="c-fr-0011]
    11. Method according to claim 10, characterized in that the speed of movement of the robotic arm (26) is controlled by the amount of plastic substance actually deposited.
    [12" id="c-fr-0012]
    12. Method according to any one of claims 10 and 11, characterized in that it comprises a step of checking the cord (12) of plastic substance, which consists in processing the control data and validating or invalidating the quality of the cord (12) filed.
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    同族专利:
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    US20200324311A1|2020-10-15|
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    WO2019129989A1|2019-07-04|
    FR3076239B1|2020-01-10|
    引用文献:
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    EP1418043A2|2002-11-08|2004-05-12|The Goodyear Tire & Rubber Company|A method and apparatus for forming an annular elastomeric tire component|
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    CN111530697A|2020-04-01|2020-08-14|国机智能科技有限公司|Accurate gluing system and method for three-dimensional curved surface workpiece|
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    CN112405523A|2020-10-20|2021-02-26|深圳拓邦股份有限公司|Robot collision detection method and device and robot|
    法律状态:
    2018-12-13| PLFP| Fee payment|Year of fee payment: 2 |
    2019-07-05| PLSC| Publication of the preliminary search report|Effective date: 20190705 |
    2019-11-20| PLFP| Fee payment|Year of fee payment: 3 |
    2020-11-20| PLFP| Fee payment|Year of fee payment: 4 |
    2021-11-17| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1763352|2017-12-29|
    FR1763352A|FR3076239B1|2017-12-29|2017-12-29|DEVICE FOR DEPOSITING A CORD OF A PLASTIC SUBSTANCE AND ITS IMPLEMENTING METHOD|FR1763352A| FR3076239B1|2017-12-29|2017-12-29|DEVICE FOR DEPOSITING A CORD OF A PLASTIC SUBSTANCE AND ITS IMPLEMENTING METHOD|
    PCT/FR2018/053541| WO2019129989A1|2017-12-29|2018-12-24|Device for depositing a bead of a plastic substance and method for implementing same|
    EP18842446.9A| EP3732002A1|2017-12-29|2018-12-24|Device for depositing a bead of a plastic substance and method for implementing same|
    US16/914,848| US20200324311A1|2017-12-29|2020-06-29|Device for depositing a bead of a plastic substance and method for implementing same|
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