• 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 machine tool adapted to perform operations, including machining, on a surface of a part (P) of large dimensions. The machine tool comprises a longitudinal rail (1) and a transverse arm (3), orthogonal to the longitudinal rail (1), fixed at a first end (31) slidably on the longitudinal rail (1). A second end (32) of the transverse arm (3) is provided with at least one unit (5) having at least one suction cup for holding the unit (5) in position on the part (P) during a surgery. The unit (5) is motorized and includes a displacement system for crawling along the workpiece, parallel to the longitudinal rail (1). The transverse arm (3) carrying a tool (4) is thus precisely positioned on the part (P). The unit (5) is articulated relative to the transverse arm along an axis pivot (A) parallel to said transverse arm, to adapt to the curvature of the part (P) along the longitudinal rail (1).
    公开号:FR3029440A1
    申请号:FR1461847
    申请日:2014-12-03
    公开日:2016-06-10
    发明作者:Fabien Albert
    申请人:Airbus Operations SAS；
    IPC主号:
    专利说明:

    [0001] TECHNICAL FIELD The present invention relates to a machine tool for carrying out operations on the surface of a workpiece, in particular of large dimensions, for example the making of bores on an aircraft fuselage element. More generally, it relates to the field of machine tools used to carry out automated or semi-automated operations, typically machining or assembly operations, on parts or large structures. BACKGROUND ART The manufacture of aircraft fuselages or other aeronautical structures such as wings is carried out in a known manner by the assembly of rigid panels, generally metal, on a structure. For this, the panels, planes or curves, are placed in position on the structure and assembled to it for example by riveting. This requires machining the assembly once the panels in position, typically to achieve the holes required for riveting. These operations are achievable by an operator. The development of large robots capable of drilling all over a fuselage is expensive. In order to perform these or other simple machining operations on large assemblies in a fast and accurate manner, devices have nevertheless been developed in order to automate these operations in part. For example, EP1761360 discloses a machine tool comprising two parallel flexible rails fixed to the structure to be machined. The rails are fixed to the structure by means of suction cups. A machining means, typically a drill, moves between the two rails, along a transverse module. Such a device is however complicated to implement, in that it comprises two rails to be perfectly parallel. In addition, by construction, the width between the two rails, and the area that can be reached by the machining tool, are limited. Finally, such a device is not adapted to a surface with a large double curvature, because of the difficulty in positioning two parallel rails on such a surface. A pronounced double curvature is present in certain areas of the aeronautical structures and in particular some fuselages.
    [0002] SUMMARY OF THE INVENTION The present invention aims to provide an optimized machine tool for solving at least one of the aforementioned drawbacks. To this end, the invention therefore relates to a machine tool for performing operations on a part comprising: - a longitudinal rail configured to be positioned vis-à-vis the workpiece; - A transverse arm, orthogonal to the longitudinal rail, having a first end mounted in translation on the longitudinal rail; - a tool carried by the transverse arm; at least one motorized unit disposed at a second end of the transverse arm and comprising: a displacement system for crawling on the part parallel to the longitudinal rail; o at least one suction cup for holding the unit in position on the part; a vacuum generating device configured to depressurize the suction cup; the motorized unit being articulated relative to the transverse arm according to a pivot axis parallel to said transverse arm. The machine tool has a single longitudinal rail. The rail can be fixed to the room. Such a machine tool is simple to implement because requiring the positioning of a single rail. It is suitable for performing operations on a part having a double-curved surface, since it does not require the positioning of two parallel rails and comprises a motorized unit whose orientation with respect to the piece is adaptable through a pivot axis parallel to said transverse arm. If the motorized unit is connected to the transverse arm by an intermediate support, the pivot can be positioned between the unit and the support, or between the support and the transverse arm. Two pivots can also be implemented. It is suitable for large structures, and allows operations on a large surface. Indeed, a transverse arm of a large length, for example of the order of 1200mm, can be implemented. The good maintenance of the transverse arm is guaranteed by the fixing or the permanent control in position of its two ends, respectively on the longitudinal rail on the one hand and on the part by a sucker on the other hand, during an operation carried out on the room. According to one embodiment of the invention, the displacement system comprises a track having a tread comprising a plurality of suction cups. Preferably, the machine tool according to this embodiment further comprises a distributor for the distribution of the vacuum from the vacuum generating device to the suction cups of the tread of the crawler.
    [0003] The dispenser may for example comprise a pulley rotatably mounted on a distribution cylinder, the pulley having on a lateral face orifices evenly distributed in a circle, the dispensing cylinder comprising, on a face in contact with the lateral face of the pulley. comprising the orifices, a groove in the form of a circular arc facing at least one of the orifices of the pulley. The groove having an arcuate shape may advantageously extend over an angle of between 90 ° and 180 °. According to another embodiment of the invention the displacement system comprises a motorized wheel. In this embodiment, the unit 5 may comprise an outer cover having an open face around which is disposed a peripheral skirt, the outer cover assembly and peripheral skirt forming a suction cup for holding the unit in position on the room.
    [0004] The peripheral skirt may for example comprise a polytetrafluoroethylene coating. According to yet another embodiment of the invention, the displacement system comprises at least two motorized elements positioned on either side of the suction cup. In this embodiment, the motorized elements may in particular be rollers or caterpillars. The machine tool may comprise one or more groups of two suckers, two motorized elements being positioned on either side of each group of two suckers.
    [0005] In each embodiment mentioned above, the machine tool may comprise two motorized units, distributed on both sides of the transverse arm. The transverse arm may comprise a system for moving the tool in translation along the transverse arm. The tool may especially be chosen from: a drill, a grinder, a tribological probe, a rivet insertion device, a riveting device, a putty gun, a paint gun. The translational mounting of the transverse arm on the longitudinal rail is advantageously carried out by a module rigidly connected to the transverse arm and mounted in translation on the longitudinal rail.
    [0006] In one embodiment, the machine tool may include a controller, arranged to synchronize movement of the unit with movement of the first end of the transverse arm along the longitudinal rail. The machine tool may then comprise means for determining the forces generated by the transverse arm on the longitudinal rail, said force determining means being functionally connected to the control device, and the control device being configured to minimize said forces. The machine tool may comprise a device chosen from: a tower sensor connected to a rotating part of the displacement device, a force sensor on the transverse arm and a force sensor on the longitudinal rail, a angular sensor configured to determine the angle between the transverse arm and the longitudinal rail. Fixing the longitudinal rail on the workpiece is advantageously carried out using suction cups. For this purpose, the longitudinal rail 5 advantageously comprises suction cups. BRIEF DESCRIPTION OF THE FIGURES Other features and advantages of the invention will become apparent from the description below.
    [0007] In the accompanying drawings, given as non-limiting examples: FIG. 1 schematically shows a machine tool according to one embodiment of the invention, as well as its immediate environment; - Figure 2 shows a detail view of a motorized unit as implemented in a first embodiment of the invention, in a schematic three-dimensional view. - Figure 3 shows a schematic view of the interior of the unit shown in Figure 2; FIG. 4 schematically shows the main elements of a vacuum distributor that can be implemented in a unit according to the first embodiment shown in FIGS. 2 and 3. FIG. 5 shows a detailed view of a unit motorized as implemented in a second embodiment of the invention, in a schematic three-dimensional view; FIG. 6 is a schematic view of the inside of the unit 25 shown in FIG. 5; - Figure 7 shows a detail view of a motorized unit as implemented in a third embodiment of the invention, in a schematic three-dimensional view. FIG. 8 schematically shows a machine tool according to one embodiment of the invention implementing the motorized unit of FIG. 7, as well as its immediate environment.
    [0008] DETAILED DESCRIPTION OF THE INVENTION A machine tool according to the invention comprises a longitudinal rail 1, as shown in FIG. 1. The longitudinal rail 1 comprises, in one embodiment of the invention, suction cups 11, allowing 5 to fix it on a piece P on which operations for example machining are to be carried out. Here, the longitudinal rail 1 is flexible and can thus follow the curvature of the piece P. A module 2 is mounted on the longitudinal rail 1 and can move in translation on the latter. Module 2 can be equipped with a set of bearings tight on the rail. In addition, the module 2 is advantageously equipped with at least one motor driving its translation on the longitudinal rail 1. A transverse arm 3 is fixed to the module 2, at a first end 31 of the transverse arm 3. The arm transverse arm 3 is and remains substantially orthogonal to the longitudinal rail 1. The transverse arm 3 can move in translation along the longitudinal rail 1. In the example shown here, this translation is directly related to the translation of the module 2. along the longitudinal rail 1. The module 2 may be shaped to receive a power unit 9 containing the power electronics of the devices involved in the machine tool. In an aeronautical application, the transverse arm may have a length allowing machining on about 1200mm. A tool 4, typically a machining tool, is connected to the transverse arm 3. The tool 4 may comprise in practice a module, such as a multifunctional platform, which connects to the transverse arm 3 via an interface, this module containing at least one working tool (which may be, for example, a machining tool, a measuring means, a tool for depositing a coating). The module of the tool 4 can also comprise other functions, such as the management of the positioning by a set of inertial sensors making it possible to know the position of the working tool, or linear or rotary encoders upstream of the tool. final. The module containing the working tool thus serves to ensure the mechanical connection of the tool 4 to the transverse arm 3, to provide the energies necessary for the operation of the working tool, and to ensure the functionality thereof through various means. peripherals such as cylinders, sensors, etc. The module of the tool 4 can also manage the orthogonality of the transverse arm by a system composed of position sensors type PSD (Position Sensitive Device). The tool 4 is, in the example shown here, 5 shaped to move in translation along the transverse arm 3. The tool 4 is in sliding connection with the transverse arm 3. The tool 4 may in particular be a actual machining means or a machining means attached to a support itself linked to the transverse arm 3. The tool 4 may in particular be a drill, or a drilling tool 10 called "automatic drilling unit". It may also be exemplary and non-exhaustive of a cutting tool, grinding, dimensional control, non-destructive testing for example ultrasonics, blind hole detection, application putty, glue application, paint application.
    [0009] The translation of the tool 4 along the transverse arm 3 can be motorized. The motors driving the movement of the module 2 along the longitudinal rail and / or that of the tool 4 along the transverse arm 3 may be of the "step-by-step" type. They are advantageously associated with an electronic control system (not shown) to ensure control in position. Alternatively, the movement of the tool 4 along the transverse arm 3 can also be achieved by a motor acting on a worm. Thus, the position of the tool can be very precisely controlled in an orthogonal coordinate system having an axis parallel to the longitudinal rail (said position in 25 "x") and an axis parallel to the transverse arm (position called "y"). Any other device known in the state of the art for controlling and controlling the position of the tool along these two axes can also be used. The tool can also, according to various variants of the invention, be steered in orientation along three orthogonal axes of rotation, or in one or two of these three axes.
    [0010] The transverse arm 3 of the machine tool comprises a unit 5. The unit 5 is fixed to a second end 32 of the transverse arm 3. According to the dimensioning of the machine tool, the unit 5 may comprise one to several elementary units. The unit 5 is motorized, and more particularly comprises a displacement system for crawling on the piece P parallel to the longitudinal rail. In the example shown here, the unit 5 comprises several elementary units 5a, 5b, 5c and 5d which are fixed to the transverse arm 3 each by a connecting element 7. Each elementary unit 5a-5d is articulated with respect to the arm transverse along an axis pivot (A) parallel to said transverse arm. Each elementary unit 5a-5d comprises at least one suction cup, powered by a vacuum generating device (not shown). The suction cup, which is not visible in FIG. 1, makes it possible to keep the unit 5 in position relative to the workpiece P, during an operation on the workpiece P that can generate forces in the workpiece. transverse arm 4. Each elementary unit 5a-5d is here pivotally mounted on a connecting element 7 rigidly connected to the transverse arm 3. The axes (A) of the pivots are typically parallel to the transverse axis 3 and perpendicular to the longitudinal rail 1 so as to allow the units 5 to be in perfect contact with the workpiece P, even if said workpiece P has a pronounced radius of curvature in the direction of the longitudinal rail 1. The movement of the motorized unit is advantageously controlled. by a control device 6. The control device 6 is, in the variant of the invention shown here, linked to the unit 5. The control device 6 can, according to various variants, have various locations and characteristics. The control device 6, as an alternative to a position linked to the unit 5, can be carried by the module 2, or by any other element of the machine tool. It can be outside the machine tool. The control device 6 can also employ the same physical means (computers, etc.) as the means controlling the displacement of the module 2 on the longitudinal rail 1. Finally, the control data from the control device can be transmitted to the control device. unit 5 by wired or wireless means.
    [0011] A control device 6 is intended to synchronize the movement of the motorized unit 5 with that of the module 2 along the longitudinal rail 1. On a flat surface, the movement of the unit 5 must be identical at all times to the movement of the unit 5. of the module 2 along the longitudinal rail 1, to ensure an identical and simultaneous displacement of these elements. By contrast, when the machine tool is used on a surface having a double curvature, for example at the front of the fuselage of an aircraft, the speed of the unit 5 must be different from the speed of the module 2 to ensure that the unit 5 and the module 2 move in a synchronized manner, although the distance to be traveled by the unit 5 and the module 2 is different. The control device 6 allows such a management of the displacements of the unit 5 and the module 2. In addition, the synchronization of the movement of the unit 5 and the module 2 along the longitudinal rail 1 allows a more precise positioning of the arm transversal 3.
    [0012] Finally, the machine tool can be provided with means for determining the forces generated by the transverse arm at its connection with the longitudinal rail in connection with the control device 6. It can typically be sensors or gauges. of constraints, allowing the determination of the torque in the connection between the longitudinal rail 1 and the transverse arm 3.
    [0013] The force determining means are functionally connected to the control device 6. The control device 6 thus receives the measurements of the sensors, and, as a function of these measurements, controls the movement of the unit 5, by its motorization, of so as to minimize the forces generated by the transverse arm at its connection with the longitudinal rail.
    [0014] In general, the machine tool may comprise a set of geometric control means (not shown) making it possible to identify the deformations (bends, twists) likely to affect the accuracy of the positioning of the tool 4, and to correct this positioning via a correction loop.
    [0015] In particular, the control of the displacement of the unit 5, and therefore of the second end 32 of the transverse arm 3, can implement various alternative or complementary devices. A revolution sensor may be used to know and control the rotational position of a wheel or pulley of a track of the displacement system of the unit 5. The tower sensor may be positioned on any rotation of the displacement system: roller, track pulley, pinion, motor shaft, etc. A force sensor may be disposed on the transverse arm 3 together with another force sensor positioned on the longitudinal rail, making it possible to determine the difference in force measured between these two sensors. An angular position sensor may be positioned at the level of the connection between the transverse arm 3 and the longitudinal rail 1, in order to measure the angle formed between the longitudinal rail 1 and the transverse arm 3, and if necessary the distance of angle relative to the theoretical 90 ° between the longitudinal rail 1 and the transverse arm 3. In general, the sensor or sensors implemented are linked to a computer for comparing one or more measured values to a predefined threshold, so if necessary, to apply a correction to the control of the displacement system of the unit 5. In the embodiment shown in FIG. 1, the four elementary units are distributed on either side of the transverse arm 3. L The use of several elementary units may offer several advantages: for example, it is possible to adapt the holding force exerted on the part to the stresses generated by the machining operations. e by choosing to install the correct number of units, or for example to improve the reliability of the system, the failure of one of the units does not necessarily result in the failure of the machine tool. FIG. 2 shows a first particular embodiment of a motorized unit 5, which can be used alone or in a set of elementary units according to various variant embodiments of the invention, in a schematic three-dimensional view. In Figure 2, a connecting element 7 shaped to allow the connection between the unit 5 and the transverse arm is also shown.
    [0016] In FIG. 2, the visible face of the unit 5 carrying the suction cup 51 corresponds to the face intended to face the part P.
    [0017] 3029440 11 Unit 5 is motorized. The motorization unit 5 can control its movement on the part P, parallel to the longitudinal rail 1. The unit 5 shown here comprises a track 52 as a displacement system. The unit 5 thus motorized is adapted to crawl on the piece P parallel to the longitudinal rail 1. In general, a device thus formed to move slowly or crawl on a surface is commonly referred to by the term "chase" or the term anglophone "crawl". More particularly, the unit 5 comprises a track 52 whose tread comprises a plurality of suction cups 51. Each suction cup 51 is supplied with vacuum by a vacuum generating device, or a vacuum generating station, and a supply circuit. in vacuum (not shown). As shown in Figure 3, which shows a schematic view of the interior of the unit shown in Figure 2, the caterpillar 52 may include for example two pulleys 53, at least one is said to be driving, that is, that is to say 15 rotation to drive the web of the track 52. The rotation of the 53 pulleys or motors 53 can be achieved using an electric motor 54 whose output shaft carries a pinion meshing in a toothed belt 54, the latter being engaged on the 53 driving pulleys.
    [0018] The suction cups 51 of the strip are active, supplied with vacuum by a vacuum generating device. The suction cups 51 are thus used as means for holding the unit 5 during the machining of the workpiece P, without the need for an additional suction cup for this function. The unit 5 is thus held against said workpiece by the active suction cups which serve as holding means. In the first embodiment shown here, the suction cups 51 are advantageously supplied with vacuum only when they are in contact with the part P. As the strip of the track 52 moves, the suction cups 51 leaving the contact with the room are no longer put under vacuum, while a depression is generated in the suction cups 51 newly in contact with the room.
    [0019] The distribution of the vacuum to the suction cups 51 can be performed using a distributor 8 having a plurality of vacuum outlets, each outlet being connected to one or more suction cups, for example by means of flexible or hard ducts. Typically, an outlet of the distributor 8 can supply a plurality of suction cups distributed transversely on the tread of the track 52. The distributor 8 is advantageously of the rotary type in this embodiment of the invention, and is synchronized with the movement of the strip. rolling of the caterpillar.
    [0020] Figure 4 schematically shows the main elements of a vacuum distributor 8 according to an alternative embodiment. The dispenser may comprise a distribution pulley 81 carrying air intakes on which are connected the vacuum distribution hoses. The timing pulley 81 may be rotated by a belt as shown in FIG. 3, said belt being itself connected to another pulley of the track or to drive means of the track. The assembly is configured so that the distribution pulley 81 of the rotary distributor 8 makes a complete revolution at each complete revolution of the tread of the track 52 (i.e. whenever a point of the tread 20 returns to its original position). In order to supply only the suction cups 51 in contact with the workpiece, the distribution pulley 81 is here mounted in rotation on a delivery cylinder 82. The air intakes for supplying the suction cups with vacuum 51 are for example distributed over the outer peripheral surface or on a lateral face 25 of the distribution pulley 81. Conduits are formed inside the distribution pulley and open, for example, on a lateral face of the distribution pulley in as many orifices. 83 that the pulley carries air intakes. The distribution cylinder 82 is fixed and is configured to have, facing the orifices of the distribution pulley to be supplied with vacuum, a recess 84 supplied by the vacuum generating means. The recess 84 may typically have a circular arc shape of 90 ° to 180 °, to supply the openings 83 of the distribution pulley located on a corresponding circular arc 13 in a vacuum. The orifices 83 which are thus supplied with vacuum are connected to the suction cups in contact at the instant with the piece P they feed in vacuum. FIG. 5 shows a detailed view of a motorized unit as implemented, alone or in a set of elementary units, in a second embodiment of the invention in which the unit's displacement system. 5 uses a wheel 56. FIG. 6 shows a schematic view of the interior of the unit 5 shown in FIG. 6, in a cross-sectional view of said unit 5 of FIG.
    [0021] The entire unit 5 behaves like a suction cup, thanks to a peripheral skirt 57, mounted around an open face of a cover 59 of the unit 5. The peripheral skirt 57 may be made of a flexible material such as rubber or silicone, or a rigid material such as steel or a rigid plastic material. The skirt 57 advantageously has a low coefficient of friction on the steel, especially in the area intended to be in contact with the part P on which operations are to be performed. Typically, at least this area of the skirt 57 may have a polytetrafluoroethylene coating (also known as Teflon (registered trademark)).
    [0022] In the example shown here, the skirt 57 is rigid. The unit 5 further comprises a bellows 58 intended to press the skirt against the part on which operations are performed, so that the unit 5 adapts to the variations of shape of this piece P. The unit 5 according to the The exemplary embodiment shown in FIGS. 6 and 7 includes an internal structure of the cover 59 within which a vacuum can be established, so that the entire unit 5 forms a suction cup. The internal structure of the unit 5 supports one or more rollers 56. The rollers 56 may advantageously have a high coefficient of friction on the steel. They can be made especially of rubbery material. The rollers 56 are held permanently against the part on which operations are performed. One or more rollers 56 are rotated by an electric motor 54 having an output shaft carrying a drive pinion. The pinion carried by the electric motor 54 is connected to a transmission device which may comprise a toothed belt or a cascade of gears. The frictional forces between the rollers 56 and the part on which they roll allow the unit 5 to move on said workpiece. One or more motorized units 5 according to the embodiment shown in FIGS. 5 and 6 may be mounted at the second end 32 of the transverse arm 3. In particular, two motorized units may be implemented.
    [0023] Figure 7 shows a detail view of a motorized unit as implemented in a third embodiment of the invention. In this third embodiment, the displacement system comprises at least two motorized elements, positioned on either side of a suction cup 51. In the variant shown here, the motorized elements are wheels 56. In another variant not shown, the wheels 56 are replaced by caterpillars. In this embodiment, the unit 5 may comprise one or more groups of two suckers, two motorized elements being positioned on either side of each group of two suckers.
    [0024] In the variant shown here of the third embodiment, the unit 5 comprises eight wheels 56, arranged in pairs on either side of four suction cups. According to non-represented variants of this embodiment, the unit 5 may comprise two, four, six, ten or twelve wheels. The suction cups are made of a material whose coefficient of friction on the surface material of the piece P is low (for example carbon fiber reinforced polymer generally designated by the English acronym CFRP for "Carbon-fiber-reinforced polymer" Or aluminum, with or without a paint-type protective coating), or have a coating whose coefficient of friction on the surface material of the workpiece 30 on which operations are conducted is small. For example, Teflon (Trade Mark) may be used. The vacuum generating device 3029440 allows the vacuum supply of the suction cup (s) 51, or, if appropriate, a suction cup or certain suction cups only of the unit 5. The casters 56 can advantageously have a coefficient high friction on the surface material of the workpiece on which operations are conducted. They can be made especially of rubbery material. The rollers 56 are held permanently against the part on which operations are performed. One or more rollers are rotated using an electric motor 54, an output shaft carries a drive pinion. The pinion carried by the electric motor 54 is linked to a transmission device which may comprise a toothed belt or a cascade of gears. The frictional forces between the rollers 56 and the part on which they roll allow the displacement of the unit 5 on said part. In this third embodiment, as in the two previously described embodiments, several units 5 may be implemented. FIG. 8 schematically shows a machine tool according to one embodiment of the invention implementing the motorized unit of FIG. 7, as well as its immediate environment. In this embodiment, the machine tool has the same general architecture as the machine tool 20 of Figure 1, it differs essentially by the unit 5 implemented. The machine tool comprises in particular a longitudinal rail 1, shown in Figure 8 fixed on a part P on which operations for example machining are to lead. A module 2 is mounted on the longitudinal rail 1 and can move in translation on the latter. A transverse arm 3, orthogonal to the longitudinal rail 25 1, is fixed to the module 2, at a first end 31. The transverse arm 3 can move in translation along the longitudinal rail 1. A tool 4 is connected to the arm transversal 3 via a module. The tool 4 is, in the example shown here, shaped to move in translation along the transverse arm 3. The transverse arm 3 of the machine tool comprises a motorized unit 5 according to the embodiment shown in FIG. 7. The unit 5 is fixed to a second end 32 of the transverse arm 3. It is controlled by the control device 6.
    [0025] In all of the previously described motorized unit embodiments, and particularly in the second and third embodiments, it may be advantageous to vary the force generated by the holding means. Thus, it may be advantageous to vary the depression 5 in the suction cups. For example, when the part on which operations are performed is comparable to a horizontal cylinder, as can be an aircraft fuselage, the force of gravity acting on the unit 5 tends to move it away from the room when an operation is performed in the lower part of the latter, while it tends to press on the part when an operation is performed in the upper part of the latter. Typically, the unit 5 may comprise an accelerometer and / or inertial sensors configured to allow the determination of its position and / or its orientation in order to guarantee a homogeneous behavior of the machine tool regardless of its orientation. In all the embodiments of the invention, the vacuum generating device may be common to the supply of the suction cups 51 and the suction cups 11. Of course, other embodiments or variants of the machine may be used. tool can be envisaged without departing from the scope of the invention.
    [0026] In particular, other means for fixing the longitudinal rail 1 to the piece P may be used, for example magnetic means. In another variant of the invention, the longitudinal rail 1 does not include means for direct attachment to the workpiece. In this variant, the longitudinal rail 1 is not placed on the piece P or in contact with the latter, but is part of a surrounding installation or "workstation". The longitudinal rail 1 is then positioned fixed vis-à-vis the workpiece, by immobilization of the workpiece P relative to the workstation. The machine tool thus developed enables automated or semi-automated operations to be carried out, in particular simple machining operations, on the surface of a large part that can be curved, such as for example a fuselage element. aircraft. Since only one rail is positioned as a longitudinal reference on the part, the developed machine tool can be adapted, according to the embodiment considered, to structures having a double curvature. It is also easy to install, so that typically only one operator may be sufficient to implement it.
    [0027] It allows the realization of operations, for example machining, on a large surface thanks to a long arm length. This is made possible by the immobilization or the permanent control in position of the two ends of the arm during the operations performed on the part, made possible by the implementation of a motorized unit comprising a displacement system for crawling on the workpiece. on which operations are performed, and at least one holding cup in position on said piece. The machine tool developed is also easily reconfigurable, and can accommodate many types of tools for many types of machining, assemblies, or controls.
    权利要求:
    Claims (14)
    [0001]
    REVENDICATIONS1. Machine tool for performing operations on a part comprising: - a longitudinal rail (1) configured to be positioned with respect to the part; - A transverse arm (3), orthogonal to the longitudinal rail (1), having a first end (31) mounted in translation on the longitudinal rail (1); - a tool (4) carried by the transverse arm (3); - At least one motorized unit (5) disposed at a second end (32) of the transverse arm (3) and comprising: o a displacement system for crawling on the workpiece parallel to the longitudinal rail (1); at least one suction cup (51) for holding the unit (5) in position on the workpiece; a vacuum generation device configured to depressurize the suction cup (51); the motorized unit (5) being articulated with respect to the transverse arm according to a pivot axis (A) parallel to said transverse arm.
    [0002]
    2. Machine tool according to claim 1, wherein the displacement system comprises a track (52) whose tread comprises a plurality of suction cups (51).
    [0003]
    The machine tool according to claim 2, further comprising a distributor (8) for distributing the vacuum from the vacuum generating device to the suction cups (51) of the tread of the track (52). 25
    [0004]
    4. Machine tool according to claim 3, wherein the distributor (8) comprises a pulley (81) rotatably mounted on a distribution cylinder (82), the pulley (81) having on one side face orifices (83). regularly distributed in a circle, the distribution cylinder (82) comprising, on a face in contact with the lateral face of the pulley (81) having the orifices (83), a groove (84) in arc of a circle facing at least one of the orifices (83) of the pulley. 3029440 19
    [0005]
    Machine tool according to claim 4, the groove (84) having an arcuate shape extending at an angle of between 90 ° and 180 °.
    [0006]
    Machine tool according to claim 1, wherein the displacement system comprises a motorized wheel (56). 5
    [0007]
    7. Machine tool according to claim 6, wherein the unit 5 comprises an outer cover (59) having an open face around which is disposed a skirt (57) device, the outer cover assembly (59) and skirt ( 57) device forming a suction cup (51) for holding the unit in position on the workpiece. 10
    [0008]
    Machine tool according to claim 7, wherein the peripheral skirt (57) comprises a polytetrafluoroethylene coating.
    [0009]
    9. Machine tool according to claim 1, wherein the displacement system comprises at least two motorized elements positioned on either side of the suction cup (51). 15
    [0010]
    10. Machine tool according to claim 9, wherein the motorized elements are rollers (56) or caterpillars.
    [0011]
    11. Machine tool according to claim 9 or claim 10, comprising one or more groups of two suckers (51), two motorized elements being positioned on either side of each group of two suckers (51).
    [0012]
    12. Machine tool according to one of the preceding claims, comprising two motorized elementary units, distributed on either side of the transverse arm (3).
    [0013]
    13. Machine tool according to one of the preceding claims, wherein the transverse arm comprises a translational tool of the tool in translation along the transverse arm.
    [0014]
    14. Machine tool according to any one of the preceding claims, comprising a device selected from: a lathe sensor connected to a rotating part of the displacement device, a force sensor on the transverse arm and a force sensor on the longitudinal rail, an angular sensor configured to determine the angle between the transverse arm and the longitudinal rail.
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    同族专利:
    公开号 | 公开日
    EP3028807A1|2016-06-08|
    CN105666157B|2018-08-28|
    US9597761B2|2017-03-21|
    EP3028807B1|2017-07-05|
    CN105666157A|2016-06-15|
    US20160158904A1|2016-06-09|
    FR3029440B1|2017-01-13|
    引用文献:
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    US7406758B2|2003-09-05|2008-08-05|The Boeing Company|Apparatus and methods for manufacturing operations|
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    DE102011056197A1|2011-12-08|2013-06-13|Index-Werke Gmbh & Co. Kg Hahn & Tessky|machine tool|
    FR3011494B1|2013-10-08|2016-04-01|Airbus Operations Sas|MACHINE TOOL COMPRISING A LONGITUDINAL RAIL AND A TRANSVERSE ARM|JP6549394B2|2015-03-20|2019-07-24|株式会社Ｓｕｂａｒｕ|Perforating machine and method of manufacturing perforated product|
    JP6703846B2|2016-02-05|2020-06-03|株式会社Ｓｕｂａｒｕ|Punching machine and method for manufacturing punched product|
    FR3060429B1|2016-12-20|2019-07-26|Airbus Operations|MACHINE TOOL HAVING MOUNTING CONFIGURATION WITH DOOR-A-FALSE TOOL|
    IT201700116482A1|2017-10-16|2019-04-16|Tecnomac Srl|TOGETHER TO CARRY OUT CONTROL OR PROCESSING OPERATIONS|
    CN107538042B|2017-10-19|2019-05-03|南京航空航天大学|A kind of the circular orbit punching system and its operation method of rigid flexible system|
    法律状态:
    2015-12-21| PLFP| Fee payment|Year of fee payment: 2 |
    2016-06-10| PLSC| Search report ready|Effective date: 20160610 |
    2016-12-22| PLFP| Fee payment|Year of fee payment: 3 |
    2018-09-28| ST| Notification of lapse|Effective date: 20180831 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1461847A|FR3029440B1|2014-12-03|2014-12-03|MACHINE TOOL COMPRISING A LONGITUDINAL RAIL, A TRANSVERSE ARM, AND A MOTORIZED UNIT|FR1461847A| FR3029440B1|2014-12-03|2014-12-03|MACHINE TOOL COMPRISING A LONGITUDINAL RAIL, A TRANSVERSE ARM, AND A MOTORIZED UNIT|
    EP15192720.9A| EP3028807B1|2014-12-03|2015-11-03|Machine tool comprising a longitudinal rail, a transverse arm and a motor unit|
    US14/956,182| US9597761B2|2014-12-03|2015-12-01|Machine tool comprising a longitudinal rail, a transverse arm, and a motorized unit|
    CN201510860764.2A| CN105666157B|2014-12-03|2015-12-01|Include the toolroom machine of long rails, transverse arm and motorised units|
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