• 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 tool support system (10) for working holes (54) of a surface (52), said tool support system (100) comprising: - two rails (102a-b) fixed on the surface (52) having fingerprints (104) uniformly distributed over their lengths; - a movable tool support (100) comprising: - an optical system (115) capturing an image of the surface (52) and movable, - for each rail (102a-b), at least one wheel (120a-b, 130a-b) displaceable on said rail (102a-b), and having on its tread complementary counterprints (124) of the cavities (104); a movable tool (114) carrying a work tip (150); a control unit (113) configured to control the movements of the movable tool support (100), the tool (114) and the optical system (115), for analyzing an image captured by the optical system (115) and for detecting the presence of a hole (54). Such a tool support system can move without sliding along the rails while detecting the holes to work.
    公开号:FR3039450A1
    申请号:FR1557253
    申请日:2015-07-29
    公开日:2017-02-03
    发明作者:Plu Marion Jesu；Marc Lelay；Henaff Perig Le；Giovanni Loiacono；Fabio Vaselli
    申请人:Airbus Operations SAS；
    IPC主号:
    专利说明:

    Tool-support system
    TECHNICAL AREA
    The present invention relates to a tool-support system for a tool, such as a screwdriver, for automatically positioning the tool relative to holes at which said tool is to intervene, for example to screw a screw, and a method of operating such a tool-support system. Such a tool-support system can be used in particular for a screwdriver in connection with fixing screws in a floor of an aircraft.
    STATE OF THE PRIOR ART
    In the context of the construction of an aircraft having a floor, it is necessary to fix said floor with screws. The positions of the screws vary from one aircraft to another, and there is no solution for automatically screwing each of the screws. The solution currently implemented is for an operator to visually identify each hole and screw a screw. Such a solution requires the operator to remain in the low position or at the knee, which are relatively unpleasant positions in the long term.
    SUMMARY OF THE INVENTION
    An object of the present invention is to provide a tool support system which does not have the drawbacks of the prior art and which in particular allows the positioning of a tool with respect to the holes that the floor presents and the activation. of the tool after this positioning, such as for example the automatic tightening of a screw in each of the holes of a floor. For this purpose, a tool-support system is proposed for working holes of a surface, said support-tool system comprising: a first and a second rail parallel to each other and fixed on the surface, each of the rails having impressions evenly spaced along its length, and - a mobile tool holder comprising: - an optical system configured to capture at least one image of the surface and able to be moved on the movable tool support, - for each rail, at least one wheel adapted to be displaced on said rail, and - a tool able to be moved on the movable tool support and carrying a work tip, - a control unit configured to control the movement of the movable tool support on the rails, the moving the tool and moving the optical system on the movable tool support, said tool support system being such that, for each rail, at least one of the at least one wheel moving on said rail comprises on its tread, against-imprints, each having a shape complementary to that of the imprints of said rail and such that the control unit is configured to: - analyze an image captured by the optical system and detect the presence and a actual position of a hole, - calculate the distance between the actual position of the hole and an expected position of the hole and compare that distance to a predefined threshold, and - check whether the part of the surface that can be reached by the tool has been fully scanned by the optical system.
    Such a tool support system can move without sliding along the rails while detecting the holes to apply an action, such as screwing a screw. The tool-support system does not require the intervention of the operator, thus facilitating his work.
    Advantageously, each imprint is a piercing and each counterprint is a spur.
    Advantageously, the tool support comprises: a driving carriage comprising a driving chassis, a longitudinal slide slidably mounted on the chassis leading parallel to a longitudinal direction of the rails, a first motorized drive system arranged to move the longitudinal slide along the driving frame, and two driving wheels, each being motorized and mounted rotatably on the chassis leading around an axis of rotation parallel to the plane of the first rail and perpendicular to the longitudinal direction, each of the two driving wheels being provided with counter imprints, - a driven carriage comprising a driven frame, and two driven wheels, each being mounted free to rotate on the chassis driven about an axis of rotation parallel to the plane of the second rail and perpendicular to the longitudinal direction, each of the two driven wheels being provided with counterprints, - an assembly bar comprising a a beam having a first end secured to the longitudinal slide, a transverse slide slidably mounted on the beam parallel to a transverse direction parallel to the surface and perpendicular to the longitudinal direction, a second motorized drive system arranged to move the transverse slide in translation along the beam parallel to the transverse direction, and a self-locking adjustment slide and slidably mounted on the beam in the transverse direction and secured to the driven frame, - a support module comprising a shoe integral with the transverse slide, a mounted frame sliding on the shoe in a vertical direction and on which is fixed the tool, and a third motorized drive system arranged to move the frame in translation relative to the shoe parallel to the vertical direction.
    Advantageously, the optical system is fixed on the support module. The invention also provides a method of operating a previous tool support system, comprising: - a moving step in which the control unit controls the movement of the optical system over an expected position of a hole, a capture step during which the optical system captures an image of said zone and transmits it to the control unit, an analysis step during which the control unit analyzes the image of said zone to detect the hole and its actual position, - if the actual position does not correspond to the expected position, a positioning step during which the control unit controls the movement of the tool, in order to position the work tip vertically of said hole thus detected, and a looping step during which the process loops on the capture step, - if the actual position of the hole corresponds to the position expected from said hole, a lowering step in which the control unit controls the descent of the tool to position the tip of the tool in the working position, - a work step in which the control unit controls the tool to make it work, - a recovery step during which the control unit controls the reassembly of the tool, - a verification step during which the control unit checks whether the part of the surface that can be reached by the tool has been completely scanned by the optical system, - if not, a second looping step during which the process loops on the step of moving, - if yes, a step in which the control unit controls the movement of the tool support over another part of the surface to be scanned, and a third looping step during which the looping process r the displacement stage.
    Advantageously, the operating method comprises between the work step and the recovery step, a result step during which the tool sends the control unit data relating to the work performed, and the unit of control stores these data.
    BRIEF DESCRIPTION OF THE DRAWINGS
    The characteristics of the invention mentioned above, as well as others, will appear more clearly on reading the following description of an exemplary embodiment, said description being made in connection with the attached drawings, among which: FIG. . 1 shows a perspective view of a tool support system according to the invention, FIG. 2 shows an algorithm of a method of operation of the tool support system according to the invention, and FIG. 3 is a schematic representation of a control unit.
    DETAILED DESCRIPTION OF EMBODIMENTS
    In the following description, the terms relating to a position are taken with reference to a tool support system arranged on a part such as an aircraft floor for example, that is to say as it is represented on FIG. 1.
    Fig. 1 shows a tool support system 10 which is positioned on a surface 52 of a workpiece 50 such as for example an aircraft floor which has a plurality of holes 54. The tool support system 10 is intended to work the holes 54, such as for example to screw a screw in each of the holes 54 when the tool is a screwdriver, or to bore each of the holes when the tool is a drill.
    The tool support system 10 comprises a first and a second rail 102a-b, each extending in the same longitudinal direction 103, fixed on the surface 52 of the part 50 and having imprints 104 regularly distributed over its length.
    The support-tool system 10 also comprises: an optical system 115 configured to capture at least one image of the surface 52 and able to be displaced on the movable tool support 100, for each rail 102a-b, at least one 120a-b, 130a-b wheel adapted to be moved on said rail 102a-b, and a tool 114 able to be moved on the movable tool support 100 and carrying a work tip 150, a control unit 113 configured for controlling the movement of the movable tool support 100 on the rails 102a-b and the movement of the tool 114 on the movable tool support 100.
    Each rail 102a-b may be an element of the part 50. For example in the case of an aircraft floor, each rail 102a-b is the rail on which the seats are fixed.
    In order to move the optical system 115, the tool 114, the movable tool support 100 comprise appropriate mechanisms that allow these movements relative to the wheels 120a-b, 130a-b.
    To prevent slippage of the wheels 120a-b, 130a-b on the rails 102a-b, for each rail 102a-b, at least one of the at least one wheel 120a-b, 130a-b moving on said rail 102a b has on its tread against-imprints 124, each having a shape complementary to that of the imprints 104 of the rail 102a-b.
    In the embodiment of the invention shown in FIG. 1, there are four wheels 120a-b, 130a-b, namely two for each rail 102a-b, and the four are provided with against-imprints 124.
    The fingerprints 104 are here holes regularly arranged one after the other. The against-imprints 124 are lugs arranged one after the other along the tread of each driving wheel 120a-b. The cooperation of the imprints 104 and against-imprints 124 prevents the sliding of the driving wheels 120a-b on the surface 52 and ensures a linear displacement along the first rail 102a.
    In order to control the different displacements and the general operation of the tool support system 10 which is described hereinafter, the control unit 113 is further configured to: - analyze an image captured by the optical system 115 and detect the presence and a real position of a hole 54, - calculating the distance between the actual position of the hole 54 and an expected position of the hole and comparing this distance with a predefined threshold, and - checking whether the portion of the surface 52 that can be reached by the tool 114 has been fully scanned by the optical system.
    The optical system 115 consists for example of a camera whose sensor is oriented towards the surface 52.
    In the embodiment of the invention shown in FIG. 1, the tool support 100 further comprises: - a driving carriage 106, - a driven carriage 108, - an assembly bar 110, and - a support module 112.
    The driving carriage 106 comprises: a driving chassis 116 which here takes the form of a bar extending in the longitudinal direction 103; a longitudinal slide 118 slidably mounted on the driving chassis 116 parallel to the longitudinal direction 103; first motorized drive system arranged in the driving frame 116 to cooperate with the longitudinal slide 118 to move it in translation along the driving frame 116 parallel to the longitudinal direction 103, and - two driving wheels 120a-b, each being motorized and rotatably mounted on the driving frame 116 about an axis of rotation 122 parallel to the plane of the first rail 102a and perpendicular to the longitudinal direction 103 of the first rail 102a, each driving wheel 120a-b having on its tread, counterprints 124.
    Each driving wheel 120a-b is rotated by a motor 126 fixed to the driving frame 116. The introduction of two motors 126 allows the use of lighter engines which avoids having to provide a structural reinforcement of the chassis leading 116.
    The first motorized drive system is for example a system comprising a worm whose axis is parallel to the longitudinal direction 103 and a motor designed to drive in rotation the worm. The worm then meshes with a nut of the longitudinal slide 118 to move it in translation in one direction or another depending on the direction of rotation of the worm. The translational guidance of the longitudinal slide 118 is provided here by two parallel grooves 119 which the driving frame 116 has for this purpose.
    In order to control the rotation of the driving wheels 120a-b and the displacement of the longitudinal slide 118, the control unit 113 is configured to control the motors 126, and the first motorized drive system.
    The driven carriage 108 comprises: - a driven frame 128 which here takes the form of a bar extending in the longitudinal direction 103, and - two driven wheels 130a-b, each being mounted free to rotate on the driven frame 128 around an axis of rotation 132 parallel to the plane of the second rail 102b and perpendicular to the longitudinal direction 103 of the second rail 102b. Each driven wheel 130a-b comprises on its tread, against-footprints 124.
    The assembly bar 110 comprises: a beam 134 having a first end and a second end, the first end being integral with the longitudinal slide 118, a transverse slide 136 slidably mounted on the beam 134 parallel to a transverse direction 138 parallel to the plane of the rails 102a-b and perpendicular to the longitudinal direction 103 of the rails 102a-b, - a second motorized drive system arranged in the beam 134 to cooperate with the transverse slide 136 in order to move it in translation along the beam 134 parallel to the transverse direction 138, and - an adjustment slide 140 self-locking and slidably mounted on the beam 134 in the transverse direction 138 and integral with the driven frame 128.
    The adjustment slide 140 moves between the first end and the second end.
    The second motorized drive system is for example a system comprising a worm whose axis is parallel to the transverse direction 138 and a motor designed to drive the worm in rotation. The worm then meshes with a nut of the transverse slide 136 to move it in translation in one direction or another depending on the direction of rotation of the worm. The translational guidance of the transverse slide 136 is provided here by two parallel grooves 137 that the beam 134 has for this purpose.
    In order to control the movement of the cross slide 136, the control unit 113 is configured to control the second motorized drive system.
    The slide connection which ensures the translation of the adjustment slide 140 is provided by a linear guide system. In the embodiment of the invention shown in FIG. 1, the linear guide system consists of a T-rail 152 fixed under the beam 134 and a groove 154 that the adjustment slide 140 has and which allows it to slip on the T-rail 152.
    The linear guide system also comprises a manual brake 154 arranged on the adjustment slide 140 and which must be maneuvered by the operator to release the adjustment slide 140 and allow it to move freely in translation along the T-rail 152. In the embodiment of the invention presented here, the manual brake 154 takes the form of a set screw which is clamped against the beam 134. Other embodiments are possible for the manual brake 154.
    For example, the manual brake may consist of a set of notches made along the beam 134 and a stud mounted on spring and movable between an engaged position in which the stud is engaged with a notch to lock the slide of adjustment 140 and a triggered position in which the stud is spaced from the notch and releases the adjustment slide 140, the spring binding the stud in the engaged position.
    In another example, the manual brake may be a handle that can be screwed and a portion of which bears against the T-rail 152.
    The support module 112 comprises: - a shoe 142 secured to the transverse slide 136, - a frame 144 slidably mounted on the shoe 142 in a vertical direction 146 perpendicular to the plane of the rails 102a-b and on which the tool 114 is fixed, and a third motorized drive system arranged in the shoe 142 to cooperate with the frame 144 in order to move it in translation relative to the shoe 142 parallel to the vertical direction 146.
    The fastener of the screwdriver 114 on the frame 144 is made by all types of suitable fastening means 148 such as for example a clamping system.
    The third motorized drive system is for example a system comprising a worm whose axis is parallel to the vertical direction 146 and a motor designed to drive in rotation the worm. The worm then meshes with a nut of the frame 144 to move it in translation in one direction or another depending on the direction of rotation of the worm.
    In order to control the movement of the frame 144, the control unit 113 is configured to control the third motorized drive system. The tool 114 has a work tip 150, such as a screwdriver bit or a drill bit.
    The optical system 115 is fixed on the support module 112 and, more particularly, on the frame 144.
    Fig. 3 is a schematic representation of the control unit 113 which conventionally comprises, connected by a communication bus 302: a processor or CPU 304 ("Central Processing Unit" in English), a random access memory RAM 306 ("Random Access Memory" in English), a ROM 308 ("Read Only Memory" in English), a storage unit and at least one communication interface 310, for communicating with the optical system 115, the tool 114, the motors 126 of the 120a-b drive wheels and drive system motors.
    The processor is capable of executing instructions loaded into the RAM 306 from the ROM 308. When the equipment is turned on, the processor 304 is able to read instructions from RAM 306 and execute them. These instructions form a computer program causing the processor 304 to implement all or some of the algorithms and steps described below.
    Fig. 2 shows an algorithm 200 of a method of operation of the tool-support system 10.
    The establishment of the tool support system 10 over a portion of the surface 52 consists in placing the driving wheels 120a-b on the first rail 102a and the driven wheels 130a-b on the second rail 102b. the against-imprints 124 are in engagement with the imprints 104 and initialize the position of the optical system 115 at a position serving as a geometric reference. The control unit 113, and more particularly the RAM 306, is loaded with a computer-aided design (CAD) file, in which are recorded the expected coordinates of the holes 54 relative to the geometrical reference.
    The operating method then comprises: a displacement step 204 during which the control unit 113 controls the movement of the optical system 115 over an expected position of a hole 54, in particular by moving at least one of the longitudinal slide 118 and the transverse slide 136 via the appropriate drive system; a capture step 205 during which the optical system 115 captures an image of said zone and transmits it to the control unit. control 113, - an analysis step 206 during which the control unit 113 analyzes the image of said zone to detect the hole 54 and its real position, - if the real position does not correspond to the expected position, a positioning step 210 during which the control unit 113 controls the movement of the tool 114 in order to position the work tip 150 vertically of said hole 54 thus detaches ecté, in particular by moving at least one of the longitudinal slide 118, the transverse slide 136 through the drive system, and a looping step 211 during which the method loops on the capture step 205, if the actual position corresponds to the expected position, a lowering step 212 during which the control unit 113 controls the descent of the tool 114, in particular by lowering the frame 144 via the third system drive, for positioning the work tip 150 in the working position, - a work step 214 in which the control unit 113 controls the tool 114 to make it work, - a raising step 216 at during which the control unit 113 controls the raising of the tool 114, in particular by raising the frame 144 via the third drive system, - a step of e verification 218 during which the control unit 113 checks whether the part of the surface 52 that can be reached by the tool 114, in particular the part between the driving carriage 106 and the driven carriage 108, has been completely scanned by the optical system 115, - if not, a second looping step 220 during which the method loops on the displacement step 204, - if yes, a step of setting up 222 during which the unit of control 113 controls the movement of the tool support 100, in particular by rotating the driving wheels 120a-b, in order to move the tool support 100 over another part of the surface 52 to be scanned, and - a third step loopback 224 during which the process loops on the step of moving 204.
    Such a method and such a tool support system allow automatic detection of the holes 54 and the achievement of work at each hole 54, while scanning the entire surface 52, thus facilitating the work of the operator L ' analysis step 206 consists of analyzing the captured image in order to deduce the actual position of the hole 54. This analysis is performed on the basis of an appropriate image processing system such as the CV-X100 system. KEYENCE company and looking in the image the existence of the hole 54 by pattern recognition and calculates the coordinates of each hole 54 seen. The positioning step 210 consists, by successive looping, to correctly place the work tip 150, for example the face piece or the wick relative to the hole 54. This setting in position is based in particular on the characteristics In fact, the position of the optical system 115 with respect to the work tip 150 is known by construction, and the position of the hole 54 relative to the optical system 115 is known from the step. 206. The control unit 113 can then deduce the position of the hole 54 relative to the work tip 150 and move the longitudinal slide 118 and / or the transverse slide 136 and / or the driving wheels 120a. b to position the work tip 150 vertically of the hole 54. More particularly, if the distance between the actual position of the hole 54 and the expected position of the hole 54 is less than a predefined threshold, the step of sitioning 210 is not performed. The predefined threshold is linked inter alia to the geometrical tolerances and the operating clearances of the different moving parts. The verification step 218 makes it possible, when the entire area of the surface 52 between the driving carriage 106 and the driven carriage 108 has been scanned by the optical system 115, to move the tool support 100 to place it on top of the a new area to be scanned during the reset step 222.
    In the embodiment of the invention shown in FIG. 1, the control unit 113 is arranged to control the first drive system to move the longitudinal slide 118, the second drive system to move the cross slide 136, the appropriate motor to move the driving wheels 120a. -b, the third drive system for lowering and raising the frame 144, and the tool 114.
    In the case where the tool 114 is a screwdriver, the tool support system 10 also comprises a feed unit 170. The feed unit 170 comprises a reservoir 172 for storing the screws, for example of the bowl type. vibrating, a transfer tube 174 connected, for example pneumatically, to the reservoir 172 and arranged to allow a screw of the tank 172 to place its head under the screwdriver bit 150. The feed unit 170 can be fixed on the one of the carriages 106, 108 or on the assembly bar 110, or be arranged fixed next to it. Such a power unit 170 is known to those skilled in the art and allows as soon as a screw is screwed and extracted from the transfer tube 174, to bring a new screw under the screwdriver tip 150. Such a unit The power supply 170 is for example a system of the company FIAM and referred to as the "Autofeed Tightening Module". The lowering step 212 then consists more particularly in bringing the threaded rod of the screw, present under the screwdriver bit 150, into the hole 54, and the screwdriver bit 150 against the head of the screw. The working step 214 then consists more particularly in rotating the screwdriver bit 150 in the screwing direction of the screw, while controlling the frame 144 downhill to follow the screw during its insertion into the hole 54. D in general, the operating method 200 may comprise, between the working step 214 and the raising step 216, a result step during which the tool 114 sends to the control unit 113 data relating to the work performed, and the control unit 113 stores these data in its RAM 306. All of these data can then be consulted by the operator who can thus check whether the work of the tool has been perfectly unrolled at each hole 54.
    These data are, for example, data relating to the fact that the work was done well or poorly and that there was a problem.
    In the case where the tool 114 is a screwdriver, the data relating to the work performed consist for example for the screwdriver to count the number of revolutions which had to turn the screw to achieve a predefined tightening torque. Thus, if the number of turns is insufficient compared to a predefined interval, it means for example that the screw has locked before reaching the expected final position, and if the number of turns is too large compared to the predefined interval, this means that the screw has turned in a vacuum and is potentially damaged.
    权利要求:
    Claims (6)
    [1" id="c-fr-0001]
    1) Support-tool system (10) for working holes (54) of a surface (52), said tool support system (10) being characterized in that it comprises: - a first and a second rail (102a-b) parallel to each other and fixed on the surface (52), each of the rails (102a-b) having impressions (104) uniformly distributed over its length, and - a movable tool support (100) comprising: an optical system (115) configured to capture at least one image of the surface (52) and able to be displaced on the movable tool support (100), - for each rail (102a-b), at least one wheel ( 120a-b, 130a-b) adapted to be displaced on said rail (102a-b), and - a tool (114) movable on the movable tool support (100) and carrying a work tip (150) a control unit (113) configured to control the movement of the movable tool support (100) on the rails (102a-b), the movement of the tool (114) and the movement of the an optical system (115) on the movable tool support (100), said tool support system (10) being such that, for each rail (102a-b), at least one of the at least one wheel (120a-b) , 130a-b) moving on said rail (102a-b) has on its tread of against-imprints (124), each having a shape complementary to that of the imprints (104) of said rail (102a-b) and such the control unit (113) is configured to: - analyze an image captured by the optical system (115) and detect the presence and actual position of a hole (54), - calculate the distance between the actual position of the hole (54) and an expected position of the hole and compare this distance with a predefined threshold, and - check whether the part of the surface (52) that can be reached by the tool (114) has been completely scanned by the optical system.
    [0002]
    2) Support-tool system (10) according to claim 1, characterized in that each imprint (104) is a bore and in that each against-imprint (124) is a lug.
    [0003]
    3) A tool support system (10) according to any one of the preceding claims, characterized in that the tool support (100) comprises: - a trolley (106) having a driving frame (116), a longitudinal slider (118) slidably mounted on the driving frame (116) parallel to a longitudinal direction (103) of the rails (102a-b), a first motorized drive system arranged to move the longitudinal slide (118) along the driving frame ( 116), and two driving wheels (120a-b), each being motorized and rotatably mounted on the driving frame (116) about an axis of rotation (122) parallel to the plane of the first rail (102a) and perpendicular to the longitudinal direction (103), each of the two driving wheels (120a-b) being provided with counterprints (124), - a driven carriage (108) having a driven frame (128), and two driven wheels (130a-b ), each being mounted free to rotate on the chassis men (128) about an axis of rotation (132) parallel to the plane of the second rail (102b) and perpendicular to the longitudinal direction (103), each of the two driven wheels (130a-b) being provided with counterprints ( 124), - an assembly bar (110) comprising a beam (134) having a first end secured to the longitudinal slide (118), a transverse slide (136) slidably mounted on the beam (134) parallel to a transverse direction ( 138) parallel to the surface (52) and perpendicular to the longitudinal direction (103), a second motorized drive system arranged to move the transverse slide (136) in translation along the beam (134) parallel to the transverse direction (138), and an adjustment slide (140) self-locking and slidably mounted on the beam (134) in the transverse direction (138) and secured to the driven frame (128), - a support module (112) having a abot (142) secured to the transverse slide (136), a frame (144) slidably mounted on the shoe (142) in a vertical direction (146) and on which is fixed the tool (114), and a third system of motorized drive arranged to move the frame (144) in translation relative to the shoe (142) parallel to the vertical direction (146).
    [0004]
    4) A tool support system (10) according to claim 3, characterized in that the optical system (115) is attached to the support module (112).
    [0005]
    A method of operating (200) a tool support system (10) according to claim 1, comprising: - a moving step (204) during which the control unit (113) controls the movement of the an optical system (115) over an expected position of a hole (54); - a capture step (205) during which the optical system (115) captures an image of said area and transmits it to the control unit (113), - an analysis step (206) during which the control unit (113) analyzes the image of said area to detect the hole (54) and its actual position, - if the actual position does not correspond to the expected position, a positioning step (210) during which the control unit (113) controls the movement of the tool (114), in order to position the work tip ( 150) vertically of said hole (54) thus detected, and a looping step (211) during which the loop method on the capture step (205), - if the actual position of the hole (54) corresponds to the expected position of said hole (54), a lowering step (212) during which the control unit (113) ) controls the descent of the tool (114) to position the bit (150) of the tool (114) in working position, - a work step (214) in which the control unit (113) ) controls the tool (114) to make it work, - a raising step (216) during which the control unit (113) controls the raising of the tool (114), - a verification step ( 218) during which the control unit (113) verifies whether the portion of the surface (52) attainable by the tool (114) has been fully scanned by the optical system (115), - if not, a second looping step (220) during which the process loops on the step of moving (204), - if yes, a step of setting up (222) during wherein the control unit (113) controls movement of the tool support (100) over another portion of the surface (52) to be scanned, and - a third loopback step (224) in which the process loops on the moving step (204).
    [0006]
    6) A method of operation (200) according to claim 5, characterized in that it comprises between the step of work (214) and the step of raising (216), a step of result during which the tool (114) sends data relating to the work performed to the control unit (113), and the control unit (113) stores this data.
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    同族专利:
    公开号 | 公开日
    US20170028520A1|2017-02-02|
    CN106393012B|2019-10-22|
    EP3124172A1|2017-02-01|
    FR3039450B1|2017-08-11|
    EP3124172B1|2018-04-18|
    CN106393012A|2017-02-15|
    US10183367B2|2019-01-22|
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    法律状态:
    2016-07-21| PLFP| Fee payment|Year of fee payment: 2 |
    2017-02-03| PLSC| Search report ready|Effective date: 20170203 |
    2017-07-24| PLFP| Fee payment|Year of fee payment: 3 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1557253A|FR3039450B1|2015-07-29|2015-07-29|TOOL SUPPORT SYSTEM|FR1557253A| FR3039450B1|2015-07-29|2015-07-29|TOOL SUPPORT SYSTEM|
    US15/217,438| US10183367B2|2015-07-29|2016-07-22|Tool-support system|
    CN201610606070.0A| CN106393012B|2015-07-29|2016-07-28|Tool support system and its operating method|
    EP16181627.7A| EP3124172B1|2015-07-29|2016-07-28|Tool-supporting system|
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