• 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 present invention relates to an automatic or controlled feed rate drilling device comprising a housing housing a drilling spindle for driving a cutting tool in motion to pierce a workpiece comprising a driving surface. According to the invention, said pin is tiltable inside said casing with respect to the axis of said casing, said device comprising means of self-alignment of said pin with respect to said driving surface, said means of self alignment moving said pin into a position in which its axis is substantially perpendicular to said driving surface under the effect of applying a thrust force of said piercing device against said driving surface substantially along the axis of said casing.
    公开号:FR3054463A1
    申请号:FR1657425
    申请日:2016-07-29
    公开日:2018-02-02
    发明作者:Sebastien Pereira
    申请人:Seti Tec SAS；
    IPC主号:
    专利说明:

    © Publication no .: 3,054,463 (to be used only for reproduction orders)
    ©) National registration number: 16 57425 ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY
    COURBEVOIE
    ©) Int Cl 8 : B 23 B 39/14 (2017.01), B 25 J 18/04
    A1 PATENT APPLICATION
    ©) Date of filing: 07.29.16.(30) Priority: © Applicant (s): SETI-TEC— FR. ©) Inventor (s): PEREIRA SEBASTIEN. @) Date of public availability of the request: 02.02.18 Bulletin 18/05. (56) List of documents cited in the preliminary search report: See the end of this brochure (© References to other related national documents: ©) Holder (s): SETI-TEC. ©) Extension request (s): @) Agent (s): CABINET PATRICE VIDON.
    AUTOMATIC OR CONTROLLED FEED SPEED WITH AUTO SPINDLE
    ALIGNING DRILLING DEVICE.
    FR 3 054 463 - A1 _ The present invention relates to a drilling device with automatic or controlled speed of advance comprising a housing housing a drilling spindle intended to drive a cutting tool in movement for drilling a workpiece comprising an attack surface .
    According to the invention, said spindle is tiltable inside said casing relative to the axis of said casing, said device comprising means for self-alignment of said spindle with respect to said attack surface, said self means alignment displacing said spindle in a position in which its axis is essentially perpendicular to said attack surface under the effect of an application of a pushing force of said piercing device against said attack surface essentially along the axis of said casing.

    i
    Drilling device with automatic or controlled feed speed with self-aligning spindle
    1. Field of the invention
    The field of the invention is that of the design and manufacture of drilling devices more commonly called drills.
    More specifically, the invention relates to a drilling or drilling device with automatic or controlled advance speed.
    2. Prior art
    Drills are known of which the drilling spindle, which is intended to drive a cutting tool like a drill, can be simultaneously driven in rotation and in translation along a same axis to perform a drilling operation. These drills include drills with automatic feed speed on the one hand and drills with controlled feed speed on the other hand.
    Drills with automatic feed speed include a single motor which both drives the drilling spindle in rotation and in translation along the same axis. It is then not possible to vary on the one hand the frequency of rotation and on the other hand the speed of advance of the drilling spindle.
    Drills with controlled feed speed include a rotation motor which enables the drilling spindle to rotate, and a feed motor which enables the movement of the drill drilling spindle (translation along its axis of rotation). It is thus possible to vary on the one hand the frequency of rotation and on the other hand the speed of advance of the drilling spindle.
    These drills are used in certain industrial fields, in particular in the aeronautical industry during the manufacture of aircraft.
    The planes include a fuselage, housing the cockpit, which provides the link between the wings and the tail.
    The fuselage generally comprises a skeleton made up of a plurality of frames linked together by means of stringers and side members. Panels are secured around the skeleton, for example by screwing or riveting.
    During the construction of an aircraft, the panels are attached around the skeleton for attachment. Prior to their joining, holes must be made through the panels and the skeleton to allow the passage of the fastening elements ensuring their joining.
    These holes are made during counter-drilling phases which consist in drilling, during the same operation, both the panels and the skeleton elements to which they must be fixed.
    For this purpose, drilling grids are attached near the assembly consisting of the skeleton and the panels to be assembled. These drilling grids, which are traversed by a plurality of drilling holes, thus form a sort of drilling template. To ensure the drilling of a hole at a drilling hole in the grid, a drill with controlled feed speed is secured at this hole by means of attachment provided for this purpose, such as collars expandable.
    During a counter-drilling operation, the drill with controlled feed speed is implemented so that the drilling spindle, and the cutting tool which is integral therewith, are simultaneously driven in rotation and in translation according to the same axis. The cutting tool then pierces the panel then the corresponding skeleton element, or vice versa depending on whether the piercing grid and the drill are located on the inside or outside of the fuselage. Means for automatic return of the drilling spindle are implemented so that the cutting tool is extracted from the drilling made and returned to its initial position at the end of the drilling cycle.
    To make a new drilling, the drill must be moved manually to the corresponding drilling hole of the drilling grid. The drill is thus moved manually by an operator between each drilling.
    The use of the drilling grids and of the means of fixing the drill to the latter makes it possible on the one hand to achieve a precise positioning of the drill relative to the structure to be drilled and on the other hand to ensure maintenance rigid of the drill during each drilling. This guarantees good accuracy of the hole made.
    Manual movement of the drill after each drilling is a long and tedious operation for the operator who is responsible for it. It can therefore affect productivity.
    In order to improve the productivity and flexibility of the means of production, in particular in the aeronautical industry, the use of drilling grids has been substituted for that of drilling robots to keep the drill in position. during drilling and to move the drill between each drilling.
    A drilling robot includes a manipulator arm at the end of which is fixed a drill with controlled feed speed.
    The motorization, transmission and measurement organs conventionally used in a drill with controlled feed speed constitute a standard assembly called an effector.
    A removable drilling module, comprising the drilling spindle, the cutting tool as well as the specific elements thereof such as for example the means for fixing the tool to the drilling spindle, the transmission elements with the reports ad hoc reduction in rotation frequency and feed speed, and a memory containing data specific to the tool (service life, cutting speed, feed speed, ...) can be combined with reversible to the effector.
    The fixing and adjustment of the cutting tool on such a module are generally carried out by the tool department of a factory. These drilling modules provided with their cutting tool can be stored in a store accessible to the robot from which it can draw to automatically change the drilling module in order to carry out the drilling operations assigned to it.
    The dimensional tolerances of the holes are generally very small, in particular as regards the perpendicularity of the holes relative to the surface of the part to be drilled. The defect in the perpendicularity of the axis of a bore relative to the drilled surface should generally not exceed 0.5 °.
    The robot must therefore perfectly position the drill relative to the surface to be drilled so that the axis of the drilling spindle is oriented relative to the surface to be drilled in such a way that the dimensional tolerances of the holes are respected.
    In order to ensure a suitable positioning by the robot of the drill relative to the surface to be drilled, the robot takes into account a virtual representation, of the CAD model type, of the structure to be drilled. On the basis of such a representation, it is commanded to position the drill at each theoretical drilling location where it must be located to perform the drilling.
    However, there are dimensional differences between the virtual model, which is only a theoretical representation of reality, and the actual structure to be pierced.
    The mere consideration of such a virtual model to ensure the positioning of the drill by the robot therefore does not make it possible to obtain a positioning that is precise enough to respect dimensional tolerances, in particular with regard to perpendicularity.
    In order to overcome this problem, it is necessary to correct the theoretical positioning of the drill based on the virtual model.
    Several solutions have been developed to carry out such a position correction.
    A first solution, called correction by surface recognition, consists in: evaluating the defect of perpendicularity of the drilling spindle with respect to the surface to be drilled: this evaluation can for example consist in scanning the real surface to be drilled by means of three sensors lasers, positioned at three points with a 120 ° gap around the body of the effector, which are capable of measuring the distance between each of these three sensors and the surface to be drilled to reconstruct this surface and to calculate the defect of perpendicularity between this reconstructed surface and the axis of the drilling spindle;
    transmitting to the robot control unit the previously calculated perpendicularity defect;
    to control the robot according to the calculated fault in order to reposition the drilling spindle relative to the surface to be drilled in such a way that the dimensional tolerances of perpendicularity are respected.
    Once the positioning correction is complete, the drilling cycle can be implemented.
    Such a correction is of course carried out prior to each drilling.
    A correction by surface recognition provides satisfactory results in terms of precision in that it leads to compliance with dimensional tolerances. However, it is relatively long to implement and consequently penalizes productivity, which is generally not accepted on an industrial level.
    A second solution, known as self-alignment correction, consists in conferring on the effector, to which the drilling module is secured the drilling spindle, a little freedom of swiveling relative to the arm of the robot along the axis of rotation. of the spindle and to provide the drill with a bearing surface, perpendicular to the axis of the drilling spindle, intended to come into abutment against the surface to be drilled.
    When the robot moves the drill towards the workpiece, and the bearing surface comes into contact with the surface to be drilled and presses against it, then the effector housing the drilling spindle pivots around the 'axis of the ball joint which links it to the robot arm to take an orientation such that the axis of the drilling spindle is perpendicular to the surface to be drilled. This correction is therefore made within the limit of freedom of swiveling which can be a few degrees to compensate for the imprecision of the theoretical positioning by the robot.
    The advantage of this self-alignment correction is that it saves time because the measurement, calculation and repositioning phases of the robot inherent in the first solution by surface recognition are avoided, the correct positioning of the spindle being obtained immediately. when moving the robot against the workpiece during the drilling cycle.
    The disadvantage of this correction by self-alignment is that, given the weight of the effector and the vibrations to which it is subjected, the force generated by the robot to press the bearing surface against the surface to be drilled and realign the axis of the spindle with respect to the surface to be drilled, must be relatively important to ensure that the axis of the spindle extends well perpendicular to the surface to be drilled.
    Indeed, the exercise of such an effort risks generating a marking of the part to be drilled by the bearing surface or even a deformation of the part to be drilled, which is of course not allowed.
    3. Objectives of the invention
    The invention particularly aims to provide an effective solution to at least some of these different problems.
    In particular, according to at least one embodiment, an objective of the invention is to provide a drilling device whose drilling spindle can be easily and quickly reliably aligned with respect to the attack surface of a workpiece to pierce.
    Another objective of the invention is, according to at least one embodiment, to provide such a drilling device which allows to ensure self-alignment of the drilling spindle while limiting the risk of marking the workpiece.
    4. Presentation of the invention
    For this, the invention provides a drilling device with automatic or controlled advance comprising a casing housing a drilling spindle intended to drive a cutting tool in movement to pierce a workpiece comprising a leading surface.
    According to the invention, said spindle is tiltable inside said casing relative to the axis of said casing, and said device comprises means for self-alignment of said spindle relative to said attack surface, said means of self-aligning moving said spindle in a position in which its axis is essentially perpendicular to said attack surface under the effect of an application of a pushing force of said piercing device against said attack surface essentially along the axis said housing.
    It is recalled that before the pushing force of the piercing device against the attack surface is exerted, the piercing device will have been positioned by the robot opposite the location of the hole to be drilled so that the axis of its casing is perpendicular to the attack surface, this within the limits of the differences between the CAD model and the real components (workpiece, drill, robot, relative positioning of these components between them), as well than the robot’s movement precision limit.
    The invention is based on an original approach which consists in using a drilling spindle that can be tilted relative to the housing of the drilling device and means for self-alignment of the spindle relative to the attack surface of the workpiece to be drilled. so that, after the piercing device has been placed at the level of the hole to be drilled, the spindle moves to a position in which its axis is essentially perpendicular to the attack surface when a pushing force is exerted of the drilling device against the attack surface essentially along the axis of the casing (in other words along an axis essentially perpendicular to the attack surface).
    By essentially perpendicular is meant that the perpendicularity of the spindle is within a predetermined tolerance range required, for example of the order of +/- 1.5 ° approximately.
    According to the invention, the drill is not tiltable as a whole relative to the robot arm. It is only the drilling spindle that is tiltable inside the drill housing. The mass of the parts to be moved in order to obtain self-alignment of the spindle is therefore considerably less according to the invention compared to the self-alignment technique of the prior art.
    The pushing force necessary for the self-alignment of the spindle being all the more
    Ί lower than the mass of the parts to be moved for this purpose is low, the technique according to the invention makes it possible to obtain satisfactory self-alignment by applying a reduced thrust force.
    The fact of having to generate a reduced thrust force in order to align the spindle also makes it possible to reduce the risk of marking the workpiece compared to the self-aligning position correction technique of the prior art.
    The technique according to the invention therefore does not have the drawbacks of the techniques for position correction by surface recognition: non-use of slow and complex measurement and calculation means.
    The technique according to the invention thus makes it possible to obtain in a simple, reliable, rapid manner and without the risk of marking the part to be drilled, self-alignment of the spindle relative to the attack surface of the part to be drilled.
    According to a possible characteristic of the invention, said drilling pin is connected to said casing by means of a ball joint.
    It is thus possible to easily tilt the spindle in the casing by pivoting it around the center of the pivot link which connects it to the casing. The center of this pivot link is preferably located on the axis of rotation of the drilling spindle.
    According to one possible characteristic, a drilling device according to the invention comprises means for driving in rotation and means for driving in translation of said spindle along its axis, said driving means comprising means allowing the offset of said spindle with respect to said housing.
    In this case, said means for driving in rotation and said means for driving in translation may each comprise:
    a pinion mounted mobile in rotation inside said casing along the axis of said casing;
    an external driver linked in rotation to said pinion along the axis of rotation of said pinion;
    an eccentric ring;
    an internal driver linked in rotation with said spindle;
    the eccentric ring being linked in rotation to said external driver along the axis of rotation of said pinion and movable relative to said external driver along a path included in a first plane passing through the axis of rotation of said pinion; the eccentric ring being linked in rotation to said inner driver along the axis of rotation of said spindle and movable relative to said inner driver along a path included in a second plane passing through the axis of rotation of said spindle;
    the first and second planes not being parallel.
    This implementation enables simple and effective offsetting of the spindle relative to the casing at the level of the spindle movement drive means.
    In this case, the first and second planes are preferably perpendicular.
    According to a possible characteristic of the invention:
    said rotary drive means comprise a rotation nut, said spindle being linked in rotation to said rotation nut and movable in translation relative to the latter along the axis of said spindle, said drive means in translation comprise a feed nut, said spindle being linked to said feed nut by a heliocoidal connection, said feed nut and said internal driver of said drive means in translation being linked in rotation;
    said rotation nut and the internal trainer of said rotation drive means being linked in rotation.
    A rotation of the rotation nut causes a rotation of the drilling spindle. A rotation of the advance nut makes it possible to control the advance speed of the drilling spindle.
    In that case :
    said feed nut and said internal driver of said drive means in translation can form a single piece;
    said rotation nut and the internal trainer of said rotation drive means can form a single piece.
    This approach simplifies the architecture of the device according to the invention by reducing the number of parts.
    According to a possible variant:
    the external driver of said rotational drive means and said rotation nut respectively comprise two inner fingers and two diametrically opposite outer fingers, said inner fingers cooperating with two outer grooves of complementary shape formed in said rotation eccentric ring, said external fingers cooperating with two interior grooves of complementary shape formed in said rotation eccentric ring;
    the external trainer of said drive means in translation and said feed nut respectively comprise two inner fingers and two diametrically opposite outer fingers, said inner fingers cooperating with two outer grooves of complementary shape formed in said advance offset ring , said outer fingers cooperating with two interior grooves of complementary shape formed in said advance offset ring.
    Such an architecture makes it possible to authorize, in a simple and effective manner, the rotational and translational drive of the drilling spindle while allowing its inclination in the casing.
    According to a possible variant, said external coaches and said corresponding pinions of said rotary drive means and said translational drive means respectively form a single piece.
    This approach simplifies the architecture of the device according to the invention by reducing the number of parts.
    According to a possible variant, a drilling device according to the invention comprises a sheath inside which said spindle is mounted movable in translation and in rotation about its own axis, said sheath being tiltable inside said casing and comprising at its end turned towards the outside of said casing, a bearing surface intended to be applied against said attack surface.
    According to a possible variant, a drilling device according to the invention comprises a removable drilling module which can be joined reversibly to said casing, said drilling module comprising at least said spindle and said means for self-alignment of said spindle relative to said surface. of attack.
    Such a removable drilling module is interchangeable according to the drilling operation to be performed. It can contain a memory with data specific to the cutting tool secured to the drilling spindle (state of use, feed speed, cutting speed ...) which can be taken into account by the control unit or control of the drill to control the drilling.
    According to a possible variant, said external coaches and said corresponding pinions of said rotary drive means and said translational drive means are linked in rotation along the axis of rotation of said pinions by means of grooves made on said pinions and said coaches and free in translation along the axis of rotation of said pinions.
    This approach makes it possible to simply separate the drilling module from the effector.
    The invention also relates to a removable drilling module intended to be secured in a reversible manner to a drilling device with controlled advance according to any of the variants described above, said drilling module comprising at least said spindle and said means of self alignment of said spindle with respect to said attack surface.
    5. List of figures
    Other characteristics and advantages of the invention will appear on reading the following description of particular embodiments, given by way of simple illustrative and nonlimiting example, and of the appended drawings among which:
    FIG. 1 illustrates a side view of a drilling device according to the invention placed at the end of a robot arm;
    FIG. 2 illustrates a view in longitudinal section of a drilling device according to the invention, the axis of the spindle of which is substantially aligned with that of the casing of the drill;
    Figures 3 and 4 illustrate cross-sectional views of the drilling device of Figure 2 along the axes A-A and B-B;
    FIG. 5 illustrates a view in longitudinal section of a drilling device according to the invention on which the axis of the drilling spindle is inclined inside the casing of the drill;
    Figures 6 and 7 on the one hand and 8 and 9 on the other hand illustrate cross-sectional views of the drilling device of Figure 2 along the axes A-A and B-B with a spindle having various inclinations;
    Figures 10 and 11 illustrate exploded views of the means allowing the offset of the spindle relative to the housing;
    FIG. 12 illustrates a drilling module separated from the rest of the drill.
    6. Description of particular embodiments
    6.1. Architecture
    Referring to FIGS. 1 to 12, an example of a drilling device with controlled feed speed according to the invention is presented.
    In this embodiment, such a drilling device comprises a drilling robot 1 comprising a manipulator arm 2 at the end of which is fastened a drill with controlled feed speed 3. Such a drilling robot 1 conventionally comprises a housing command 4 capable of controlling the robot. Such a control unit is known per se and is not described in more detail.
    The drill 3 comprises a transmission block 30 and a drilling block 31.
    FIG. 2 illustrates a sectional view along a plane passing through the axis of the spindle of the drill 3 and through the transmission axes of the transmission block 30.
    The piercing block 31 comprises a casing 312 which houses a piercing spindle 313 intended to drive in movement a cutting tool 5, such as a drill bit, for drilling a part comprising a leading surface. The device comprises means for securing a cutting tool to the front end of the spindle (not shown).
    The attack surface 41 of a workpiece 40 is the surface thereof with which the cutting tool first comes into contact during a drilling operation.
    The drilling spindle 313 is mounted movable in rotation and in translation along its longitudinal axis inside the housing 312. It is also mounted tilting inside the housing 312 relative to the longitudinal axis of the housing 312, or at least the part of it which houses the drilling spindle 313.
    As will become more clearly apparent hereinafter, the drill comprises means for self-alignment of the drilling spindle 313 relative to the attack surface, these self-alignment means moving the drilling spindle 313 in a position in which its axis is essentially perpendicular to the attack surface under the effect of an application of a force consisting in pushing the drill against the attack surface essentially along the axis of the casing 312.
    To be tiltable in the housing 312, the drilling spindle 313 is mounted mobile in rotation and in translation along its longitudinal axis inside a sheath 314, this sheath 314 being in turn connected, at its front end, to the casing 312 by a ball joint LR whose center is on the axis of the drilling spindle 313. This ball joint allows in this embodiment an inclination of the spindle 313 relative to the casing of the order of +/- 1, 5 ° approximately.
    The front end of the sleeve 314 comprises a male peripheral surface in a portion of a sphere 3141 and the casing 312 comprises a female housing 3121 having an interior surface of complementary shape in which the end of the sleeve 314 is placed. The front end of the sleeve 314 is held in the housing 3121 of the casing 312 by means of a nut 315, and of elastic washers 316, interposed between the nut 315 and the front end of the sleeve 314.
    A support piece 317 is secured to the front end of the sleeve 314 for example by screwing. This support piece 317 comprises a support surface 3171, which is perpendicular to the longitudinal axis of the drilling spindle 313. This support surface 3171 protrudes at the front end of the casing 312. In others terms, it protrudes from the front end of the housing 312. As will be explained in more detail below, this bearing surface 3171 is intended to come into abutment against the attack surface of a part to be drilled during a drilling phase. The support piece 317 will preferably be made of a material which is sufficiently soft not to mark the part to be drilled and hard enough not to agglomerate chips during drilling which could subsequently mark the part to be drilled. It may in particular be an aluminum alloy.
    The drill comprises means for driving in rotation the piercing spindle 313 and means for translational driving of the piercing spindle 313 along the longitudinal axis thereof.
    To authorize an inclination of the spindle inside the casing, these means for driving in rotation and in translation comprising, as will emerge more clearly from the following description, means authorizing the offset of the drilling spindle relative to to housing 312.
    The rotation drive means comprise a rotation nut 318. The spindle 313 is linked in rotation to the rotation nut 318 and movable in translation relative to the latter along the axis of the drilling spindle 313.
    For this, a grooved portion 3132, the grooves 31321 of which extend along the longitudinal axis of the piercing spindle 313, is provided on the piercing spindle 313. The rotation nut 318 comprises an internal passage 3182 whose outline, which includes grooves 3183, has a shape complementary to the external contour of the grooved portion 3132 of the drilling spindle 313. The assembly of the rotation nut 318 and the grooved portion 3132 is slippery.
    The translational drive means comprise a feed nut 319. The drilling pin 313 is linked to the feed nut 319 by a heliocoidal connection. For this, the drilling spindle 313 comprises a threaded portion 3131 and the advance nut comprises a tapped internal passage 3192 of shape complementary to the threaded portion 3131.
    The rotary drive means also include:
    a rotation pinion 311 mounted to rotate inside the casing 312 along the axis of the casing 312;
    an external drive 320 linked in rotation to the rotation pinion 311 along the axis of rotation of the rotation pinion 311: for this, the rotation pinion 311 comprises a grooved interior passage 3111 intended to house the external coach 320 whose external contour 3201 is grooved and of complementary shape to that of the interior passage 3111;
    an eccentric ring 321;
    an internal trainer linked in rotation with the drilling spindle 313: in this embodiment, the internal trainer and the rotation nut 318 constitute a single and same part (they can constitute two parts linked in rotation along the axis of the brooch).
    This eccentric ring 321 is linked in rotation to the external driver 320 along the axis of rotation of the rotation pinion 311 and movable relative to the external driver 320 along a path included in a first plane essentially parallel to the axis of rotation of the pinion 311.
    The eccentric ring 321 is also linked in rotation to the internal drive (ie the rotation nut 318 in the present embodiment) along the axis of rotation of the rotation spindle 313 and movable relative to the drive inside (ie the rotation nut 318 in the present embodiment) along a trajectory included in a second plane essentially parallel to the axis of rotation of the drilling spindle 313.
    In this embodiment, the first and second planes are not parallel, but are perpendicular.
    The translational drive means also comprise: a translation pinion 310 mounted to rotate inside the casing 312 along the axis of the casing 312;
    an external driver 322 linked in rotation to the translation pinion 310 along the axis of rotation of the translation pinion 310: for this, the translation pinion 310 comprises a grooved internal passage 3101 provided for housing the external driver 322 whose external contour 3221 is grooved and of complementary shape to that of the interior passage 3101 (in a variant, they could be linked by an embedding or form a single piece); an eccentric ring 323;
    an internal trainer linked in rotation with the drilling spindle 313: in this embodiment, the internal trainer and the translation nut 319 constitute a single and same part (they can constitute two parts linked in rotation along the axis of the brooch).
    This eccentric ring 323 is linked in rotation to the external driver 322 along the axis of rotation of the translation pinion 310 and movable relative to the external driver 322 along a path included in a first plane essentially parallel to the axis of rotation of the translation pinion.
    The eccentric ring 323 is linked in rotation to the internal driver (ie the translation nut 319 in the present embodiment) along the axis of rotation of the drilling spindle 313 and movable relative to the internal driver (ie the translation nut 319 in the present embodiment) along a trajectory included in a second plane essentially parallel to the axis of rotation of the drilling spindle 313.
    In this embodiment, the first and second planes are not parallel, but are perpendicular.
    The external driver 320 for the rotation drive means and the rotation nut 318 respectively comprise two internal fingers 3202 and two diametrically opposite external fingers 3181. The internal fingers 3202 cooperate with two external grooves 3211 of complementary shape formed in the rotation eccentric ring 321. The external fingers 3181 cooperate with two internal grooves 3212 of complementary shape formed in said rotation eccentric ring 321.
    The outer grooves 3211 comprise two opposite guide surfaces 32111 which extend in planes essentially parallel to the axis of rotation of the rotation pinion 311.
    The inner fingers 3202 comprise two opposite guide surfaces 32021 which extend in planes essentially parallel to the axis of rotation of the rotation pinion 311.
    The internal grooves 3212 comprise two opposite guide surfaces 32121 which extend in planes essentially parallel to the axis of rotation of the drilling spindle 313.
    The outer fingers 3181 comprise two opposite guide surfaces 31811 which extend in planes essentially parallel to the axis of rotation of the drilling spindle 313.
    The grooves 3211 can move relative to the fingers 3202 in a plane parallel to their respective guide surfaces. The grooves 3211 and the fingers 3202 link in rotation the external driver 320 to the eccentric ring 321. The fingers 3181 can move in the grooves 3212 in a plane parallel to their respective guide surfaces. The grooves 3212 and the fingers 3181 link in rotation the internal driver 318 to the eccentric ring 321.
    The external trainer 322 of the translational drive means and the feed nut 319 respectively comprise two internal fingers 3222 and two diametrically opposite external fingers 3191. The internal fingers 3222 cooperate with two external grooves 3231 of complementary shape formed in the advance eccentric ring 323. The external fingers 3191 cooperate with two internal grooves 3232 of complementary shape formed in the advance eccentric ring 323.
    The outer grooves 3231 comprise two opposite guide surfaces 32311 which extend in planes essentially parallel to the axis of rotation of the translation pinion 310.
    The inner fingers 3222 comprise two opposite guide surfaces 32221 which extend in planes essentially parallel to the axis of rotation of the translation pinion 310.
    The internal grooves 3232 comprise two opposite guide surfaces 32321 which extend in planes essentially parallel to the axis of rotation of the drilling spindle 313.
    The outer fingers 3191 comprise two opposite guide surfaces 31911 which extend in planes essentially parallel to the axis of rotation of the drilling spindle 313.
    The grooves 3231 can move relative to the fingers 3222 in a plane parallel to their respective guide surfaces. The grooves 3231 and the fingers 3222 link in rotation the external driver 322 to the eccentric ring 323. The fingers 3191 can move in the grooves 3232 in a plane parallel to their respective guide surfaces. The grooves 3232 and the fingers 3191 link in rotation the internal driver 319 to the eccentric ring 323.
    The first and second planes of the rotational drive means are not necessarily identical to the first and second planes of the translational drive means.
    The drill includes an adjustable stop 324 to adjust the drilling depth.
    In this embodiment, the sheath 314 is secured to a removable housing portion 312 ′ which can be detached from the rest of the housing 312.
    The assembly formed by the casing 312 ′, the sleeve 314, the support piece 317, the drilling spindle 313, the stop 324, the rotation 318 and advance 319 nuts, the internal drives, the rings eccentricity 321, 323 and the external coaches 320, 322 form a removable drilling module 120 which can be joined in a reversible manner to the rest of the drill 121, and which is interchangeable. The grooves of the external coaches will allow easy assembly of the drilling module to the rest of the drill. These grooves can be bevelled to further facilitate the implementation. A control system for the advance and rotation motors to allow alternating movement of the advance and rotation pinions during the installation of the drilling module will facilitate the installation of the module.
    Reversible securing means make it possible to detachably fix the drilling module to the rest of the drill.
    In a variant, no removable drilling module is used, the components thereof being integrated into the drill in a non-removable manner.
    In this case, the rotation pinion and the advancing pinion can form a single piece with the corresponding external drive.
    The transmission block 30 is of the type of transmission blocks conventionally used in a drill with controlled feed speed. It can in particular act with a transmission block of the type described in patent application FR 3 000 693. Such a transmission block 30 conventionally comprises a rotation motor 300, a feed motor 301 whose shafts are connected to a transmission 302 which comprises in particular a first output pinion 303 and a second output pinion 304.
    The advancing pinion 310 meshes with the first output pinion 303 of the transmission block 30 while the rotation pinion 311 meshes with the second output pinion 304 of the transmission block 30.
    In the embodiment described here, the axes of the feed motor 301 and of the rotation motor 300 are parallel to the drilling spindle. In variants, one or these motors could have the axis of their shaft perpendicular to that of the drilling spindle.
    6.2. Operation
    To drill a workpiece to be drilled at a given location, the drilling robot is controlled so as to place the drill at a controlled speed at the desired location from a virtual representation of CAD type of the part to be drilled.
    Once the drill is brought to this location, the axis of the housing housing the drilling spindle extends essentially perpendicular to the attack surface of the workpiece. The drill is held in this position rigidly and reliably by the robot arm.
    The relative perpendicularity of the axis of the housing with respect to the attack surface introduced by the concept of essentially parallel is due in particular to the differences between the CAD model and the real components (workpiece, drill, robot, relative positioning of these components), as well as the robot's precision limit of movement.
    The robot is then controlled to move the drill in the direction of the attack surface along the axis of the housing, that is to say along an axis substantially perpendicular to the attack surface.
    During this movement, the support surface 3171 of the support piece 317 comes into contact with the attack surface 41. Under the effect of the force imparted by the robot arm in a direction essentially perpendicular to the attack surface, the drilling spindle 313 pivots inside the casing 312 around the center of the ball joint LR and inclines therein until it comes to occupy a position in which the axis of the drilling spindle 313 s 'extends perpendicular to the attack surface.
    Obviously, during the self-alignment phase, the drilling spindle is retracted inside the sleeve so that the point of the drill 5 which is integral therewith does not protrude from the contact surface 3171 but is offset therefrom inward of the catrer.
    The inclination of the spindle inside the casing is permitted by a displacement of the rotation and translation eccentric rings relative to the corresponding external driver, and the internal rotation and translation coaches relative to the rings d 'corresponding offset. The spindle as well as the rotation and advance nuts are then offset from the advance and rotation pinions. This is for example visible in Figures 2, 3, 6, 7, 8 and 9.
    There is thus obtained a self-alignment of the axis of the spindle with respect to the attack surface of the part to be drilled.
    The force of plating the drill against the workpiece necessary to obtain a suitable self-alignment depends in particular on:
    the weight and dynamic effects exerted on the spindle and its sheath (these dynamic effects are lower the smaller the mass of the parts to be moved to obtain the alignment of the drilling spindle: the weaker they are, the less the plating effort to deploy;
    the diameter of the support piece 317: the larger this diameter, the less the necessary plating force will be high;
    radial forces in the transmissions between the drilling spindle and the rotation and translation drive means described above.
    This plating effort will be determined experimentally with the contradictory objectives of making the positioning of the spindle more reliable (proper and stable self-alignment) and not marking the part to be drilled.
    Self-alignment is thus obtained at the start of each drilling.
    The drilling can then conventionally continue by controlling the advance motor 301 and the rotation motor 300 so as to control the frequency of rotation and the speed of advance of the drilling spindle.
    6.3. Variants
    Means may be used to guarantee that the plating force will remain within a predetermined value range to guarantee proper and stable self-alignment without marking the part to be drilled.
    By way of example, such means may not, for example, include: a regulation system making it possible to measure the plating force exerted and to correct it if necessary by acting on the motor means of the robot;
    a slide connection system provided with an elastic element integrated between the drilling module and the rest of the drilling device;
    integrated cylinder between the drilling module and the rest of the drilling device accompanied by a system for measuring the plating force and regulating the cylinder to keep it within the tolerance range.
    Such means can also make it possible to compensate for the variation in plating force which may result from vibrations and / or expansion of the parts by heating during drilling.
    A device for locking the ball in position, after the spindle has found its orientation, can be envisaged to make it more reliable in position.
    The embodiment described more relates to the implementation of the invention within a drilling device with controlled advance speed. However, the invention can just as easily be implemented within a drilling device with automatic advance speed. In this case, the transmission block used would be that of a drilling device with automatic advance speed such as that described in document FR 2 881 366.
    In this document, the expression “plane passing through the axis” does not mean that the plane intersects the axis but that the plane contains the axis.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1. Drilling device with automatic or controlled advance speed comprising a casing housing a drilling spindle intended to drive a cutting tool in movement to pierce a workpiece comprising a leading surface, characterized in that said spindle is tiltable at the interior of said casing with respect to the axis of said casing, and in that said device comprises means for self-alignment of said spindle with respect to said attack surface, said self-alignment means displacing said spindle in a position in which its axis is essentially perpendicular to said attack surface under the effect of an application of a thrust force of said piercing device against said attack surface essentially along the axis of said casing.
    [2" id="c-fr-0002]
    2. A drilling device according to claim 1 wherein said drilling pin is connected to said housing by means of a ball joint.
    [3" id="c-fr-0003]
    3. Drilling device according to claim 1 or 2 comprising means for driving in rotation and means for driving in translation of said spindle along its axis, said driving means comprising means allowing the offset of said spindle relative to audit housing.
    [4" id="c-fr-0004]
    4. Drilling device according to claim 3, in which said means for driving in rotation and said means for driving in translation each comprise:
    a pinion mounted mobile in rotation inside said casing along the axis of said casing;
    an external driver linked in rotation to said pinion along the axis of rotation of said pinion;
    an eccentric ring;
    an internal driver linked in rotation with said spindle;
    the eccentric ring being linked in rotation to said external driver along the axis of rotation of said pinion and movable relative to said external driver along a path included in a first plane passing through the axis of rotation of said pinion; the eccentric ring being linked in rotation to said inner driver along the axis of rotation of said spindle and movable relative to said inner driver along a path included in a second plane passing through the axis of rotation of said spindle;
    the first and second planes not being parallel.
    [5" id="c-fr-0005]
    5. Device according to claim 4, wherein the first and second planes are perpendicular.
    [6" id="c-fr-0006]
    6. Device according to claim 4 or 5 in which:
    said rotary drive means comprise a rotation nut, said spindle being linked in rotation to said rotation nut and movable in translation relative to the latter along the axis of said spindle, said drive means in translation comprise a feed nut, said spindle being linked to said feed nut by a heliocoidal connection, said feed nut and said internal driver of said drive means in translation being linked in rotation;
    said rotation nut and the internal driver of said rotation drive means being linked in rotation.
    [7" id="c-fr-0007]
    7. Device according to claim 6, in which:
    said feed nut and said internal driver of said translational drive means form a single piece;
    said rotation nut and the internal driver of said rotation drive means form a single piece.
    [8" id="c-fr-0008]
    8. Device according to claim 7, in which:
    the external driver of said rotational drive means and said rotation nut respectively comprise two inner fingers and two diametrically opposite outer fingers, said inner fingers cooperating with two outer grooves of complementary shape formed in said rotation eccentric ring, said external fingers cooperating with two interior grooves of complementary shape formed in said rotation eccentric ring;
    the external trainer of said drive means in translation and said feed nut respectively comprise two inner fingers and two diametrically opposite outer fingers, said inner fingers cooperating with two outer grooves of complementary shape formed in said advance offset ring , said outer fingers cooperating with two interior grooves of complementary shape formed in said advance offset ring.
    [9" id="c-fr-0009]
    9. Drilling device according to any one of claims 1 to 8 comprising a sheath inside which said spindle is mounted movable in translation and in rotation about its own axis, said sheath being tiltable inside said casing and comprising at its end facing outwards from said casing, a bearing surface intended to be applied against said attack surface.
    [10" id="c-fr-0010]
    10. Device according to any one of claims 1 to 9 comprising a removable drilling module which can be joined reversibly to said casing, said drilling module comprising at least said spindle and said means for self-alignment of said spindle relative to said surface. of attack.
    [11" id="c-fr-0011]
    11. Device according to claim 10, said external coaches and said corresponding pinions of said rotary drive means and said translational drive means are linked in rotation along the axis of rotation of said pinions by means of grooves formed on said pinions and said coaches and free in translation along the axis of rotation of said pinions.
    [12" id="c-fr-0012]
    12. removable drilling module intended to be secured in a reversible manner to a drilling device with controlled advance according to any one of claims 1 to 11, said drilling module comprising at least said spindle and said self-alignment means of said spindle with respect to said attack surface.
    1/9 σ
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    同族专利:
    公开号 | 公开日
    US10279446B2|2019-05-07|
    CN107661994A|2018-02-06|
    FR3054463B1|2018-12-07|
    US20180029182A1|2018-02-01|
    CN107661994B|2021-02-26|
    BR102017016277A2|2018-02-14|
    EP3275579A1|2018-01-31|
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    法律状态:
    2017-07-26| PLFP| Fee payment|Year of fee payment: 2 |
    2018-02-02| PLSC| Search report ready|Effective date: 20180202 |
    2018-07-26| PLFP| Fee payment|Year of fee payment: 3 |
    2019-07-25| PLFP| Fee payment|Year of fee payment: 4 |
    2020-07-23| PLFP| Fee payment|Year of fee payment: 5 |
    2021-07-28| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1657425A|FR3054463B1|2016-07-29|2016-07-29|AUTOMATIC OR CONTROLLED FORWARD DRILLING DEVICE WITH A SELF-ALIGNING SPINDLE|FR1657425A| FR3054463B1|2016-07-29|2016-07-29|AUTOMATIC OR CONTROLLED FORWARD DRILLING DEVICE WITH A SELF-ALIGNING SPINDLE|
    EP17183049.0A| EP3275579A1|2016-07-29|2017-07-25|Drilling device with advancing speed controlled automatically or by a self-aligning spindle|
    US15/663,101| US10279446B2|2016-07-29|2017-07-28|Drilling device with automatic or controlled feed speed with self-aligning spindle|
    CN201710628905.7A| CN107661994B|2016-07-29|2017-07-28|Drilling device with self-aligning spindle and automatic or controlled feed speed|
    BR102017016277-0A| BR102017016277A2|2016-07-29|2017-07-28|AUTOMATIC OR CONTROLLED SPEED CONTROL DRILLING DRILLING DEVICE|
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