EP3452256A1 - Manipulator for a part - Google Patents

Manipulator for a part

Info

Publication number
EP3452256A1
EP3452256A1 EP17707926.6A EP17707926A EP3452256A1 EP 3452256 A1 EP3452256 A1 EP 3452256A1 EP 17707926 A EP17707926 A EP 17707926A EP 3452256 A1 EP3452256 A1 EP 3452256A1
Authority
EP
European Patent Office
Prior art keywords
axis
manipulator
support
frame
pivoting head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17707926.6A
Other languages
German (de)
French (fr)
Inventor
Guillaume GELINEAU
Maxime PRIETO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Supratec SA
Original Assignee
Supratec SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Supratec SA filed Critical Supratec SA
Publication of EP3452256A1 publication Critical patent/EP3452256A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table

Definitions

  • the invention relates to a manipulator of a workpiece such as a landing gear leg.
  • the assembly and maintenance of large parts of an aircraft requires the movement of these parts from one station to another at different locations in a workshop.
  • the landing gear leg is mounted to a first position and then tested at a second position in the workshop.
  • An object of the invention is to provide a manipulator parts at least partially obviating the aforementioned drawbacks.
  • a manipulator of parts such as a landing gear leg, comprising a frame and a movable part intended to carry the part, the mobile part comprising a support
  • the movable part mounted movable at its proximal end on the frame in at least one first-axis translation between a high position and a low position, the movable part further comprising a pivoting head movably mounted on the distal end of the support according to at least one second axis rotation so as to pivot in use said part between a substantially horizontal position and a substantially vertical position.
  • FIG. 1 is a perspective view of the manipulator according to a particular embodiment of the invention, when the support is in the low position,
  • FIG. 2 is a view identical to that of FIG. 1, with the difference that the support is in the intermediate position and that the pivoting head is in a first end position,
  • FIG. 3 is a view identical to that of FIG. 1, with the difference that the support is in the intermediate position and that the pivoting head is in a second end position,
  • FIG. 4 is a perspective view of the manipulator illustrated in FIG. 1 when the manipulator carries a landing gear leg in a horizontal position;
  • FIG. 5 is a perspective view of the manipulator shown in Figure 1 when the manipulator carries a landing gear leg in a vertical position.
  • the manipulator according to a particular embodiment of the invention, generally designated by 1, is here intended to manipulate a landing gear leg J.
  • This application is of course not limiting and the manipulator 1 may be intended to support other parts such as other elements of an undercarriage such as the compass or against the plug or generally any other particularly bulky piece.
  • the manipulator 1 thus comprises a frame 2 comprising a base 3 extending horizontally on the ground.
  • the frame 2 comprises means for anchoring it to the ground at the base 3 which comprise for example threaded rods (not shown here).
  • the frame 2 further comprises a column 4 extending from the base 3 substantially vertically.
  • the manipulator 1 further comprises a moving part
  • the moving part 5 comprises a support 6 comprising a distal end 7a and a proximal end 7b.
  • the support 6 is movably mounted on the frame 2, here at the level of the column 4, at its proximal end 7b.
  • the support 6 is movably mounted on the frame 2 in a single translational movement between a high position and a low position, the column 4 therefore acting as a slide for the support 6. Due to the orientation of the this column 4, the support 6 is slidably mounted on the slide in a substantially vertical X axis translation.
  • the support 6 and the frame 2 are shaped so that in the low position, the support 6 is substantially at the base 3 and so that in the high position the support 6 is substantially at the level of the upper end of the column 4.
  • the manipulator 1 is shaped so that the support 6 can be stopped and locked in any intermediate position relative to the frame 2 between the lower position and the upper position in addition from the low position and the high position.
  • the movable part 5 comprises a pivoting head 8 which is mounted movably on the distal end 7a of the support 6 relative to the support 6.
  • the pivoting head 8 is integral in translation along the axis X of the support 6.
  • the pivoting head 8 is movably mounted on the support 6 in a single Y axis rotation movement.
  • the pivoting head 8 is here arranged on the support 6 so that the Y axis extends substantially horizontally and orthogonally to the translation axis X.
  • the pivoting head 8 is arranged so as to be able to tilt around the axis of rotation Y at 180 degrees.
  • the pivoting head 8 can thus swing relative to the support 2 between a first end position in which the pivoting head 8 faces the base 3 (corresponding for example to an amplitude of 180 degrees and in FIG. a second end position in which the pivoting head 8 faces the ceiling of the workshop in which the manipulator 1 is installed (corresponding to an amplitude of 0 degrees and in Figure 3).
  • the manipulator 1 is shaped so that the pivoting head 8 can be stopped and locked in any intermediate position relative to the frame 2 between the first end position and the second end position in addition to the first end position and the second end position.
  • the mobile part 5 comprises a plate 9 which is mounted on the head pivoting 8 in a Z-axis rotational movement.
  • the plate is rotationally fixed to the pivoting head 8 about the Y axis.
  • the plate 9 is arranged on the pivoting head 8 so that when the pivoting head 8 is in its first end position, the plate 9 faces the base 3 and so that when the pivoting head 8 is in its second end position, the plate 9 faces the ceiling.
  • the plate 9 is here arranged so that the Z axis is normal to the plate 9. In this way, the plate 9 can pivot on itself relative to the rotary head 8.
  • the plate 9 is arranged so to be able to rotate 360 degrees along the Z axis.
  • the plate 9 is here arranged so as to be able to rotate 360 degrees along the Z axis in a continuous manner (the plate 9 thus being able to link the revolutions around the axis Z).
  • the plate 9 is here arranged so as to rotate 360 degrees along the Z axis in both directions of rotation.
  • the manipulator 1 is shaped so that the plate 9 can be stopped and locked in any position relative to the rotary head 8.
  • the mobile part 5 comprises a support member 10 (only represented in FIGS. 4 and 5) of the landing gear leg J, a support member 10 which is rigidly fixed to the plate 9 so as to be secured to each other. in motion on the board 9.
  • the manipulator 1 comprises means for temporarily locking the landing gear leg J which are here arranged on the base 3 of the frame 2 substantially facing the distal end 7a of the support 6 and therefore of the pivoting head 8 and 9.
  • the locking means comprise for example a first hoop 10 and a second hoop 11 for receiving respectively one of the branches of the axle of the landing gear leg J as we shall see later.
  • the locking means are carried by a base 12 pivotally mounted on the base 3 of the frame along an axis of rotation Z 'which is preferably substantially parallel and coincides with the axis Z when the plate 9 is opposite the base 3 (that is, when the swivel head 8 is in its first end position).
  • the base 12 is here arranged so that the axis Z 'is normal to the base 12. In this way, the base 12 can pivot on itself relative to the base 3.
  • the base 12 is arranged so as to rotate 360 degrees along the axis Z '.
  • the base 12 is here arranged so that it can rotate 360 degrees along the axis Z 'in a continuous manner (the base 12 can thus link the revolutions around the axis Z').
  • the manipulator 1 is shaped so that the base 12 can be stopped and locked in any position relative to the base 3.
  • the manipulator 1 further comprises here a power supply unit 13 of the manipulator 1 and in particular different actuators generating the movements of the mobile part 5 and the base 12 (such as electric motors). This makes the manipulator 1 very autonomous.
  • the feed unit 13 is for example arranged on the column 4.
  • the manipulator 1 also comprises here an interface member 14 with an operator.
  • the interface member 14 comprises for example a touch screen with which the operator can in particular control the movements of the movable portion 5 and the base 12. This makes the manipulator 1 more ergonomic.
  • the manipulator 1 is shaped so that different action sequences of the manipulator 1 (such as sequences of movements of the moving part 5) are stored and can be controlled from the body 14. This makes the use of the manipulator 1 very ergonomic for an operator.
  • the interface member 14 is for example arranged on the column 4.
  • the manipulator 1 thus described allows an operator to perform various operations on the landing gear leg J with a simple and rapid change in the position of the landing gear leg J between two operations.
  • the operator controls the manipulator 1 by means of the interface member 14 so that the support 6 either in the low position and the pivoting head 8 is in an intermediate position of amplitude 90 degrees (that is to say, so that the pivoting head extends substantially vertically).
  • the operator possibly comes rigidly to fix the support member 10 to the plate 9 if it is not already present on the manipulator 1, before temporarily securing the landing gear leg J to said support member 10.
  • the landing gear leg J is integral in movements of the support member 10 and therefore of the plate 9.
  • the support member 10 is for example shaped to support a longitudinal end of the landing gear leg As the fastening of the landing gear leg J. Consequently, the longitudinal axis A of the landing gear leg J is substantially coincidental with the axis of rotation Z of the plate 9.
  • the manipulator is shaped to maintain the landing gear leg J in a horizontal position from which the operator can work.
  • the operator further has the possibility in this position of rotating the plate 9 (and thus the landing gear leg J) about its axis Z (respectively about the axis A). which allows to work in a complete way on all the leg of landing gear J.
  • the operator controls the manipulator 1 by means of the interface member 14 so that the support 6 is in the upper position and the pivoting head 8 is in the first end position in which it faces the ground.
  • the axis of rotation Z of the plate (and therefore the longitudinal axis A of the landing gear leg J) extends substantially vertically and parallel to the translation axis X and is also identical to the Z axis. 12.
  • the operator then comes to block the second longitudinal end of the landing gear leg J (for example here the axle) using the locking means.
  • the landing gear leg J is therefore on the one hand connected to the base 8 and on the other hand connected to the movable part 5.
  • the operator can therefore perform compression, traction or angular displacement tests on the landing gear leg J by imposing a downward movement of the support 6 along the X axis or else a rotational movement of the plate 9 around the Z axis or a rotational movement of the pivoting head 8 about the Y axis or a rotational movement of the base 12 about the Z 'axis, these movements being independent of each other or simultaneous.
  • the moving part 5 here makes it possible both to support the landing gear leg J, to move the landing gear leg J and to make it possible to carry out tests and tests on the landing gear leg J.
  • the manipulator 1 according to the invention thus makes it possible to carry out at the same place maintenance, repair, assembly or testing operations which simplifies and speeds up the tasks of an operator.
  • the invention is not limited to what has just been described, but on the contrary encompasses any variant within the scope defined by the claims.
  • the manipulator allows to perform tests on the pulling piece, compression and torsion
  • the manipulator can be arranged to perform other types of tests on the part or can be arranged to n ' perform a smaller number of tests such as only compression and traction tests (the locking means then being fixed as well as the plateau).
  • the mobile part may or may not participate in the performance of tests and tests on the part.
  • the manipulator comprises a support member rigidly secured to the plate by the operator, said support member may be secured to the tray without being removable from said plate.
  • the manipulator may not include a support member, the piece then being directly carried by the plate (or the pivoting head in the case where the manipulator does not include a tray).
  • the locking means are carried by a mobile base, the locking means may be fixed.
  • the locking means may thus be carried by a base rigidly fixed to the frame or may be directly rigidly attached to the frame.
  • the manipulator may allow torsion tests on the workpiece along the axis Z 'from the single movement of rotation of the plate, from the single rotational movement of the base or from the two simultaneous rotational movements of the base and tray. Only the base may be rotatable about the axis Z 'or only the plate may be rotatable about the axis Z (when it coincides with the axis Z'). In a variant, the base as the plate can be rotatable about the Z axis.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a manipulator (1) for parts such as a landing gear leg, comprising a frame (2) and a movable portion (5) for supporting the part, the movable portion comprising a carrier (6) movably mounted at its proximal end (7b) on the frame for at least one translation movement, along a first axis (X), between a high position and a low position, the movable portion further comprising a pivoting head (8) movably mounted on the distal end (7a) of the carrier for at least one rotation movement about a second axis (Y), such that, in use, it pivots said part between a substantially horizontal position and a substantially vertical position.

Description

MANIPULATEUR DE PIECE  MANIPULATOR OF PIECE
L'invention concerne un manipulateur d'une pièce telle qu'une jambe d' atterrisseur .  The invention relates to a manipulator of a workpiece such as a landing gear leg.
ARRIERE PLAN TECHNOLOGIQUE DE L'INVENTION BACKGROUND OF THE INVENTION
Le montage et la maintenance de pièces volumineuses d'un aéronef, telles qu'une jambe d' atterrisseur, nécessite le déplacement de ces pièces d'un poste à un autre répartis à différents endroits d'un atelier. Par exemple, la jambe d' atterrisseur est montée à un premier poste puis testée à un deuxième poste de l'atelier. The assembly and maintenance of large parts of an aircraft, such as a landing gear leg, requires the movement of these parts from one station to another at different locations in a workshop. For example, the landing gear leg is mounted to a first position and then tested at a second position in the workshop.
Or du fait du volume et de la masse de ce type de pièces, les opérateurs doivent avoir recours à des ponts roulants pour les déplacer d'un poste à un autre. Ceci oblige les opérateurs à effectuer des manipulations relativement complexes et lentes.  Because of the volume and mass of this type of equipment, operators must use cranes to move them from one station to another. This forces operators to perform relatively complex and slow manipulations.
OBJET DE L'INVENTION  OBJECT OF THE INVENTION
Un but de l'invention est de proposer un manipulateur de pièces obviant au moins en partie aux inconvénients précités .  An object of the invention is to provide a manipulator parts at least partially obviating the aforementioned drawbacks.
BREVE DESCRIPTION DE L'INVENTION En vue de la réalisation de ce but, on propose un manipulateur de pièces, telles qu'une jambe d' atterrisseur, comportant un bâti et une partie mobile destinée à porter la pièce, la partie mobile comprenant un support monté mobile au niveau de son extrémité proximale sur le bâti selon au moins une translation de premier axe entre une position haute et une position basse, la partie mobile comprenant en outre une tête pivotante montée mobile sur l'extrémité distale du support selon au moins une rotation de deuxième axe de sorte à pouvoir faire pivoter en service ladite pièce entre une position sensiblement horizontale et une position sensiblement verticale.  BRIEF DESCRIPTION OF THE INVENTION In order to achieve this goal, a manipulator of parts, such as a landing gear leg, comprising a frame and a movable part intended to carry the part, the mobile part comprising a support, is proposed. mounted movable at its proximal end on the frame in at least one first-axis translation between a high position and a low position, the movable part further comprising a pivoting head movably mounted on the distal end of the support according to at least one second axis rotation so as to pivot in use said part between a substantially horizontal position and a substantially vertical position.
De la sorte, il s'avère possible grâce à un seul et même manipulateur de bouger la pièce sur laquelle travailler entre différentes positions de façon simple et rapide. On peut ainsi aisément effectuer un travail de montage ou de réparation sur les pièces (par exemple lorsqu'elles sont agencées en position horizontale par l'invention) ou de test sur les pièces (par exemple lorsqu'elles sont agencées en position verticale par 1' invention) . In this way, it is possible thanks to one and the same manipulator to move the workpiece on which to work between different positions in a simple way and fast. It is thus easily possible to carry out assembly or repair work on the parts (for example when they are arranged in a horizontal position by the invention) or to test the parts (for example when they are arranged in a vertical position by means of a invention).
Bien entendu, dans la présente demande, les termes « basse », « haute », « horizontale », « verticale » doivent s'entendre selon la position en service du manipulateur, lorsque le support du manipulateur repose sur le sol.  Of course, in the present application, the terms "low", "high", "horizontal", "vertical" must be understood according to the operating position of the manipulator, when the support of the manipulator rests on the ground.
BREVE DESCRIPTION DES DESSINS  BRIEF DESCRIPTION OF THE DRAWINGS
L' invention sera mieux comprise à la lumière de la description qui suit d'un mode de réalisation particulier non limitatif de l'invention.  The invention will be better understood in the light of the following description of a particular non-limiting embodiment of the invention.
Il sera fait référence aux figures ci-jointes parmi lesquelles :  Reference will be made to the attached figures, among which:
- la figure 1 est une vue en perspective du manipulateur selon un mode de réalisation particulier de l'invention, lorsque le support est en position basse,  FIG. 1 is a perspective view of the manipulator according to a particular embodiment of the invention, when the support is in the low position,
la figure 2 est une vue identique à celle de la figure 1, aux différences près que le support est en position intermédiaire et que la tête pivotante est dans une première position d'extrémité,  FIG. 2 is a view identical to that of FIG. 1, with the difference that the support is in the intermediate position and that the pivoting head is in a first end position,
- la figure 3 est une vue identique à celle de la figure 1, aux différences près que le support est en position intermédiaire et que la tête pivotante est dans une deuxième position d'extrémité,  FIG. 3 is a view identical to that of FIG. 1, with the difference that the support is in the intermediate position and that the pivoting head is in a second end position,
- la figure 4 est une vue en perspective du manipulateur illustré à la figure 1 lorsque le manipulateur porte une jambe d ' atterrisseur dans une position horizontale,  FIG. 4 is a perspective view of the manipulator illustrated in FIG. 1 when the manipulator carries a landing gear leg in a horizontal position;
- la figure 5 est une vue en perspective du manipulateur illustré à la figure 1 lorsque le manipulateur porte une jambe d ' atterrisseur dans une position verticale. DESCRIPTION DETAILLEE DE L'INVENTION - Figure 5 is a perspective view of the manipulator shown in Figure 1 when the manipulator carries a landing gear leg in a vertical position. DETAILED DESCRIPTION OF THE INVENTION
En référence aux figures 1 à 3, le manipulateur selon un mode de réalisation particulier de l'invention, généralement désigné par 1, est ici destiné à manipuler une jambe d' atterrisseur J. Cette application n'est bien entendu pas limitative et le manipulateur 1 pourra être destiné à supporter d'autres pièces comme par exemple d'autres éléments d'un atterrisseur tels que le compas ou la contre-fiche ou de façon générale toute autre pièce notamment volumineuse.  With reference to FIGS. 1 to 3, the manipulator according to a particular embodiment of the invention, generally designated by 1, is here intended to manipulate a landing gear leg J. This application is of course not limiting and the manipulator 1 may be intended to support other parts such as other elements of an undercarriage such as the compass or against the plug or generally any other particularly bulky piece.
Le manipulateur 1 comporte ainsi ici un bâti 2 comprenant une base 3 s' étendant horizontalement sur le sol. De façon particulière, le bâti 2 comprend des moyens de son ancrage au sol au niveau de la base 3 qui comprennent par exemple des tiges filetées (non représentées ici) .  The manipulator 1 thus comprises a frame 2 comprising a base 3 extending horizontally on the ground. In particular, the frame 2 comprises means for anchoring it to the ground at the base 3 which comprise for example threaded rods (not shown here).
Le bâti 2 comprend en outre une colonne 4 s' étendant à partir de la base 3 sensiblement verticalement. La colonne The frame 2 further comprises a column 4 extending from the base 3 substantially vertically. The column
4 est ici venue de matière avec la base 3. 4 here comes from matter with the base 3.
Le manipulateur 1 comprend en outre une partie mobile The manipulator 1 further comprises a moving part
5 destinée à porter la jambe d' atterrisseur J. 5 intended to carry the landing gear leg J.
La partie mobile 5 comprend un support 6 comprenant une extrémité distale 7a et une extrémité proximale 7b. Le support 6 est monté mobile sur le bâti 2, ici au niveau de la colonne 4, au niveau de son extrémité proximale 7b. De préférence, le support 6 est monté mobile sur le bâti 2 selon un unique mouvement de translation entre une position haute et une position basse, la colonne 4 jouant donc le rôle de glissière pour le support 6. Du fait de l'orientation de la présente colonne 4, le support 6 est monté coulissant sur la glissière selon une translation d'axe X sensiblement vertical. Le support 6 et le bâti 2 sont conformés de sorte qu'en position basse, le support 6 soit sensiblement au niveau de la base 3 et de sorte qu'en position haute le support 6 soit sensiblement au niveau de l'extrémité supérieure de la colonne 4. De façon préférée, le manipulateur 1 est conformé de sorte que le support 6 puisse être arrêté et bloqué dans n' importe quelle position intermédiaire relativement au bâti 2 entre la position basse et la position haute en plus de la position basse et de la position haute. The moving part 5 comprises a support 6 comprising a distal end 7a and a proximal end 7b. The support 6 is movably mounted on the frame 2, here at the level of the column 4, at its proximal end 7b. Preferably, the support 6 is movably mounted on the frame 2 in a single translational movement between a high position and a low position, the column 4 therefore acting as a slide for the support 6. Due to the orientation of the this column 4, the support 6 is slidably mounted on the slide in a substantially vertical X axis translation. The support 6 and the frame 2 are shaped so that in the low position, the support 6 is substantially at the base 3 and so that in the high position the support 6 is substantially at the level of the upper end of the column 4. Preferably, the manipulator 1 is shaped so that the support 6 can be stopped and locked in any intermediate position relative to the frame 2 between the lower position and the upper position in addition from the low position and the high position.
Par ailleurs, la partie mobile 5 comporte une tête pivotante 8 qui est montée mobile sur l'extrémité distale 7a du support 6 relativement au support 6. La tête pivotante 8 est solidaire en translation selon l'axe X du support 6. De préférence, la tête pivotante 8 est montée mobile sur le support 6 selon un unique mouvement de rotation d'axe Y.  Furthermore, the movable part 5 comprises a pivoting head 8 which is mounted movably on the distal end 7a of the support 6 relative to the support 6. The pivoting head 8 is integral in translation along the axis X of the support 6. Preferably, the pivoting head 8 is movably mounted on the support 6 in a single Y axis rotation movement.
La tête pivotante 8 est ici agencée sur le support 6 de sorte que l'axe Y s'étende sensiblement horizontalement et orthogonalement à l'axe de translation X. De façon particulière, la tête pivotante 8 est agencée de sorte à pouvoir basculer autour de l'axe de rotation Y à 180 degrés. De préférence, la tête pivotante 8 peut ainsi basculer relativement au support 2 entre une première position d'extrémité dans laquelle la tête pivotante 8 fait face à la base 3 (correspondant par exemple à une amplitude de 180 degrés et à la figure 2) et une deuxième position d'extrémité dans laquelle la tête pivotante 8 fait face au plafond de l'atelier dans lequel le manipulateur 1 est installé (correspondant alors à une amplitude de 0 degrés et à la figure 3) . De façon préférée, le manipulateur 1 est conformé de sorte que la tête pivotante 8 puisse être arrêtée et bloquée dans n' importe quelle position intermédiaire relativement au bâti 2 entre la première position d'extrémité et la deuxième position d'extrémité en plus de la première position d'extrémité et de la deuxième position d'extrémité.  The pivoting head 8 is here arranged on the support 6 so that the Y axis extends substantially horizontally and orthogonally to the translation axis X. In particular, the pivoting head 8 is arranged so as to be able to tilt around the axis of rotation Y at 180 degrees. Preferably, the pivoting head 8 can thus swing relative to the support 2 between a first end position in which the pivoting head 8 faces the base 3 (corresponding for example to an amplitude of 180 degrees and in FIG. a second end position in which the pivoting head 8 faces the ceiling of the workshop in which the manipulator 1 is installed (corresponding to an amplitude of 0 degrees and in Figure 3). Preferably, the manipulator 1 is shaped so that the pivoting head 8 can be stopped and locked in any intermediate position relative to the frame 2 between the first end position and the second end position in addition to the first end position and the second end position.
Selon un mode de réalisation préféré, la partie mobile 5 comprend un plateau 9 qui est monté mobile sur la tête pivotante 8 selon un mouvement de rotation d'axe Z. Le plateau est solidaire en rotation de la tête pivotante 8 autour de l'axe Y. Ainsi, le plateau 9 est agencé sur la tête pivotante 8 de sorte que lorsque la tête pivotante 8 est dans sa première position d'extrémité, le plateau 9 fait face à la base 3 et de sorte que lorsque la tête pivotante 8 est dans sa deuxième position d'extrémité, le plateau 9 fait face au plafond. Le plateau 9 est ici agencé de sorte que l'axe Z soit normal au plateau 9. De la sorte, le plateau 9 peut pivoter sur lui-même relativement à la tête rotative 8. De façon particulière, le plateau 9 est agencé de sorte à pouvoir tourner à 360 degrés selon l'axe Z. Le plateau 9 est ici agencé de sorte à pouvoir tourner à 360 degrés selon l'axe Z de manière continue (le plateau 9 pouvant ainsi enchaîner les tours de rotation autour de l'axe Z) . Le plateau 9 est ici agencé de sorte à pouvoir tourner à 360 degrés selon l'axe Z dans les deux sens de rotation. De façon préférée, le manipulateur 1 est conformé de sorte que le plateau 9 puisse être arrêté et bloqué dans n'importe quelle position relative à la tête rotative 8. According to a preferred embodiment, the mobile part 5 comprises a plate 9 which is mounted on the head pivoting 8 in a Z-axis rotational movement. The plate is rotationally fixed to the pivoting head 8 about the Y axis. Thus, the plate 9 is arranged on the pivoting head 8 so that when the pivoting head 8 is in its first end position, the plate 9 faces the base 3 and so that when the pivoting head 8 is in its second end position, the plate 9 faces the ceiling. The plate 9 is here arranged so that the Z axis is normal to the plate 9. In this way, the plate 9 can pivot on itself relative to the rotary head 8. In particular, the plate 9 is arranged so to be able to rotate 360 degrees along the Z axis. The plate 9 is here arranged so as to be able to rotate 360 degrees along the Z axis in a continuous manner (the plate 9 thus being able to link the revolutions around the axis Z). The plate 9 is here arranged so as to rotate 360 degrees along the Z axis in both directions of rotation. Preferably, the manipulator 1 is shaped so that the plate 9 can be stopped and locked in any position relative to the rotary head 8.
Selon un mode de réalisation particulier, la partie mobile 5 comporte un organe de support 10 (uniquement représenté aux figures 4 et 5) de la jambe d' atterrisseur J, organe de support 10 qui est rigidement fixé au plateau 9 de sorte à être solidaire en mouvements au plateau 9.  According to a particular embodiment, the mobile part 5 comprises a support member 10 (only represented in FIGS. 4 and 5) of the landing gear leg J, a support member 10 which is rigidly fixed to the plate 9 so as to be secured to each other. in motion on the board 9.
De préférence, le manipulateur 1 comporte des moyens de blocage temporaire de la jambe d' atterrisseur J qui sont ici agencés sur la base 3 du bâti 2 sensiblement en regard de l'extrémité distale 7a du support 6 et donc de la tête pivotante 8 et du plateau 9. Les moyens de blocage comportent par exemple un premier arceau 10 et un deuxième arceau 11 destinés à recevoir respectivement l'une des branches de l'essieu de la jambe d' atterrisseur J comme nous le verrons par la suite. De préférence, les moyens de blocage sont portés par une embase 12 montée pivotante sur la base 3 du bâti selon un axe de rotation Z' qui est préfèrentiellement sensiblement parallèle et confondu avec l'axe Z lorsque le plateau 9 est en regard de la base 3 (c'est-à-dire lorsque la tête pivotante 8 est dans sa première position d'extrémité) . L'embase 12 est ici agencée de sorte que l'axe Z' soit normal à l'embase 12. De la sorte, l'embase 12 peut pivoter sur elle-même relativement à la base 3. De façon particulière, l'embase 12 est agencée de sorte à pouvoir tourner à 360 degrés selon l'axe Z' . L'embase 12 est ici agencée de sorte à pouvoir tourner à 360 degrés selon l'axe Z' de manière continue (l'embase 12 pouvant ainsi enchaîner les tours de rotation autour de l'axe Z' ) . De façon préférée, le manipulateur 1 est conformé de sorte que l'embase 12 puisse être arrêtée et bloquée dans n'importe quelle position relative à la base 3. Preferably, the manipulator 1 comprises means for temporarily locking the landing gear leg J which are here arranged on the base 3 of the frame 2 substantially facing the distal end 7a of the support 6 and therefore of the pivoting head 8 and 9. The locking means comprise for example a first hoop 10 and a second hoop 11 for receiving respectively one of the branches of the axle of the landing gear leg J as we shall see later. Preferably, the locking means are carried by a base 12 pivotally mounted on the base 3 of the frame along an axis of rotation Z 'which is preferably substantially parallel and coincides with the axis Z when the plate 9 is opposite the base 3 (that is, when the swivel head 8 is in its first end position). The base 12 is here arranged so that the axis Z 'is normal to the base 12. In this way, the base 12 can pivot on itself relative to the base 3. In particular, the base 12 is arranged so as to rotate 360 degrees along the axis Z '. The base 12 is here arranged so that it can rotate 360 degrees along the axis Z 'in a continuous manner (the base 12 can thus link the revolutions around the axis Z'). Preferably, the manipulator 1 is shaped so that the base 12 can be stopped and locked in any position relative to the base 3.
Le manipulateur 1 comporte en outre ici une unité d'alimentation 13 du manipulateur 1 et notamment des différents actionneurs engendrant les mouvements de la partie mobile 5 et de l'embase 12 (tels que des moteurs électriques) . Ceci permet de rendre le manipulateur 1 très autonome. L'unité d'alimentation 13 est par exemple agencée sur la colonne 4.  The manipulator 1 further comprises here a power supply unit 13 of the manipulator 1 and in particular different actuators generating the movements of the mobile part 5 and the base 12 (such as electric motors). This makes the manipulator 1 very autonomous. The feed unit 13 is for example arranged on the column 4.
Le manipulateur 1 comporte également ici un organe d'interface 14 avec un opérateur. L'organe d'interface 14 comporte par exemple un écran tactile grâce auquel l'opérateur peut notamment commander les mouvements de la partie mobile 5 et de l'embase 12. Ceci permet de rendre le manipulateur 1 plus ergonomique. De préférence, le manipulateur 1 est conformé de sorte que différentes séquences d'action du manipulateur 1 (tels que des enchaînements de mouvements de la partie mobile 5) soient mémorisées et puissent être commandées depuis l'organe d'interface 14. Ceci rend l'utilisation du manipulateur 1 très ergonomique pour un opérateur. The manipulator 1 also comprises here an interface member 14 with an operator. The interface member 14 comprises for example a touch screen with which the operator can in particular control the movements of the movable portion 5 and the base 12. This makes the manipulator 1 more ergonomic. Preferably, the manipulator 1 is shaped so that different action sequences of the manipulator 1 (such as sequences of movements of the moving part 5) are stored and can be controlled from the body 14. This makes the use of the manipulator 1 very ergonomic for an operator.
L'organe d'interface 14 est par exemple agencé sur la colonne 4.  The interface member 14 is for example arranged on the column 4.
En référence aux figures 4 et 5, le manipulateur 1 ainsi décrit permet à un opérateur d'effectuer différentes opérations sur la jambe d' atterrisseur J avec un changement simple et rapide de la position de la jambe d' atterrisseur J entre deux opérations.  With reference to FIGS. 4 and 5, the manipulator 1 thus described allows an operator to perform various operations on the landing gear leg J with a simple and rapid change in the position of the landing gear leg J between two operations.
Par exemple, comme illustré à la figure 4, pour une action de montage ou de maintenance à effectuer sur la jambe d' atterrisseur J, l'opérateur commande le manipulateur 1 grâce à l'organe d'interface 14 de sorte que le support 6 soit en position basse et que la tête pivotante 8 soit dans une position intermédiaire d'amplitude 90 degrés (c'est-à-dire de sorte que la tête pivotante s'étende sensiblement à la verticale) . Dans cette position, l'opérateur vient éventuellement rigidement fixer l'organe de support 10 au plateau 9 s'il n'est pas déjà présent sur le manipulateur 1, avant de solidariser de façon temporaire la jambe d' atterrisseur J audit organe de support 10. Dans ces conditions, la jambe d' atterrisseur J est solidaire en mouvements de l'organe de support 10 et donc du plateau 9. L'organe de support 10 est par exemple conformé pour supporter une extrémité longitudinale de la jambe d' atterrisseur J comme la fixation de la jambe d' atterrisseur J. Dès lors l'axe longitudinal A de la jambe d' atterrisseur J est sensiblement confondu avec l'axe de rotation Z du plateau 9.  For example, as illustrated in FIG. 4, for an assembly or maintenance action to be performed on the landing gear leg J, the operator controls the manipulator 1 by means of the interface member 14 so that the support 6 either in the low position and the pivoting head 8 is in an intermediate position of amplitude 90 degrees (that is to say, so that the pivoting head extends substantially vertically). In this position, the operator possibly comes rigidly to fix the support member 10 to the plate 9 if it is not already present on the manipulator 1, before temporarily securing the landing gear leg J to said support member 10. Under these conditions, the landing gear leg J is integral in movements of the support member 10 and therefore of the plate 9. The support member 10 is for example shaped to support a longitudinal end of the landing gear leg As the fastening of the landing gear leg J. Consequently, the longitudinal axis A of the landing gear leg J is substantially coincidental with the axis of rotation Z of the plate 9.
Ainsi, le manipulateur est conformé pour maintenir la jambe d' atterrisseur J dans une position horizontale à partir de laquelle l'opérateur peut travailler. L'opérateur a en outre la possibilité dans cette position de faire tourner le plateau 9 (et donc la jambe d' atterrisseur J) autour de son axe Z (respectivement autour de l'axe A) ce qui permet de travailler de façon complète sur toute la jambe d' atterrisseur J. Thus, the manipulator is shaped to maintain the landing gear leg J in a horizontal position from which the operator can work. The operator further has the possibility in this position of rotating the plate 9 (and thus the landing gear leg J) about its axis Z (respectively about the axis A). which allows to work in a complete way on all the leg of landing gear J.
En outre, comme illustré à la figure 5, pour une action d'essais et de tests à effectuer sur la jambe d' atterrisseur J, l'opérateur commande le manipulateur 1 grâce à l'organe d'interface 14 de sorte que le support 6 se retrouve en position haute et que la tête pivotante 8 soit dans la première position d'extrémité dans laquelle elle fait face au sol. Ainsi, l'axe de rotation Z du plateau (et donc l'axe longitudinal A de la jambe d' atterrisseur J) s'étend sensiblement verticalement et parallèlement à l'axe de translation X et se retrouve également confondu avec l'axe Z' de l'embase 12. L'opérateur vient alors bloquer la deuxième extrémité longitudinale de la jambe d' atterrisseur J (par exemple ici l'essieu) à l'aide des moyens de blocage. La jambe d' atterrisseur J se trouve donc d'une part reliée à l'embase 8 et d'autre part reliée à la partie mobile 5.  In addition, as illustrated in FIG. 5, for a test and test action to be performed on the landing gear leg J, the operator controls the manipulator 1 by means of the interface member 14 so that the support 6 is in the upper position and the pivoting head 8 is in the first end position in which it faces the ground. Thus, the axis of rotation Z of the plate (and therefore the longitudinal axis A of the landing gear leg J) extends substantially vertically and parallel to the translation axis X and is also identical to the Z axis. 12. The operator then comes to block the second longitudinal end of the landing gear leg J (for example here the axle) using the locking means. The landing gear leg J is therefore on the one hand connected to the base 8 and on the other hand connected to the movable part 5.
L'opérateur peut dès lors effectuer des tests de compression, de traction ou encore de déplacements angulaires sur la jambe d' atterrisseur J en imposant un mouvement de descente du support 6 selon l'axe X ou encore un mouvement de rotation du plateau 9 autour de l'axe Z ou encore un mouvement de rotation de la tête pivotante 8 autour de l'axe Y ou encore un mouvement de rotation de l'embase 12 autour de l'axe Z', ces mouvements pouvant être indépendants les uns des autres ou simultanés.  The operator can therefore perform compression, traction or angular displacement tests on the landing gear leg J by imposing a downward movement of the support 6 along the X axis or else a rotational movement of the plate 9 around the Z axis or a rotational movement of the pivoting head 8 about the Y axis or a rotational movement of the base 12 about the Z 'axis, these movements being independent of each other or simultaneous.
On note que la partie mobile 5 permet ici tout à la fois de soutenir la jambe d' atterrisseur J, de déplacer la jambe d' atterrisseur J et de permettre d'effectuer des tests et des essais sur la jambe d' atterrisseur J.  It should be noted that the moving part 5 here makes it possible both to support the landing gear leg J, to move the landing gear leg J and to make it possible to carry out tests and tests on the landing gear leg J.
Le manipulateur 1 selon l'invention permet ainsi d'effectuer au même endroit des opérations de maintenance, de réparation, d' assemblage ou de tests ce qui simplifie et accélère les tâches d'un opérateur. L'invention n'est pas limitée à ce qui vient d'être décrit, mais bien au contraire englobe toute variante entrant dans le cadre défini par les revendications. The manipulator 1 according to the invention thus makes it possible to carry out at the same place maintenance, repair, assembly or testing operations which simplifies and speeds up the tasks of an operator. The invention is not limited to what has just been described, but on the contrary encompasses any variant within the scope defined by the claims.
En particulier, qu' ici le manipulateur permette d'effectuer des essais sur la pièce de traction, de compression et de torsion, le manipulateur pourra être agencé pour effectuer d'autres types d'essais sur la pièce ou pourra être agencé pour n'effectuer qu'un nombre plus restreint de tests comme seulement des tests de compression et de traction (les moyens de blocage étant alors fixes de même que le plateau) . La partie mobile pourra ou non participer à la réalisation des essais et des tests sur la pièce .  In particular, that here the manipulator allows to perform tests on the pulling piece, compression and torsion, the manipulator can be arranged to perform other types of tests on the part or can be arranged to n ' perform a smaller number of tests such as only compression and traction tests (the locking means then being fixed as well as the plateau). The mobile part may or may not participate in the performance of tests and tests on the part.
Bien qu' ici le manipulateur comporte un organe de support rigidement solidarisé au plateau par l'opérateur, ledit organe de support pourra être solidaire du plateau sans être démontable dudit plateau. En variante, le manipulateur pourra ne pas comporter d'organe support, la pièce étant alors directement portée par le plateau (ou la tête pivotante dans le cas où le manipulateur ne comporterait pas de plateau) .  Although here the manipulator comprises a support member rigidly secured to the plate by the operator, said support member may be secured to the tray without being removable from said plate. Alternatively, the manipulator may not include a support member, the piece then being directly carried by the plate (or the pivoting head in the case where the manipulator does not include a tray).
Bien qu' ici les moyens de blocage soient portés par une embase mobile, les moyens de blocage pourront être fixes. Les moyens de blocage pourront ainsi être portés par une embase solidarisée rigidement au bâti ou pourront être directement solidarisés rigidement au bâti.  Although here the locking means are carried by a mobile base, the locking means may be fixed. The locking means may thus be carried by a base rigidly fixed to the frame or may be directly rigidly attached to the frame.
Le manipulateur pourra permettre des essais de torsion sur la pièce selon l'axe Z' à partir du seul mouvement de rotation du plateau, à partir du seul mouvement de rotation de l'embase ou à partir des deux mouvements de rotation simultanés de l'embase et du plateau. Seule l'embase pourra être mobile en rotation autour de l'axe Z' ou seul le plateau pourra être mobile en rotation autour de l'axe Z (lorsqu'il est confondu avec l'axe Z' ) . En variante, l'embase comme le plateau pourront être mobiles en rotation autour de l'axe Z. The manipulator may allow torsion tests on the workpiece along the axis Z 'from the single movement of rotation of the plate, from the single rotational movement of the base or from the two simultaneous rotational movements of the base and tray. Only the base may be rotatable about the axis Z 'or only the plate may be rotatable about the axis Z (when it coincides with the axis Z'). In a variant, the base as the plate can be rotatable about the Z axis.

Claims

REVENDICATIONS
1. Manipulateur (1) de pièces, telles qu'une jambe d' atterrisseur, comportant un bâti (2) et une partie mobile1. Manipulator (1) of parts, such as a landing gear leg, comprising a frame (2) and a moving part
(5) destinée à porter la pièce, la partie mobile comprenant un support (6) monté mobile au niveau de son extrémité proximale (7b) sur le bâti selon au moins une translation de premier axe (X) entre une position haute et une position basse, la partie mobile comprenant en outre une tête pivotante (8) montée mobile sur l'extrémité distale (7a) du support selon au moins une rotation de deuxième axe (Y) de sorte à pouvoir faire pivoter en service ladite pièce entre une position sensiblement horizontale et une position sensiblement verticale. (5) for carrying the workpiece, the moving part comprising a support (6) movably mounted at its proximal end (7b) on the frame in at least one first-axis translation (X) between a high position and a position the movable portion further comprising a pivoting head (8) movably mounted on the distal end (7a) of the support in at least one second axis rotation (Y) so as to be able to rotate said workpiece in use between a position substantially horizontal and a substantially vertical position.
2. Manipulateur selon la revendication 1, conformé de sorte que le premier axe (X) soit vertical et le deuxième axe (Y) soit horizontal et orthogonal au premier axe.  2. Manipulator according to claim 1, shaped so that the first axis (X) is vertical and the second axis (Y) is horizontal and orthogonal to the first axis.
3. Manipulateur selon l'une des revendications précédentes, dans lequel la tête pivotante (8) est agencée sur le support (6) de sorte à être mobile sur une plage de 180 degrés selon le deuxième axe (Y) relativement au support .  3. Manipulator according to one of the preceding claims, wherein the pivoting head (8) is arranged on the support (6) so as to be movable over a range of 180 degrees along the second axis (Y) relative to the support.
4. Manipulateur selon la revendication 3, dans lequel la tête pivotante (8) est agencée sur le support (6) entre une première position d'extrémité dans laquelle elle est en regard du sol et une deuxième position d'extrémité dans laquelle elle est en regard du ciel.  4. Manipulator according to claim 3, wherein the pivoting head (8) is arranged on the support (6) between a first end position in which it is facing the ground and a second end position in which it is next to the sky.
5. Manipulateur selon l'une des revendications précédentes, comportant en outre un plateau (9) monté mobile sur la tête pivotante (8) selon une rotation de troisième axe (Z) .  5. Manipulator according to one of the preceding claims, further comprising a plate (9) movably mounted on the pivoting head (8) in a third axis rotation (Z).
6. Manipulateur selon la revendication 5, dans lequel le plateau (9) est agencé de sorte à pivoter à 360 degrés selon le troisième axe (Z) relativement à la tête pivotante . 6. Manipulator according to claim 5, wherein the plate (9) is arranged to rotate 360 degrees along the third axis (Z) relative to the pivoting head.
7. Manipulateur selon l'une des revendications précédentes, dans lequel le bâti (2) comporte des moyens de blocage (10, 11) destinés à solidariser temporairement une portion de la pièce au bâti.  7. Manipulator according to one of the preceding claims, wherein the frame (2) comprises locking means (10, 11) for temporarily securing a portion of the workpiece to the frame.
8. Manipulateur selon la revendication 7, comportant une embase (12) portant les moyens de blocage et montée mobile sur le bâti (2) selon une rotation de quatrième axe (Z' ) .  8. Manipulator according to claim 7, comprising a base (12) carrying the locking means and movably mounted on the frame (2) in a fourth axis rotation (Z ').
EP17707926.6A 2016-05-02 2017-03-06 Manipulator for a part Withdrawn EP3452256A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1653939A FR3050676B1 (en) 2016-05-02 2016-05-02 MANIPULATOR OF A PIECE
PCT/EP2017/055194 WO2017190870A1 (en) 2016-05-02 2017-03-06 Manipulator for a part

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EP3452256A1 true EP3452256A1 (en) 2019-03-13

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EP (1) EP3452256A1 (en)
CA (1) CA3021750C (en)
FR (1) FR3050676B1 (en)
WO (1) WO2017190870A1 (en)

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Publication number Priority date Publication date Assignee Title
JPH0810948A (en) * 1994-06-28 1996-01-16 Line Works:Kk Automatic welding equipment
JP3026790B2 (en) * 1998-04-03 2000-03-27 株式会社ラインワークス Drive positioning device for robots and workpieces
JP4063781B2 (en) * 2004-03-04 2008-03-19 株式会社ラインワークス Transport device
JP4700646B2 (en) * 2007-03-26 2011-06-15 株式会社神戸製鋼所 Control device for work positioning device and program thereof
JP5571724B2 (en) * 2012-03-12 2014-08-13 株式会社ラインワークス Work mounting method on work mounting device, work removing method from work mounting device, work holding device for work mounting device, work support for work mounting device, and work mounting system
EP2886263A1 (en) * 2013-12-20 2015-06-24 Getting Robotika S.L. Robotised installation

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FR3050676B1 (en) 2019-07-26
WO2017190870A1 (en) 2017-11-09
FR3050676A1 (en) 2017-11-03
CA3021750C (en) 2020-08-18
CA3021750A1 (en) 2017-11-09

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