FR3102165B1 - Device for moving at least one tool relative to an aircraft surface - Google Patents

Device for moving at least one tool relative to an aircraft surface Download PDF

Info

Publication number
FR3102165B1
FR3102165B1 FR1911802A FR1911802A FR3102165B1 FR 3102165 B1 FR3102165 B1 FR 3102165B1 FR 1911802 A FR1911802 A FR 1911802A FR 1911802 A FR1911802 A FR 1911802A FR 3102165 B1 FR3102165 B1 FR 3102165B1
Authority
FR
France
Prior art keywords
moving
tool
relative
intermediate frame
tool relative
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.)
Active
Application number
FR1911802A
Other languages
French (fr)
Other versions
FR3102165A1 (en
Inventor
Bertrand Rives
Denis Descheemaeker
Ghislain Viauvy
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.)
Airbus SAS
Original Assignee
Airbus SAS
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 Airbus SAS filed Critical Airbus SAS
Priority to FR1911802A priority Critical patent/FR3102165B1/en
Publication of FR3102165A1 publication Critical patent/FR3102165A1/en
Application granted granted Critical
Publication of FR3102165B1 publication Critical patent/FR3102165B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
    • H02G11/003—Arrangements of electric cables or lines between relatively-movable parts using gravity-loaded or spring-loaded loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
    • H02G11/006—Arrangements of electric cables or lines between relatively-movable parts using extensible carrier for the cable, e.g. self-coiling spring

Abstract

Dispositif de déplacement d’au moins un outil par rapport à une surface d’un aéronef L'invention a pour objet un dispositif de déplacement d’outil (10) comportant un chariot (12), un châssis intermédiaire (14) relié au chariot (12) par une première liaison (16) permettant au châssis intermédiaire (14) de se déplacer parallèlement à une première direction (Z) verticale par rapport au chariot (12), une plate-forme (18) reliée au châssis intermédiaire (14) par une deuxième liaison (20) permettant à la plate-forme (18) de se déplacer parallèlement à une deuxième direction (X) perpendiculaire à la première direction (Z) par rapport au châssis intermédiaire (14), un support (22) relié à la plate-forme (18), un bras poly-articulé (24) supportant un outil (26) et relié au support (22) ainsi qu’un système de pilotage (48.2) configuré pour contrôler des déplacements de l’outil (26) par rapport à une surface (28). Figure 1Device for moving at least one tool relative to a surface of an aircraft The object of the invention is a device for moving a tool (10) comprising a carriage (12), an intermediate frame (14) connected to the carriage (12) by a first link (16) allowing the intermediate frame (14) to move parallel to a first direction (Z) vertical relative to the carriage (12), a platform (18) connected to the intermediate frame (14) ) by a second link (20) allowing the platform (18) to move parallel to a second direction (X) perpendicular to the first direction (Z) relative to the intermediate frame (14), a support (22) connected to the platform (18), a poly-articulated arm (24) supporting a tool (26) and connected to the support (22) as well as a control system (48.2) configured to control movements of the tool (26) relative to a surface (28). Figure 1

FR1911802A 2019-10-22 2019-10-22 Device for moving at least one tool relative to an aircraft surface Active FR3102165B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1911802A FR3102165B1 (en) 2019-10-22 2019-10-22 Device for moving at least one tool relative to an aircraft surface

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1911802 2019-10-22
FR1911802A FR3102165B1 (en) 2019-10-22 2019-10-22 Device for moving at least one tool relative to an aircraft surface

Publications (2)

Publication Number Publication Date
FR3102165A1 FR3102165A1 (en) 2021-04-23
FR3102165B1 true FR3102165B1 (en) 2021-10-29

Family

ID=69158125

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1911802A Active FR3102165B1 (en) 2019-10-22 2019-10-22 Device for moving at least one tool relative to an aircraft surface

Country Status (1)

Country Link
FR (1) FR3102165B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10945905B2 (en) * 2017-05-31 2021-03-16 Mizuho Osi System, apparatus and method for supporting and/or positioning a patient before, during, or after a medical procedure

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0455371A3 (en) * 1990-04-24 1992-04-22 Engineering Incorporated Robotic carrier mechanism for aircraft maintenance
FR2722443B1 (en) * 1994-07-13 1996-09-20 Ind Sa Centre SURFACE TREATMENT DEVICE
US20060068109A1 (en) 2004-09-15 2006-03-30 Airbus Deutschland Gmbh Painting device, painting arrangement, method for painting a curved surface of an object, and use of an inkjet device for painting an aircraft
ATE465941T1 (en) * 2008-02-12 2010-05-15 Vincenzo Rina MOBILE DEVICE FOR PROCESSING WATERCRAFT SHELLS
DE102012003663A1 (en) * 2012-02-23 2013-08-29 Kuka Roboter Gmbh Mobile robot, processing station and method for operating a mobile robot
US9579679B2 (en) * 2014-05-28 2017-02-28 The Boeing Company Aircraft coating application system and method
JP6678154B2 (en) * 2017-12-05 2020-04-08 株式会社大気社 Surface treatment system for large objects

Also Published As

Publication number Publication date
FR3102165A1 (en) 2021-04-23

Similar Documents

Publication Publication Date Title
FR3063008B1 (en) WALKING AID WHEELCHAIR
CN106170374B (en) Industrial robot
US9302394B2 (en) Positioning device
FR3102165B1 (en) Device for moving at least one tool relative to an aircraft surface
UA93037C2 (en) Overhead conveyor system for conveying objects and method for operating the same
CN107000135B (en) Bridge for laser cutting machine
CN106272407A (en) A kind of x-axis walking mechanism and the mechanical hand that can move along x-axis speed change
CN204788283U (en) Laser detection device that belt pulley measurement of planeness was used
BR112019008129A2 (en) method for upgrading a articulated crane and a hoist compensation crane
CN206318592U (en) A kind of cage guide self-checking device
CN204008077U (en) A kind of multiple degrees of freedom test specimen attitude regulation focusing mechanism of optical detecting platform
CN106494966A (en) A kind of cage guide self-checking device and calibration steps
CN105251901B (en) A kind of manipulator terminal-collecting machine pre-installs device
CN204128499U (en) Multi-functional three coordinate measuring machine
CN203682408U (en) Bracket device for glass working machine
CN104493641B (en) A kind of lifting testing agency
CN203781555U (en) Elevator safety tongs correction and detection device
CN203241306U (en) Suspended bidirectional adjustable instant force measuring device
TW201325808A (en) Balancing device and balancing method thereof
CN206317072U (en) A kind of z-axis walking mechanism and the manipulator with gravitational equilibrium mechanism
CN206318500U (en) A kind of y-axis drive mechanism and the manipulator that can be moved along y-axis speed change
CN103753209A (en) Press-fitting equipment
CN208773561U (en) Seven axis scissor reciprocators
CN105443926A (en) Medical bearing assembly capable of lifting, descending and stably running
CN105645307A (en) Lifting medical bearing device preventing over travel

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20210423

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5