FR3102165B1 - Dispositif de déplacement d’au moins un outil par rapport à une surface d’un aéronef - Google Patents

Dispositif de déplacement d’au moins un outil par rapport à une surface d’un aéronef Download PDF

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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
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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
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English (en)
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FR3102165A1 (fr
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/fr
Publication of FR3102165A1 publication Critical patent/FR3102165A1/fr
Application granted granted Critical
Publication of FR3102165B1 publication Critical patent/FR3102165B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Manipulator (AREA)

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 1
FR1911802A 2019-10-22 2019-10-22 Dispositif de déplacement d’au moins un outil par rapport à une surface d’un aéronef Active FR3102165B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1911802A FR3102165B1 (fr) 2019-10-22 2019-10-22 Dispositif de déplacement d’au moins un outil par rapport à une surface d’un aéronef

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1911802 2019-10-22
FR1911802A FR3102165B1 (fr) 2019-10-22 2019-10-22 Dispositif de déplacement d’au moins un outil par rapport à une surface d’un aéronef

Publications (2)

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

Family

ID=69158125

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1911802A Active FR3102165B1 (fr) 2019-10-22 2019-10-22 Dispositif de déplacement d’au moins un outil par rapport à une surface d’un aéronef

Country Status (1)

Country Link
FR (1) FR3102165B1 (fr)

Families Citing this family (2)

* 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
CN115367143B (zh) * 2022-08-09 2024-06-04 黄鹄科学技术有限公司 一种用于机载光电吊舱装配的工艺装置及使用方法

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 (fr) * 1994-07-13 1996-09-20 Ind Sa Centre Dispositif de traitement de surface
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 (de) * 2008-02-12 2010-05-15 Vincenzo Rina Mobile vorrichtung zum bearbeiten von wasserfahrzeughüllen
DE102012003663A1 (de) * 2012-02-23 2013-08-29 Kuka Roboter Gmbh Mobiler Roboter, Bearbeitungsstation und Verfahren zum Betreiben eines mobilen Roboters
US9579679B2 (en) * 2014-05-28 2017-02-28 The Boeing Company Aircraft coating application system and method
JP6678154B2 (ja) * 2017-12-05 2020-04-08 株式会社大気社 大型物体用の表面処理システム

Also Published As

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

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