Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/0096—Program-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)

Applications Claiming Priority (2)

Publications (1)

Family

ID=56263944

Family Applications (1)

Country Status (4)

Family Cites Families (6)

• 2016
  • 2016-05-02 FR FR1653939A patent/FR3050676B1/fr not_active Expired - Fee Related
• 2017
  • 2017-03-06 WO PCT/EP2017/055194 patent/WO2017190870A1/fr not_active Ceased
  • 2017-03-06 CA CA3021750A patent/CA3021750C/fr not_active Expired - Fee Related
  • 2017-03-06 EP EP17707926.6A patent/EP3452256A1/de not_active Withdrawn

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