FR3076239B1 - Dispositif pour la depose d'un cordon d'une substance plastique et son procede de mise en oeuvre - Google Patents

Dispositif pour la depose d'un cordon d'une substance plastique et son procede de mise en oeuvre Download PDF

Info

Publication number
FR3076239B1
FR3076239B1 FR1763352A FR1763352A FR3076239B1 FR 3076239 B1 FR3076239 B1 FR 3076239B1 FR 1763352 A FR1763352 A FR 1763352A FR 1763352 A FR1763352 A FR 1763352A FR 3076239 B1 FR3076239 B1 FR 3076239B1
Authority
FR
France
Prior art keywords
depositing
profile
nozzle
plastic substance
cord
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
FR1763352A
Other languages
English (en)
Other versions
FR3076239A1 (fr
Inventor
Didier BARBARIT
Erwan Janty
Bertrand Soufflet
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.)
Safran Nacelles SAS
Original Assignee
Safran Nacelles 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 Safran Nacelles SAS filed Critical Safran Nacelles SAS
Priority to FR1763352A priority Critical patent/FR3076239B1/fr
Priority to PCT/FR2018/053541 priority patent/WO2019129989A1/fr
Priority to EP18842446.9A priority patent/EP3732002A1/fr
Publication of FR3076239A1 publication Critical patent/FR3076239A1/fr
Application granted granted Critical
Publication of FR3076239B1 publication Critical patent/FR3076239B1/fr
Priority to US16/914,848 priority patent/US20200324311A1/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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
    • B05D1/265—Extrusion coatings
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
    • B29C48/02—Small extruding apparatus, e.g. handheld, toy or laboratory extruders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
    • B29C48/03—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor characterised by the shape of the extruded material at extrusion
    • B29C48/05—Filamentary, e.g. strands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
    • B29C48/15—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor incorporating preformed parts or layers, e.g. extrusion moulding around inserts
    • B29C48/154—Coating solid articles, i.e. non-hollow articles
    • B29C48/155—Partial coating thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
    • B29C48/25—Component parts, details or accessories; Auxiliary operations
    • B29C48/266—Means for allowing relative movements between the apparatus parts, e.g. for twisting the extruded article or for moving the die along a surface to be coated

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Extrusion Moulding Of Plastics Or The Like (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif (10) pour la dépose d'un cordon (12) d'une substance plastique sur un profil (14) délimité par au moins une face de dépose (16) du cordon (12), le dispositif (10) comportant un bras robotisé (26), un effecteur (28) de dépose comprenant une buse (34) d'extrusion qui est reliée sur une réserve (30) de substance plastique et qui s'étend axialement suivant un axe (A) d'extrusion, un capteur de retour de force qui permet de mesurer l'effort appliqué par la buse (34) sur le profil (14) au cours de la dépose du cordon (12), caractérisé en ce qu'il comporte un calculateur électronique (42) mettant en œuvre un programme informatique qui est conçu pour piloter le bras robotisé (26) dans l'espace suivant une trajectoire théorique qui est prédéterminée, et corriger ladite trajectoire théorique suivant les mesures relevées par le capteur de retour de force, de sorte que l'effort (F) d'appui de la buse (34) sur le profil (14), mesuré par le capteur de retour de force, tende vers une valeur prédéfinie, pour permettre à la buse (34) de rester en contact sur le profil (14).
FR1763352A 2017-12-29 2017-12-29 Dispositif pour la depose d'un cordon d'une substance plastique et son procede de mise en oeuvre Active FR3076239B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1763352A FR3076239B1 (fr) 2017-12-29 2017-12-29 Dispositif pour la depose d'un cordon d'une substance plastique et son procede de mise en oeuvre
PCT/FR2018/053541 WO2019129989A1 (fr) 2017-12-29 2018-12-24 Dispositif pour la dépose d'un cordon d'une substance plastique et son procédé de mise en oeuvre
EP18842446.9A EP3732002A1 (fr) 2017-12-29 2018-12-24 Dispositif pour la dépose d'un cordon d'une substance plastique et son procédé de mise en oeuvre
US16/914,848 US20200324311A1 (en) 2017-12-29 2020-06-29 Device for depositing a bead of a plastic substance and method for implementing same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1763352A FR3076239B1 (fr) 2017-12-29 2017-12-29 Dispositif pour la depose d'un cordon d'une substance plastique et son procede de mise en oeuvre
FR1763352 2017-12-29

Publications (2)

Publication Number Publication Date
FR3076239A1 FR3076239A1 (fr) 2019-07-05
FR3076239B1 true FR3076239B1 (fr) 2020-01-10

Family

ID=61258525

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1763352A Active FR3076239B1 (fr) 2017-12-29 2017-12-29 Dispositif pour la depose d'un cordon d'une substance plastique et son procede de mise en oeuvre

Country Status (4)

Country Link
US (1) US20200324311A1 (fr)
EP (1) EP3732002A1 (fr)
FR (1) FR3076239B1 (fr)
WO (1) WO2019129989A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106694319B (zh) * 2017-03-22 2019-06-18 京东方科技集团股份有限公司 曲面涂布装置及涂胶设备
CN110976212B (zh) * 2019-12-19 2021-10-22 广东博智林机器人有限公司 打胶机器人的视觉引导方法、装置和系统
CN111530697A (zh) * 2020-04-01 2020-08-14 国机智能科技有限公司 一种三维曲面工件精准涂胶系统及方法
CN112354719A (zh) * 2020-10-13 2021-02-12 中铭谷智能机器人(广东)有限公司 一种自动喷涂控制方法
CN112405523A (zh) * 2020-10-20 2021-02-26 深圳拓邦股份有限公司 机器人碰撞检测方法、装置及机器人

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040089400A1 (en) * 2002-11-08 2004-05-13 Vargo Richard David Method and apparatus for forming an annular elastomeric tire component
DE102011005513A1 (de) * 2011-03-14 2012-09-20 Kuka Laboratories Gmbh Roboter und Verfahren zum Betreiben eines Roboters
US20140120196A1 (en) * 2012-10-29 2014-05-01 Makerbot Industries, Llc Quick-release extruder
US10105730B2 (en) * 2013-09-24 2018-10-23 Fanuc America Corporation Robotic cartridge dispenser and method
WO2017106787A2 (fr) * 2015-12-16 2017-06-22 Desktop Metal, Inc. Procédés et systèmes destinés à la fabrication additive
US20170320267A1 (en) * 2016-05-03 2017-11-09 Ut-Battelle, Llc Variable Width Deposition for Additive Manufacturing with Orientable Nozzle
CA3029111C (fr) * 2016-07-08 2025-05-06 Macdonald, Dettwiler And Associates Inc. Système et procédé de distribution de fluides visqueux automatisée guidée par vision artificielle, destinés à des opérations de calfatage et d'étanchéification
CN107790313B (zh) * 2016-08-30 2021-06-01 精工爱普生株式会社 控制装置、机器人及机器人系统
US10005096B2 (en) * 2016-10-05 2018-06-26 James Hangley Disposable nozzle for an applicator for applying resin to the inside of a pre-creased garment or a piece of fabric
US20180348730A1 (en) * 2017-06-01 2018-12-06 X Development Llc Automatic Generation of Toolpaths
WO2019035820A1 (fr) * 2017-08-16 2019-02-21 O&M Halyard International Unlimited Company Procédé et système d'enroulement de liens dans un procédé de fabrication de masque facial
WO2019078974A1 (fr) * 2017-10-20 2019-04-25 Desktop Metal, Inc. Techniques d'entretien de buses pour systèmes de fabrication additive

Also Published As

Publication number Publication date
US20200324311A1 (en) 2020-10-15
FR3076239A1 (fr) 2019-07-05
EP3732002A1 (fr) 2020-11-04
WO2019129989A1 (fr) 2019-07-04

Similar Documents

Publication Publication Date Title
FR3076239B1 (fr) Dispositif pour la depose d'un cordon d'une substance plastique et son procede de mise en oeuvre
US8855823B2 (en) Robot controller, simple installation-type robot, and method of controlling simple installation-type robot
US20200356069A1 (en) Machine tool management system
US10335883B2 (en) Gravity-based weld travel speed sensing system and method
JP4394139B2 (ja) スポット溶接ガンの加圧力の異常を診断する方法
US20140107840A1 (en) Information processing method, apparatus, and computer readable medium
US20150321283A1 (en) Tip dressing system with dressing device for cutting electrode tips of spot welding gun
JP6418961B2 (ja) 障害物検知装置、移動体、障害物検知方法、および障害物検知プログラム
WO2017089623A1 (fr) Procédé et dispositif pour le pilotage d'un robot en co-activité
JP2016538006A5 (fr)
KR102302446B1 (ko) 용접 변수 모니터링을 통한 용접토치 제어시스템 및 제어방법
US9102064B2 (en) Multi-joint robot having gas spring, and method for estimating inner pressure of the gas spring
US20230137232A1 (en) Abnormality estimation system, abnormality estimation method, and program
FR3029122B1 (fr) Procede de detection d'une insuffisance de liquide dans un dispositif d'atomisation par ultrasons
US20160346929A1 (en) Robot calibration toolkit
JP4880020B2 (ja) 可動電極による溶接ワーク位置検出方法
JP6544291B2 (ja) 関節駆動ロボットの異常診断方法及び異常診断装置
US20170239747A1 (en) Welder with indirect sensing of weld fastener position
KR102003156B1 (ko) 메인터넌스 시기 예측 장치, 유량 제어 장치 및 메인터넌스 시기 예측 방법
US20190302729A1 (en) Numerical control device
US20220339798A1 (en) Deterioration determination apparatus, deterioration determination method, and computer-readable storage medium storing a control program
JP2016509239A5 (fr)
CN112654468A (zh) 用于工业机器人的黄金数据
US11541552B2 (en) Control device controlling robot and robot system
US11850739B2 (en) Robot control device, maintenance management method, and maintenance management program

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20190705

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7

PLFP Fee payment

Year of fee payment: 8

PLFP Fee payment

Year of fee payment: 9