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FR3126635B1 - LOADING BLADE ON A WHEEL - Google Patents

LOADING BLADE ON A WHEEL Download PDF

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Publication number
FR3126635B1
FR3126635B1 FR2109318A FR2109318A FR3126635B1 FR 3126635 B1 FR3126635 B1 FR 3126635B1 FR 2109318 A FR2109318 A FR 2109318A FR 2109318 A FR2109318 A FR 2109318A FR 3126635 B1 FR3126635 B1 FR 3126635B1
Authority
FR
France
Prior art keywords
gripper
articulated arm
notch
blades
wheel
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
FR2109318A
Other languages
French (fr)
Other versions
FR3126635A1 (en
Inventor
Nicolas Pierre Dylewski
Nathan Schaal
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 Aircraft Engines SAS
Original Assignee
Safran Aircraft Engines 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 Aircraft Engines SAS filed Critical Safran Aircraft Engines SAS
Priority to FR2109318A priority Critical patent/FR3126635B1/en
Publication of FR3126635A1 publication Critical patent/FR3126635A1/en
Application granted granted Critical
Publication of FR3126635B1 publication Critical patent/FR3126635B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
    • B23P15/006—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass turbine wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
    • F01D5/00—Blades; Blade-carrying members; Heating, heat-insulating, cooling or antivibration means on the blades or the members
    • F01D5/30—Fixing blades to rotors; Blade roots ; Blade spacers
    • F01D5/3023—Fixing blades to rotors; Blade roots ; Blade spacers of radial insertion type, e.g. in individual recesses
    • F01D5/303—Fixing blades to rotors; Blade roots ; Blade spacers of radial insertion type, e.g. in individual recesses in a circumferential slot
    • F01D5/3038—Fixing blades to rotors; Blade roots ; Blade spacers of radial insertion type, e.g. in individual recesses in a circumferential slot the slot having inwardly directed abutment faces on both sides
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41805—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2230/00—Manufacture
    • F05D2230/60—Assembly methods
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37405—Contact detection between workpiece and tool, probe, feeler
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40003—Move end effector so that image center is shifted to desired position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40033—Assembly, microassembly
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40082—Docking, align object on end effector with target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40584—Camera, non-contact sensor mounted on wrist, indep from gripper
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40599—Force, torque sensor integrated in joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45147—Machining blade, airfoil

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Automatic Assembly (AREA)

Abstract

L’invention concerne un procédé de chargement d’aubes (108) sur une roue (102A, 102B), le procédé comportant : - la commande d’un bras articulé (118) pour placer son préhenseur (122) en face radialement d’une encoche (406) de chargement des aubes (108) ; - la commande du bras articulé (118) pour déplacer radialement le préhenseur (122) en direction de l’encoche (406) ; -  la mesure d’un effort exercé par le préhenseur (122) sur son environnement ; - lorsque l’effort dépasse un seuil prédéfini, l’arrêt du bras articulé (118) ; - la détermination d’une position radiale (R) de l’encoche (406) à partir de la position du préhenseur (122) lorsque le bras articulé (118) a été arrêté ; et - la commande du bras articulé (118) et du préhenseur (122) pour que ce dernier saisisse et charge les aubes (108) une par une dans l’encoche (406) à la position radiale déterminée. Figure pour l’abrégé : Fig. 1The invention relates to a method for loading blades (108) onto a wheel (102A, 102B), the method comprising: - controlling an articulated arm (118) to place its gripper (122) radially facing the a notch (406) for loading the blades (108); - controlling the articulated arm (118) to move the gripper (122) radially towards the notch (406); - measuring the force exerted by the gripper (122) on its environment; - when the force exceeds a predefined threshold, stopping the articulated arm (118); - determining a radial position (R) of the notch (406) from the position of the gripper (122) when the articulated arm (118) has been stopped; and - controlling the articulated arm (118) and the gripper (122) so that the latter grasps and loads the blades (108) one by one into the notch (406) at the determined radial position. Figure for abstract: Fig. 1

FR2109318A 2021-09-06 2021-09-06 LOADING BLADE ON A WHEEL Active FR3126635B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2109318A FR3126635B1 (en) 2021-09-06 2021-09-06 LOADING BLADE ON A WHEEL

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2109318A FR3126635B1 (en) 2021-09-06 2021-09-06 LOADING BLADE ON A WHEEL
FR2109318 2021-09-06

Publications (2)

Publication Number Publication Date
FR3126635A1 FR3126635A1 (en) 2023-03-10
FR3126635B1 true FR3126635B1 (en) 2023-09-08

Family

ID=78212271

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2109318A Active FR3126635B1 (en) 2021-09-06 2021-09-06 LOADING BLADE ON A WHEEL

Country Status (1)

Country Link
FR (1) FR3126635B1 (en)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10272461B2 (en) * 2017-04-04 2019-04-30 General Electric Company Method for masking cooling passages
JP7104240B2 (en) * 2019-03-29 2022-07-20 平田機工株式会社 Mounting device

Also Published As

Publication number Publication date
FR3126635A1 (en) 2023-03-10

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