FR3129866A1 - Interchangeable surface substrate patch gripper - Google Patents

Abstract

This gripper for applying a patch (7) to a target part comprises a gripping system (2) that can be selectively activated and a deformable foam (3) positioned against the gripping system (2), characterized in that it comprises a interchangeable surface substrate (11) positioned against the deformable foam (3) opposite the gripping system (2) and an automated fixing system (12) for fixing the surface substrate (11) to the deformable foam ( 3) and/or to the gripping system (2) so that the surface substrate (11) is automatically interchangeable with another surface substrate. Figure for abstract: Fig 2

Description

Interchangeable surface substrate patch gripper

The present invention relates to the manufacture of composite parts and, in particular, the deposition of patches of pre-impregnated or adhesive material on a part during manufacture.

The present invention relates more particularly to grippers used to grip and drape patches of material on a part being manufactured, a patch having the form of a thin tacky material.

Prior techniques

Placing a patch on large surfaces is generally carried out using a gripper to pick up and then place a patch at the desired location. Current solutions, for example, use pneumatic, electrostatic or even mechanical grippers.

In the case of a pneumatic gripper, the gripper grips the patch by suction by creating a depression which allows the patch to be pressed against the gripper until the gripper is positioned facing the part on which the patch must be positioned . The patch is then flattened and lightly compacted against the part, the depression is stopped and the gripper withdraws, leaving the patch on the target part to be draped. We represented on the a pneumatic gripper 1 according to the state of the art. The gripper 1 comprises a pneumatic gripping system 2, a deformable foam 3 placed against the pneumatic gripping system 2 as well as a surface substrate 5 glued against the deformable foam.

Holes 6 are made in the deformable foam 3 and the surface substrate 5. The holes 6 open out towards the pneumatic gripping system 2 on the one hand, and towards the outside on the other hand, on the side of the surface substrate 5 intended to be in contact with the patch 7. The purpose of the orifices 6 is to allow air to pass and to allow the aspiration of the patch 7.

Except on the surface substrate 5 where the orifices 6 open out and on the surface in contact with the gripping system 2, the deformable foam 3 is surrounded by silicone making it possible to block the walls 8 of the deformable foam 3 so as not to have any loss of vacuum.

The deformable foam 3 makes it possible in particular to press the patch 7 against a part by matching the shape of the latter.

In order to facilitate the application of the patch 7, the surface substrate 5 intended to be in contact with the patch comprises a non-tacky material, for example polytetrafluoroethylene, more commonly called Teflon, in order to limit the adhesion of the patch 7 to the foam deformable 3.

However, the surface substrate must be given special attention in order to prevent the appearance of defects in the application of patches. In particular, residual deposits of adhesives or patches can remain encrusted on the surface substrate and generate pollution on the laying of future patches, or even deteriorate the elastic flexibility properties of the deformable foam or of the surface substrate itself. and impact the draping quality.

Additionally, when draping patches over sharp or sharp surfaces, the surface substrate may deteriorate or disintegrate and leave foreign material in the drape.

Finally, a surface substrate is also subject to mechanical wear, generating a need for regular surface substrate changes, a process involving gripper downtime and labor to peel off the surface substrate and replace it.

The object of the present invention is therefore to overcome the aforementioned drawbacks and to automate the change of surface substrate in order to reduce downtime and improve the quality of draping of patches on parts to be covered.

The subject of the present invention is a gripper for applying a patch to a target part, the gripper comprising a selectively activatable gripping system, a deformable foam positioned against the gripping system, an interchangeable surface substrate positioned against the deformable foam at opposite the gripping system and an automated attachment system for attaching the surface substrate to the deformable foam and/or the gripping system such that the surface substrate is automatically interchangeable with another surface substrate.

Thus, by automating the fixing system, the surface substrate is easily replaced, allowing time savings, better installation quality, and the adaptation of specific surface substrates to certain patches requiring specific installation tools. Certain surface substrates are then preferentially used for a particular type of patch whose physical characteristics require a surface substrate comprising particular physical properties, for example a particular adhesion.

Advantageously, the surface substrate comprises a deformable non-stick material based on polytetrafluoroethylene.

In one embodiment, the surface substrate includes perforations.

In a particular embodiment, the gripping system is pneumatic, magnetic or electrostatic.

Advantageously, the deformable foam comprises orifices whose ends open towards the surface substrate on the one hand and towards the gripping system on the other hand.

Advantageously, the fastening system comprises magnetic and/or mechanical and/or pneumatic and/or electrostatic fastening means.

In one embodiment, the securing means comprises a magnet and/or a clip, and/or a slider, and/or a hook-and-loop fastener.

Advantageously, the deformable foam is integral with the surface substrate and the automated fixing system fixes the surface substrate and the deformable foam to the gripping system so that the surface substrate and the deformable foam are interchangeable with other surface substrates and deformable foams.

The invention also relates to a patch application machine comprising a gripper as defined above and comprising a remote computer able to communicate with the gripper, and provided with a program for supervising the operation of the gripper to control the changes of substrate surface according to the wear of the surface substrate, and/or the need, and/or even a predetermined number of patch pick-ups.

The invention also relates to a method for automated change of the surface substrate of a gripper or of a machine as defined above, the method comprising a step of deactivating the fastening system to release a first surface substrate, a step of depositing said first surface substrate, and a step of positioning a second surface substrate and activating the fastening system to hold the second surface substrate.

Other aims, characteristics and advantages of the invention will appear on reading the following description, given solely by way of non-limiting example, and made with reference to the appended drawings in which:

which has already been mentioned, schematically illustrates a patch gripper according to the state of the art;

is a schematic and exploded view of a gripper provided with an automatically interchangeable surface substrate according to the invention;

schematically illustrates a deposition machine comprising a gripper and a workbench for changing the surface substrate according to the invention;

schematically illustrates a deposition machine comprising a gripper and a surface substrate dispenser according to the invention; And

illustrates the steps of an automated surface substrate change method according to the invention.

Detailed description of at least one embodiment

We represented on the a schematic and exploded view of a gripper 10 for applying a patch 7 to the surface of a target part (not shown). The target part is for example an aircraft or an aircraft element.

The gripper 10 comprises a gripping system 2, a deformable foam 3, a surface substrate 11 and a system 12 for fixing the surface substrate 11 to said deformable foam 3 or to said gripping system 2.

The gripping system 2, the deformable foam 3 and the surface substrate 11 are for example aligned and stacked on top of each other.

The gripping system 2 is for example a pneumatic gripping system.

The gripping system 2 is selectively activatable so that the gripping system 2 creates a depression in order to attract a patch 7 towards the gripping system 2. By selectively activatable is meant the capacity of the gripping system 2 to be able to grip a patch 7 if the gripping system 2 receives this order by command from a remote computer or by an operator, or the ability not to enter it if the command so orders.

In other embodiments, the gripping system 2 can also be electrostatic or mechanical.

The deformable foam 3 has for example a parallelepipedic shape, two mutually opposite faces 13 of which are respectively located against the gripping system 2 on the one hand, and against the surface substrate 11 on the other hand. The deformable foam 3 is made for example of synthetic material.

The deformable foam 3 comprises orifices 6 whose ends open out at the level of the two opposite faces 13 of the deformable foam 3, towards the surface substrate 11 on the one hand and towards the gripping system 2 on the other hand. The orifices 6 make it possible to promote the passage of the air flow when the gripping system 2 is pneumatic.

In particular, the deformable foam 3 comprises a limited number of orifices 6 so as not to weaken the integrity of the deformable foam 3 and of the gripper 10.

The surface substrate 11 has the function of connecting the gripper 10 to a patch 7. In particular, the surface substrate 11 comprises a deformable non-stick material, for example based on polytetrafluoroethylene. The surface substrate 11 is for example made entirely of non-stick material or comprises a material, for example deformable plastic or metal, covered with a layer of non-stick material. This makes it possible to limit the sticking of a seized patch 7 to the surface substrate 11 when the patch 7 is deposited on a target part. The laying of the patch 7 is then carried out by minimizing the quantity of pieces of patch 7 remaining stuck to the surface substrate 11.

The surface substrate 11, like the deformable foam 3, is deformable in order to be able to place the patch 7 on any shape of target piece (not shown). This capacity is obtained in particular with a thickness of deformable foam 3 greater than the relief of the target part. The surface substrate 11 and the deformable foam 3 are advantageously elastically deformable and/or shape memory.

The surface substrate 11 comprises perforations 14. These perforations 14 make it possible to promote the passage of the air flow when the gripping system 2 is pneumatic. The perforations 14 can for example be aligned with the orifices 6 of the deformable foam 3 to facilitate the passage of an air flow.

In the embodiment illustrated in , the fastening system 12 is positioned between the deformable foam 3 and the surface substrate 11. The fastening system 12 comprises for example a set of magnets, or electromagnets, or gripping fasteners, also called Velcro® which can be placed on the deformable foam and facing the surface substrate in order to associate two by two. In its various embodiments, the fastening system 12 generally comprises magnetic, and/or mechanical, and/or pneumatic, and/or electrostatic fastening means. For example, a fixing means can also be a clamp, a slide or even a suction system.

In general, the fixing system 12 is automated so that a remote computer or an operator can control the fixing or not of the surface substrate 11 on the deformable foam 3. In addition, the fixing means is preferably deformable in order to do not damage gripper 10 or patch 7.

In a particular embodiment, the fixing system 12 makes it possible to fix the surface substrate 11 to the side walls 8 of the deformable foam 3.

The surface substrate 11 also optionally comprises a protrusion 15 at one of its ends in order to facilitate its removal. For example, pliers can come to grip the protrusion 15 in order to dissociate the surface substrate 11 from the deformable foam 3. Alternatively, the protrusion 15 comprises a hole (not shown) intended to encircle a fixed rigid rod (not shown) by a movement of the gripper 10 towards the rod. Once the rod is encircled by the hole, a rapid lateral movement of the gripper makes it possible to separate the surface substrate 11 from the deformable foam 3, the rod retaining the surface substrate 11 by the hole of the protrusion 15. According to another variant , the protrusion 15 can be positioned against a fixed element in the environment of the gripper 10, for example under said element, so that a movement of the gripper 10, for example vertical, blocks the protrusion 15 against the element and triggers the separation of the surface substrate 11 with the deformable foam 3.

The fixing system 12 allows the surface substrate 11 to be interchangeable with another surface substrate 11. In particular, the surface substrate 11 can thus be automatically interchangeable using a dedicated deposition machine.

In an alternative embodiment not shown, the fixing system is made in such a way as to fix the surface substrate 11 to the gripping system 2. In this embodiment, the deformable foam 3 is for example fixed to the surface substrate 11 which can thus be interchanged with another pair of deformable foam 3 and surface substrate 11.

Changing a first surface substrate with a second surface substrate is useful when the first one is damaged, or when its physical properties, for example adhesion, are less suitable for applying a certain type of patch 7 than the second surface substrate.

FIGS. 3 and 4 schematically represent embodiments of a deposition machine 16 comprising a gripper 10 for applying patches 7 to the surface of a target part 17.

The deposition machine 16 comprises a gripper 10 and a remote computer 18 provided with a program for supervising the operation of the gripper 10 to control the changes of the surface substrate 11 according to the wear of the surface substrate 11. Additionally or alternatively , the change of surface substrate 11 is carried out according to the need for a surface substrate 11 comprising particular physical properties, or even according to a predetermined number of grips of patches, for example ten grips.

The deposition machine 16 further comprises an articulated arm 20 carrying the gripper 10 in order to move the gripper 10 in space from the target part 17 to be draped towards a stock of surface substrates 11 available.

As shown in , the deposition machine 16 comprises a stock of surface substrates 11 which can be arranged on a workbench 21, on which the surface substrate 11 which it is desired to exchange can be deposited.

Alternatively, or additionally, the deposition machine 16 comprises an automatic dispenser 22 of surface substrates 11 as illustrated schematically in , for example in which are stacked surface substrates 11, ready to be fixed on the deformable foam 3 of a gripper 10.

Also represented on the different steps of a process for automated change of surface substrate 11 of a gripper 10, for example applied to a deposition machine 16 according to one of FIGS. 3 or 4 which is equipped with a gripper 10 on which is mounted a gripping system 2, a deformable foam 3 and a surface substrate 11 using a fixing system 12.

First, a step 31 of deactivating the attachment system 12 is performed to release a first surface substrate 11 which was attached to the gripper. The deactivation command is for example ordered by the remote computer 18 following the execution of an automatic supervision program. For the fixing system 12, deactivation means stopping the fixing, for example by separating the first surface substrate 11 with the gripper.

In a step 32, said first surface substrate is deposited, for example on a workbench 21 as illustrated in .

In the case of a pneumatic fastening means, the suction which allowed the surface substrate 11 to be held in place is cut off.

In the case of a magnetic fixing means, the power supply to the electromagnets which allowed the surface substrate 11 to be held in place is cut off.

In some embodiments, a translational or rotational movement can be applied to the surface substrate 11 so as to separate it from the rest of the gripper 10.

In particular, the surface substrate 11 can be placed in contact with a rough surface, or comprising spikes that can penetrate the perforations 14 of the surface substrate 11, so that a slight rotation or lateral translation of the gripper 10 provided with a surface substrate 11 causes a shear force at the interface between the deformable foam 3 and the surface substrate 11, causing the simple separation of the surface substrate 11.

A step 33 of placing a second surface substrate 11 and activating the fixing system 12 is then carried out in order to maintain the second surface substrate 11 on the deformable foam 3. The activation of the fixing system 12 corresponds to the attachment of the second surface substrate 11 to the deformable foam 3. The second surface substrate 11 is for example placed beforehand on a workbench 21 as illustrated in or in a dispenser 22 of surface substrate 11 as illustrated in .

The choice of the surface substrate 11 is decisive so that it is as suitable as possible for the patches 7 that one wishes to drape over the target part 17.

Claims (10)

Gripper for applying a patch (7) to a target part (17), comprising a gripping system (2) that can be selectively activated and a deformable foam (3) positioned against the gripping system (2), characterized in that it comprises an interchangeable surface substrate (11) positioned against the deformable foam (3) opposite the gripping system (2) and an automated fixing system (12) for fixing the surface substrate (11) to the deformable foam (3) and/or to the gripping system (2) so that the surface substrate (11) is automatically interchangeable with another surface substrate. A gripper according to claim 1, wherein the surface substrate (11) comprises a deformable release material based on polytetrafluoroethylene. Gripper according to one of Claims 1 and 2, in which the surface substrate (11) comprises perforations (14). Gripper according to any one of Claims 1 to 3, in which the gripping system (2) is pneumatic, magnetic or electrostatic. Gripper according to any one of Claims 1 to 4, in which the deformable foam (3) comprises orifices (6) the ends of which open out towards the surface substrate (11) on the one hand and towards the gripping system (2 ) on the other hand. Gripper according to any one of Claims 1 to 5, in which the fastening system (12) comprises magnetic and/or mechanical and/or pneumatic and/or electrostatic fastening means. A gripper according to claim 6, wherein the securing means comprises a magnet and/or a clip, and/or a slider, and/or a hook-and-loop fastener. Gripper according to any one of Claims 1 to 7, in which the deformable foam (3) is integral with the surface substrate (11) and in which the automated fixing system (12) fixes the surface substrate (11) and the deformable foam (3) to the gripping system (2) so that the surface substrate (11) and the deformable foam (3) are interchangeable with other surface substrates (11) and deformable foams (3). Patch application machine comprising a gripper (10) according to any one of Claims 1 to 8, characterized in that it comprises a remote computer (18) able to communicate with the gripper (10) and provided with a program for supervising the operation of the gripper (10) to control the changes of the surface substrate (11) according to the wear of the surface substrate (11), and/or the need, and/or even a number of grips patch (7) predetermined. Method for automated change of the surface substrate of a gripper according to any one of Claims 1 to 8 or of a machine according to Claim 9, characterized in that it comprises a step (31) of deactivating the fixing system (12) to release a first surface substrate, a step (32) of depositing said first surface substrate, and a step (33) of positioning a second surface substrate and activating the fixing system ( 12) to hold the second surface substrate.