Screwing / unscrewing tooling for placing or removing a threaded part in a tapped end piece

Abstract

Screwing / unscrewing tooling (1) for inserting ta threaded part (2) into or removing a threaded part (2) from a tapped end-piece (3), the position of the tooling being adjustable relative to that of the tapped end-piece, the tooling comprising: a vision system (4) and a positioning system for positioning the screwing / unscrewing tooling relative to the tapped end-piece; a frame (5); a guide (6) capable of moving in an axial direction (Z) of the frame between a high position and a low position; a sleeve (7) mounted so as to pivot in the axial direction of the guide with the movable guide; a pneumatic drive (8) intended to move the sleeve in translation along the axial direction; a screwing / unscrewing element (9) intended to rotate the sleeve in a first direction and in an opposite direction about the axial direction.

Description

Screwing / unscrewing tool for installing or removing a threaded part in a tapped end

[0001] The invention relates to tools for installing or removing a threaded part in a tapped end piece, by screwing and unscrewing. It applies in particular to installing a high-pressure connection in a tapped hole of a high-pressure tank. State of the prior art

[0002] Screwing / unscrewing tools are known for installing or removing a threaded part in a tapped end.

[0003] However, known tools only work correctly if the screw axis of the bit perfectly coincides with the screw axis of the tool.

[0004] The present invention aims to solve this drawback.

[0005] According to a first aspect of the invention, there is provided a screwing / unscrewing tool for installing or removing a threaded part in a tapped end piece, the position of the tool being adjustable relative to that of the tapped end piece, and comprising: a vision system and a positioning system for positioning the screwing / unscrewing tool relative to the tapped end piece; a chassis; a guide movable in an axial direction of the chassis, between a high position and a low position; a pivot-mounted sleeve sliding in the axial direction of the guide with the movable guide; a pneumatic control provided for moving the sleeve in translation in said axial direction; a screwdriver / unscrewer provided for rotating the sleeve in a first direction and in an opposite direction around said axial direction.

[0006] Advantageously, the tooling may further comprise a telescopic shaft with cardan joints arranged between a shaft of the screwdriver / screwdriver and the socket.

[0007] Advantageously, the tooling may further comprise a first means for locking the socket in a position indexed in the axial direction when said first locking means is in a locked position and for releasing the socket when the first locking means is in an unlocked position.

[0008] Advantageously, the tooling may further comprise a second locking means intended to hold the threaded part in the guide at a given position in the axial direction when the second locking means is in a locked position and to release the threaded part when the second locking means is in an unlocked position.

[0009] Advantageously, the transition of the second locking means from a locked position to an unlocked position, or vice versa, is controlled by the position of the sleeve relative to the guide.

[0010] According to exemplary embodiments, the threaded part is rotated by the sleeve.

[0011] According to exemplary embodiments, the guide is mounted on a means of connection with the support structure allowing movement of the guide relative to the support structure in a direction perpendicular to the axial direction.

[0012] Advantageously, the connecting means between the guide and the support structure can allow angular displacement of the guide relative to the axial direction.

[0013] According to a second aspect of the invention, there is provided a method for placing a threaded part in a tapped end piece by means of a screwing / unscrewing tool according to the first aspect of the invention, or one or more of its improvements, comprising: a step of detecting the position of the tool relative to that of the tapped end piece by means of the vision system, a step of aligning the vertical axis of the sleeve with the center of the upper face of the tapped end piece, a step of bringing the lower face of the guide into contact with the upper face of the tapped end piece, a step of engaging the threaded part in the tapped end piece, the sleeve being driven in rotation by the screwdriver / unscrewer.

[0014] According to a third aspect of the invention, there is provided a method for removing a threaded part present in a tapped end piece by means of a screwing / unscrewing tool according to the first aspect of the invention, or one or more of its improvements, comprising: a step of detecting the position of the tool relative to that of the threaded part by means of the vision system, a step of aligning the axial direction of the sleeve with the center of the upper face of the tapped sleeve, a step of bringing the lower face of the guide into contact with the upper face of the tapped end piece, a step of removing the threaded part from the tapped end piece, the sleeve being rotated by the screwdriver / unscrewer. Description of figures

[0015] Other advantages and particularities of the invention will appear on reading the detailed description of implementations and embodiments which are in no way limiting, with regard to the appended drawing in which:

[0016] • represents, in a sectional view, an example of tooling according to the invention. Description of embodiments

[0017] The embodiments described below being in no way limiting, it will be possible in particular to consider variants of the invention comprising only a selection of the characteristics described, subsequently isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art. This selection comprises at least one characteristic, preferably functional without structural details, or with only a part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art.

[0018] It is illustrated on a screwing / unscrewing tool 1 for installing or removing a threaded part 2 in a tapped end 3, and more precisely in the example illustrated, of an assembly formed of the threaded part 2, an insert 20 secured to the threaded part 2, and a high-pressure connection 21 screwed into an upper end of the insert 20. The threaded part 2, the insert 20 and the high-pressure connection 21 form an assembly that can be likened to a single part manipulated by the tool 1. The tapped end 3 is for example that of a high-pressure tank 3 (also called “BOSS”).

[0019] The tool 1 comprises a frame 5 forming a support structure.

[0020] The tool 1 comprises a vision system 4 and an associated positioning system (not shown) for positioning the chassis 5 relative to the threaded end piece. The vision system 4 is advantageously formed from a camera mounted on the chassis 5. The positioning system has the function of positioning the chassis 5 according to coordinates of a horizontal plane.

[0021] The tool 1 further comprises a guide 6 mounted to move in an axial direction of the chassis 5, between a high position and a low position in an axial direction Z.

[0022] The tool 1 further comprises a sleeve 7 in sliding pivot connection in the axial direction Z of the mobile guide 6.

[0023] The tool 1 further comprises a pneumatic control 8 fixed to the chassis 5 and designed to move the sleeve in translation in the axial direction of the mobile guide.

[0024] The tool 1 further comprises a screwdriver / unscrewer 9 designed to rotate the socket in a first direction and in an opposite direction around said axial direction Z of the movable guide 6.

[0025] The parts or parts of parts located on one side of the axial direction relative to another part can be called upper when they are on the screwdriver side or lower when they are on the threaded part 2 side. The so-called upper parts are on the top side of the while the so-called lower parts are on the bottom side of the. The same part, such as the guide 6, can have an upper end and a lower end.

[0026] The threaded part 2 is driven, preferably directly, in rotation by the sleeve 7. In the embodiment shown, the part 2 has, on the side of an end opposite the thread in its axial direction, a hexagon centered on the axial direction. A lower part of the sleeve has a complementary shape cooperating with the hexagon to drive the sleeve 7 in rotation, when the sleeve 7 is in contact with the hexagon. The sleeve 7 does not interact with the high pressure connection 21. There is no contact between these two parts. Movement of the socket 7 relative to the guide 6

[0027] As stated above, the socket 7 is in sliding pivot connection with the guide 6.

[0028] The translation of the sleeve 7 in the guide 6 can be controlled by the pneumatic control 8. For this purpose, the guide 6 comprises two variable volume working chambers arranged along the translation axis of the sleeve.

[0029] A first chamber, called the upper chamber, is formed between an annular seal 81 called the upper chamber formed on the guide 6, arranged on the side of the screwdriver 9 and an annular seal 82 mounted on the periphery of the piston-forming sleeve to be in sealed contact. The second chamber, called the lower chamber, is formed between the annular seal 82 and an annular seal 83, called the lower chamber, formed on the guide 7 arranged on the side of the threaded part 2. It is understood that the control of the upper chamber tends to move the sleeve away from the screwdriver, and therefore to bring it closer to the part 3 while the control of the lower chamber tends to move the sleeve away from the part 3.

[0030] Still in the embodiment shown, the tool 1 comprises a first means 11 for locking the sleeve 7 in an indexed position along the axial direction Z, when the first locking means is in a locked position and for releasing the sleeve so that it can change position along the axis the axial direction, when the first locking means is in an unlocked position. The first locking means 11 makes it possible to index the position of the sleeve 7, even in the event of a malfunction of the pneumatic control 8, for example in the event of an air cut-off or leak.

[0031] The sleeve 7 may have an annular groove 112 in the axial direction and the first locking means 11 may be formed by a jack, called an indexer, cooperating by means of a finger 111 forming a flange with the annular groove 112 in the axial direction Z.

[0032] The socket 7 is rotated in the guide 6 by the screwdriver 9.

[0033] In the embodiment shown, the tool 1 comprises a telescopic shaft 10 with cardan joints arranged between a shaft of the screwdriver / unscrewdriver and the socket 7. An upper end of the shaft 10 has a cardan joint to ensure the mechanical connection and the rotational drive of the shaft by the shaft of the screwdriver / unscrewdriver 9. A lower end of the shaft 10 has a cardan joint to ensure the mechanical connection and the rotational drive of the socket 7 by the shaft. The telescopic shaft with cardan joints 10 is telescopic to follow the travel of the socket 7 relative to the chassis. Movement of guide 6 relative to frame 5

[0034] As previously stated, the mobile guide 6 is movable in translation on the frame 5 relative to the axial direction Z.

[0035] For this purpose, the guide 6 can be mounted on a connecting means 13 with the frame 5 by means of three axes 14, called columns, regularly arranged at an angle of 120° around the axial direction Z. Another number of columns is possible, for example 2 or more than 3.

[0036] The axes are fixed on the structure 5 and supported by a first end 16 and the guide 6 is sliding along the axes. More precisely, the axes are fixed on the chassis 5 by a first end 16.

[0037] Springs 15 are arranged on the axes 14, between the support structure 5 and the guide 6, which tend to move the movable guide 6 towards its low position. The high position of the movable guide corresponds to the position in which the springs are compressed between the frame 5 and the guide 6.

[0038] The clearance between the guide and the axes allows a slight pivoting of the guide 6 allowing its lower face 18 to be positioned on the same plane as that of the upper face 19 of the threaded end piece 3, thus compensating for any angular defect between the guide and the end piece, when the longitudinal axis of the end piece is not coincident with the axial direction of the guide.

[0039] As mentioned, the telescopic cardan shaft 10 allows the travel of the sleeve 7 to be followed, but also the travel of the columns 14. Movement of part 2 relative to frame 6

[0040] In the embodiment shown, the tool 1 comprises a second means 12 for locking the threaded part 2 in the guide 6 at a given position in the axial direction Z when the second locking means is in a locked position, and for releasing the threaded part, so that it can change position in the axial direction Z, when the second locking means is in an unlocked position.

[0041] Still in the embodiment shown, the second locking means comprises three claws regularly arranged at an angle of 120° around the axial direction. Another number of claws is possible, for example 1, 2 or more than 4.

[0042] The claws are returned angularly to their locked position by return springs. In their locked positions, the claws cooperate with a radial shoulder (in the longitudinal direction) formed on the threaded part 2 to restrict the mobility of the part 2 in the longitudinal direction.

[0043] The transition of the second locking means 12 from a locked position to an unlocked position, or vice versa, is controlled by the position of the sleeve 7 relative to the guide 6. For this purpose, the sleeve forms a cam to pivot the claws between their return position and an unlocked position. For this purpose, the claws have a counterform acting as a follower relative to the cam.

[0044] Thus, when the socket is in the high position, the claws are in the locked position, and clamp the threaded part 2 in the guide, preventing the release of the part 2. Conversely, as soon as the socket descends towards its low position, the claws move into the unlocked position, releasing the part 2. Installing a threaded part in the end piece

[0045] A method of installing the threaded part 2 in the tapped end piece 3 using the screwing / unscrewing tool 1 previously described is now described.

[0046] Prior to screwing, the assembly formed by the threaded part 2, the insert 20 and the high pressure connection 21 is placed in the guide 7. This assembly has for example been taken beforehand from a store, or taken from a threaded end piece 3.

[0047] The method comprises a step of prepositioning the tooling by the positioning means in a predetermined position. In this predetermined position, the axis of the camera is assumed to coincide with the axis of the threaded tip 3, if the tip has been correctly positioned.

[0048] The method then comprises a step of detecting the position of the tool 1 relative to that of the threaded end piece 3 by means of the vision system 4. The camera is mounted on the screwing / unscrewing tool, with a fixed x / y position of the axis of the camera relative to the position of the axial direction of the socket. Determining the position of the threaded end piece 3 relative to the axis of the camera thus makes it possible to know the position where the axial direction of the socket must be positioned.

[0049] The method comprises a step of aligning the vertical axis Z of the socket with the center of the upper face 19 of the threaded end. The step of positioning the screwing tool relative to the position of the threaded end is done in two sub-steps: a step of theoretical positioning in x / y of the axial direction of the socket so that it coincides with the expected position of the vertical axis of the threaded end, the lower face 18 of the guide being placed 125 mm from the upper face 19 of the threaded end, a step of detecting the actual position in x / y of the center of the upper face 19 of the threaded end by the camera then moving the screwing tool necessary to align the axial direction of the socket with that of the center of the upper face of the threaded end, always being 125 mm away.Since the axis of the threaded end 3 may not be vertical, we cannot speak of alignment of the axial direction Z of the sleeve with the axis of the threaded end.

[0050] When the tool 1 comprises first locking means, the method comprises a step of unlocking the first locking means 11, allowing the translational mobility of the sleeve relative to the guide 6.

[0051] The method further comprises a step of lowering the tool, by means of a jack (not shown) until the lower face 18 of the guide 6 comes into contact with the upper face 19 of the threaded end piece. The threaded part 2 is then pre-centered on the axis of the end piece 3. After contact, the descent is continued by an overtravel until the springs 15 are compressed. The lower and upper chambers are not controlled during this step. Shortly after contact, the sleeve rises in the guide (relative to its indexed position) and the springs 15 are then compressed so that the lower face of the guide rests on the entire upper face of the threaded end piece, even in the event of an angular inclination between the axial direction Z of the sleeve and the axis of the threaded end piece. The connection between the guide and the frame 5 can then be likened to a ball joint. Angular defects of 2° are corrected.

[0052] The method then includes a step of lowering the sleeve until the threaded part 2 comes to a stop. For this purpose, the upper chamber is controlled. The lowering of the sleeve releases the claws.

[0053] The method further comprises a step of engaging, by embedding, the hexagon of the threaded part 2 in the complementary shape of the sleeve 7. It may for example comprise a slight rotation in the opposite direction to the screwing direction.

[0054] The method further comprises a step of engaging the threaded part 2 in the tapped end piece, the socket being driven in rotation by the screwdriver / screwdriver. The upper chamber is controlled to lower the socket while the screwing progresses. The lower end of the insert 21 comprises a seal (not shown) bearing on a surface of the tapped sleeve 3 in order to ensure a seal between the insert 21 and the tapped sleeve 3. The insert 21 is free to rotate with the threaded part 2. When the insert bears on the tapped sleeve, it is immobilized in rotation by the pressure exerted by the bearing surface of the tapped sleeve on the seal of the insert, which makes it possible to avoid damage to the seal when the threaded part is finally tightened. The rotation of the socket is stopped when the expected tightening torque is reached.

[0055] As a result, the tool is raised. The guide 6 then loses contact with the threaded end 3 and the springs are no longer compressed. Removing the threaded part from the tip

[0056] A method of removing the threaded part 2 from the tapped end 3 using the screwing / unscrewing tool 1 previously described is now described.

[0057] The method comprises a step of detecting the position of the tool 1 relative to that of the threaded end piece by means of the vision system 4. The camera is mounted on the screwing / unscrewing tool, with a fixed x / y position of the camera axis relative to the position of the axial direction Z of the socket. Determining the position of the threaded end piece 3 relative to the camera axis thus makes it possible to know the position where the axial direction of the socket must be positioned.

[0058] The method comprises a step of aligning the vertical axis Z of the socket with the center of the upper face 19 of the threaded end. The step of positioning the screwing tool relative to the position of the threaded end is done in two sub-steps: a step of theoretical positioning in x / y of the axial direction Z of the socket so that it coincides with the expected position of the vertical axis of the threaded end, the lower face 18 of the guide being placed 125 mm from the upper face 19 of the threaded end, a step of detecting the actual position in x / y of the center of the upper face 19 of the threaded end by the camera then moving the screwing tool necessary to align the axial direction Z of the socket with that of the upper face of the threaded end, always being 125 mm away.Since the axis of the threaded end 3 may not be vertical, we cannot speak of alignment of the axial direction Z of the sleeve with the axis of the threaded end.

[0059] The method optionally includes a step of unlocking the first locking means 11, allowing the release of the socket relative to the guide 6.

[0060] The method further comprises a step of lowering the tool until the lower face 18 of the guide 6 comes into contact with the upper face 19 of the threaded end piece. The lower and upper chambers are not controlled during this step. When contact is made, the sleeve rises in the guide (relative to its indexed position) and the springs 15 are then compressed so that the lower face of the guide rests on the entire upper face of the threaded end piece, even in the event of an angular inclination between the axial direction Z of the sleeve and the axis of the threaded end piece. The connection between the guide and the frame 5 can then be likened to a ball joint. Angular defects of 2° are compensated for.

[0061] The method further comprises a step of engaging, by embedding, the hexagon of the threaded part 2 in the complementary shape of the sleeve 7.

[0062] The method further comprises a step of unscrewing the threaded part in the tapped end 3, the socket being rotated by the screwdriver / unscrewer. The chambers are no longer controlled while the unscrewing progresses, the unscrewing mechanically causing the socket to rise in the guide.

[0063] When the threaded part 2 is released from the tapped end 3, the lower chamber of the guide 7 is controlled to raise the sleeve 6 until the sleeve can be locked in position by means of the first locking means 11. The claws are closed, because they are returned to the locking position by their spring.

[0064] The tool is then reassembled.

[0065] Of course, the invention is not limited to the examples just described and many adjustments can be made to these examples without departing from the scope of the invention. In addition, the various features, forms, variants and embodiments of the invention can be combined with each other in various combinations to the extent that they are not incompatible or mutually exclusive.

Claims

Screwing / unscrewing tool (1) for installing or removing a threaded part (2) in a tapped end piece (3), the position of the tool being adjustable relative to that of the tapped end piece, and comprising: a vision system (4) and a positioning system for positioning the screwing / unscrewing tool relative to the tapped end piece; a chassis (5); a guide (6) movable in an axial direction (Z) of the chassis, between a high position and a low position; a sleeve (7) mounted in a sliding pivot in the axial direction of the guide with the movable guide; a pneumatic control (8) provided for moving the sleeve in translation in said axial direction; a screwdriver / unscrewer (9) provided for rotating the sleeve in a first direction and in an opposite direction around said axial direction. Tooling according to claim 1, further comprising a telescopic shaft with cardan joints (10) arranged between a shaft of the screwdriver / unscrewdriver (9) and the socket (7). Tooling according to claim 1 or 2, further comprising a first means (11) for locking the socket (7) in an indexed position in the axial direction when said first locking means is in a locked position and for releasing the socket when the first locking means is in an unlocked position. Tooling according to any one of the preceding claims, further comprising a second locking means (12) intended to hold the threaded part (2) in the guide (6) at a given position in the axial direction when the second locking means is in a locked position and to release the threaded part when the second locking means is in an unlocked position. Tooling according to the preceding claim, in which the passage of the second locking means (12) from a locked position to an unlocked position, or vice versa, is controlled by the position of the sleeve (7) relative to the guide (6). Tooling according to one of the preceding claims, in which the threaded part (2) is driven in rotation by the sleeve (7). Tooling according to one of the preceding claims, in which the guide (6) is mounted on a means (13) for connection with the support structure (5) allowing movement of the guide relative to the support structure in a direction perpendicular to the axial direction. Tooling according to the preceding claim, in which the means (13) of connection between the guide (6) and the support structure (5) allows an angular displacement of the guide (6) relative to the axial direction (Z). Method for placing a threaded part (2) in a tapped end piece (3) by means of a screwing / unscrewing tool (1) according to one of the preceding claims, characterized in that it comprises: a step of detecting the position of the tool relative to that of the tapped end piece by means of the vision system, a step of aligning the vertical axis Z of the sleeve with the center of the upper face (19) of the tapped end piece, a step of bringing the lower face (18) of the guide into contact with the upper face (19) of the tapped end piece, a step of engaging the threaded part in the tapped end piece, the sleeve being driven in rotation by the screwdriver / unscrewer (9). Method for removing a threaded part (2) present in a tapped end piece (3) by means of a screwing / unscrewing tool (1) according to one of claims 1 to 8, further comprising: a step of detecting the position of the tool relative to that of the threaded part by means of the vision system, a step of aligning the axial direction (Z) of the sleeve with the center of the upper face (19) of the tapped sleeve (3), a step of bringing the lower face (18) of the guide into contact with the upper face (19) of the tapped end piece (3), a step of removing the threaded part from the tapped end piece, the sleeve being driven in rotation by the screwdriver / unscrewer (9).

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