INSTALLATION AND METHOD FOR ASSEMBLING TURBINE DISTRIBUTORS

Abstract

The invention relates to an installation (100) for the pre-assembly of turbine distributors, each formed of several juxtaposed sectors, comprising: an infeed trolley (105) for transporting sectors intended to form the distributors, each sector having lateral faces equipped with slots and being associated with a specific distributor; an outfeed trolley (108) comprising several trays (109), each associated with a distributor; an automated sealing plate insertion device (110) adapted to interact with a sector transported by an automated transport pallet (102), comprising a robotic arm (116) for inserting sealing plates into the slots of a lateral face of the sector; and another robotic arm (142) for grasping a sector equipped with plates from a pallet and placing it on the tray associated with the distributor so as to pre-assemble the distributor. Figure 7 (for the abstract)

Description

Title of the invention: INSTALLATION AND METHOD FOR ASSEMBLY OF TURBINE DISTRIBUTORS technical field

[0001] The field of the present invention is that of aeronautical engines and more particularly that of turbomachinery.

[0002] In particular, the invention relates to an installation and a method for assembling the distributors of a turbomachine turbine. Previous technique

[0003] Aeronautical turbomachinery classically comprises several modules such as a low pressure (LP) compressor followed by a high pressure (HP) compressor, a combustion chamber, a high pressure turbine followed by a low pressure turbine, which drive the corresponding LP or HP compressor, and a gas ejection system.

[0004] Each of the turbines in such machines typically comprises several stages, each with an annular row, or ring, of fixed blades carried by a turbine casing and an annular row of blades mounted to rotate about a central axis of rotation. The rings of fixed internal blades in a turbine are also called distributors.

[0005] In order to facilitate their assembly and reduce their manufacturing cost, fixed blade rings are often made in the form of an assembly of angular sectors which are juxtaposed next to each other until they form a whole ring of fixed blades.

[0006] It is necessary to ensure at least a relative seal between two adjacent angular sectors in order to avoid air leaks which are particularly detrimental to the proper cooling of these sectors and which may also lead to a decrease in engine performance, or even damage to parts located downstream.

[0007] For this purpose, it is known to interpose sealing tabs, or plates, between adjacent sectors. Such plates are generally housed in substantially axial and / or radial slots formed opposite each other in adjacent lateral faces of the sectors. Document FR3033827 describes such a sealing plate assembly for a gas turbine.

[0008] These sealing plates are, however, not very easy to mount.

[0009] Conventionally, the preparation of angular sectors for assembly to form the distributors of a turbine is essentially manual. An operator identifies each sector individually to determine which distributor it belongs to. The operator then visually inspects each sector for quality and conformity before applying grease to the sector slots in preparation for inserting the sealing plates. The operator identifies the type of plates to be inserted and then inserts them one by one into the slots on one side of each sector. This step of inserting the sealing plates is meticulous and therefore time-consuming.

[0010] Furthermore, certain angular sectors for predetermined distributors also require an anti-wear device, or shim, to limit wear between a housing hook and a means of attaching the distributor sector to the housing. Document FR2938872 describes such an anti-wear device for a turbine distributor of an aeronautical turbomachine.

[0011] For example, the rear turbine of the LEAP engine has seven distributors made up of 146 sectors, and thus requires the insertion of 834 plates and the placement of 78 shims for their assembly.

[0012] Repetitive operations for preparing distributor sectors can cause musculoskeletal disorders, particularly in the hands, due to the repetitive use of grease guns or syringes and the insertion of inserts. These repetitive operations can also lead to errors and therefore a loss of quality in the final assembly of the distributors.

[0013] Given the growing demand for this type of engine, there is therefore a need to reduce assembly cycles while ensuring maximum assembly quality. Summary of the invention

[0014] To this end, the invention proposes an installation for the pre-assembly of the distributors of a turbine, the turbine comprising a plurality of distributors each formed from an assembly of sectors juxtaposed to one another, the installation comprising:

[0015] - an input trolley configured to transport and support a set of sectors intended to form the distributors of the turbine, each sector of the set having lateral faces and slots formed in the lateral faces and being associated with a determined distributor; - an output trolley comprising a plurality of trays, each tray being associated with a turbine distributor; - a sector transport device comprising at least one pallet capable of transporting a sector, the transport device being automated; - a first robotic arm capable of grasping a section of the input carriage and of place on a pallet of the transport device; - an automated sealing plate insertion device capable of interacting with a sector transported by the automated transport device, the sealing plate insertion device comprising a second robotic arm capable of inserting sealing plates into the slots of a lateral face of the transported sector to form an equipped sector; and - a third robotic arm capable of grasping an equipped sector transported by a pallet of the transport device and placing and positioning it on the platform associated with the determined dispenser in order to pre-assemble the determined dispenser.

[0016] Advantageously, the invention makes it possible to increase the profitability of the production line by eliminating repetitive tasks in the preparation of sectors.

[0017] Indeed, the installation according to the invention makes it possible to replace the manual operations of the prior art with automated operations which are therefore more easily reproducible and faster.

[0018] In addition, the automation of the preparation of the sectors forming the dispensers and in particular the insertion of the sealing plates makes it possible to greatly reduce the risk of musculoskeletal disorders of the operators.

[0019] The infeed carriage is filled with all the sectors intended to form all the distributors for the different stages of a turbine, particularly a low-pressure turbine. Thus, the distributor assembly process is implemented only once for an entire engine, thereby limiting the number of operator interventions and increasing the efficiency and profitability of the installation.

[0020] Similarly, the output trolley is designed to receive all the pre-assembled sectors in distributor on each tray, also limiting the number of operator interventions and thus increasing the efficiency of the installation.

[0021] The operator then becomes a supervisor of the installation ensuring the proper functioning of the installation and the smooth running of the sector assembly process.

[0022] The automation of the assembly thus makes it possible to increase the repeatability of the steps of the process while ensuring continuous control of the assembly of the turbine distributors, thereby ensuring a gain in quality.

[0023] In addition, the invention thus makes it possible to greatly reduce the assembly time of the distributors of a turbine of such an engine from about ten hours to a few tens of minutes.

[0024] The installation for pre-assembly according to the invention may comprise one or more of the following features, taken individually or in combination with each other:

[0025] - The installation for the pre-assembly of the distributors of a turbine includes a control system capable of controlling the quality of a sector supported by a robotic arm, preferably by the first robotic arm;

[0026] - the sector comprises an inner platform, an outer platform, and blades each comprising a trailing edge and being fixed between said inner platform and said outer platform, and a block of abradable honeycomb material extending internally to the inner platform between the side faces, and wherein the sector quality control system is configured to control the quality of the slots formed in the side faces of the sector, the trailing edges and the surfaces of the blades, and the block of abradable honeycomb material;

[0027] - the installation includes an identification system capable of identifying a sector supported by a robotic arm, preferably by the first robotic arm;

[0028] - the identification system is capable of determining the tray on which to place and po position the identified sector for the pre-assembly of the determined distributor;

[0029] - the installation includes a cleaning system, preferably using compressed air, capable of cleaning the crevices of a sector supported by a robotic arm, preferably a third robotic arm of the installation;

[0030] - the installation includes a lubrication system capable of injecting a greasy material in at least a portion of the slots of a sector supported by a robotic arm, preferably a third robotic arm of the installation;

[0031] - the sealing plate insertion device includes a pre-system sealing plate assembly comprising a receptacle suitable for receiving a plurality of sealing plates and a fourth robotic arm comprising a means for gripping sealing plates in the receptacle, the gripping means being suitable for depositing the sealing plates on a sealing plate support and in which the second robotic arm comprises a means for gripping sealing plates supported by the sealing plate support, the gripping means of the second robotic arm being orientable for inserting sealing plates into the slots of a lateral face of the sector;

[0032] - the installation includes a manual control system capable of controlling my automatically the quality of a sector transported by the automated transport device;

[0033] - the distributors are low pressure distributors;

[0034] - the installation includes an automated system for installing an anti-wear device on the sector supported by the first robot arm, the sector comprising an anterior attachment means intended to bear on a support carried by a turbine housing and the anti-wear device being shaped to enclose the anterior end of the anterior attachment means and to be interposed between said anterior attachment means and said support.

[0035] The invention also relates to a method for pre-assembling the distributors of a turbine using a pre-assembly installation for the turbine distributors as described above, the distributors each being formed from an assembly of sectors placed side by side, the method comprising the steps of:

[0036] - supply of an input trolley supporting all sectors intended for form the turbine distributors, each sector of the assembly having lateral faces and slots formed in the lateral faces and being associated with a specific distributor;

[0037] - supply of an output trolley comprising a plurality of trays, each the plate being associated with a turbine distributor,

[0038] and for each sector, the automated steps of:

[0039] - grasping one of the sectors of the input trolley and placing it on a pallet of the transport device by the first robot arm;

[0040] - transport of the sector by the transport device to the insertion device of sealing plates;

[0041] - automated insertion of sealing plates into slots on a side face of the sector supported by the second robot arm to form an equipped sector;

[0042] - removal and positioning of the equipped sector on the tray associated with the distributor determined by the third robotic arm in order to pre-assemble the determined distributor.

[0043] The pre-assembly method according to the invention may comprise one or more the following characteristics, taken individually or in combination with each other:

[0044] - the pre-assembly process includes, for each sector, an automated step quality control of the sector, particularly before the insertion of the sealing plates;

[0045] - the sector comprises an inner platform, an outer platform, and blades each comprising a trailing edge and being fixed between said inner platform and said outer platform, and a block of abradable honeycomb material extending internally to the inner platform between the side faces, and wherein the automated sector control step includes quality control steps for the slots formed in the side faces of the sector, the trailing edges and the surfaces of the blades, and the block of abradable honeycomb material;

[0046] - the pre-assembly process includes, for each sector, an automated step sector identification;

[0047] - the pre-assembly process includes, for each sector, an automated step cleaning, preferably with compressed air, of the slots in the sector supported by a robotic arm, preferably the third robotic arm, before the pad insertion stage;

[0048] - the pre-assembly process comprises for a specified number of sectors predefined, an automated step of placing an anti-wear device on the predefined sector supported by the first robot arm, the predefined sector comprising an anterior attachment means intended to bear on a support carried by a turbine housing and the anti-wear device being shaped to envelop the anterior end of the anterior attachment means and to be interposed between said anterior attachment means and said support.

[0049] The invention also relates to a method of assembling the distributors of a turbine comprising a pre-assembly step of the turbine distributors according to the method described above, and a final assembly step during which the sectors equipped with the same plate are juxtaposed by inserting the free end of the plates of an equipped sector into the slots opposite the neighboring equipped sector until all the distributors of the different stages of the turbine are formed.

[0050] The invention also relates to a computer program product comprising one or more stored instruction sequences which are accessible to a processor and which, when executed by the processor, cause the processor to execute the automated steps of the pre-assembly process as described above.

[0051] Unless otherwise indicated, terms such as "computation", "generation", or similar, refer to the action and / or processes of a computer or computer system, or similar electronic computing device, which manipulates and / or transforms data represented as physical quantities, such as electronic, in the registers and / or memories of the computer system into other data similarly represented as physical quantities in the memories of the computer system, registers or other devices for storing, transmitting or displaying information. Brief description of the drawings

[0052] The present invention will be better understood and other details, features and advantages of the present invention will become more apparent upon reading the following description of a non-limiting example, with reference to the accompanying drawings in which:

[0053] [fig. 1] [fig. 1] is a schematic cross-sectional view of a turbomachine according to the state of the technique,

[0054] [fig.2] Fig.2 is a detailed cross-sectional view of a low-pressure turbine of the tur Bomachine of the [fig.l] comprising seven stages,

[0055] [fig.3] [fig.3] is a schematic end view of a turbine blade comprising an assembly of angular sectors of the blade,

[0056] [fig.4] Fig.4 is a perspective view of a blade sector of one of the dis turbine tributaries of the [fig.2],

[0057] [fig.5] [fig.5] is a radial cross-sectional view of a sector attachment system distributor blade of a second stage of the low-pressure turbine in Figure 2, the outer platform of the sector being equipped with an anti-wear device,

[0058] [fig.6] Fig.6 is a perspective view of the assembly of an anti-wear device on the sector of [fig.4],

[0059] [fig-7] [fig.7] represents a top view of an installation for the pre assembly of the distributors of the different stages of a turbine according to the invention,

[0060] [fig.8] Fig.8 illustrates a schematic view of the gripping of a sector in a entry trolley by a robotic arm of the installation of the [fig.7],

[0061] [fig.9] Fig.9 illustrates a schematic perspective view of an output trolley the installation of the [fig.7],

[0062] [fig.10] Fig.10 represents a schematic and enlarged view of a system of quality control of a sector supported by a robotic arm of the installation of [fig.7],

[0063] [fig.ll] [fig.ll] illustrates an enlarged schematic view of a system for preparing a wafer to be inserted into a sector of the installation of [fig.7],

[0064] [fig.12] Fig.12 represents an enlarged view of the preparation system of the [fig.10] receiving a jet of gas via a mixing system,

[0065] [fig.13] Fig.13 illustrates an enlarged schematic view of a lubrication system comprising a means for injecting a fatty material into the slots of a sector,

[0066] [fig.14] Fig.14 is a flowchart of a process for assembling the discs tributaries of a turbine according to the invention,

[0067] [fig.15] [fig.15] is a schematic view of the identification of areas related to slots in the outer platform of a sector,

[0068] [fig.16] [fig.16] is a schematic view of the identification of areas related to slots in the inner platform of a sector,

[0069] [fig.17] [fig.17] is a schematic view of the identification of two pre-plates understandable in a tray of the platelet preparation system of [fig.ll],

[0070] [fig.18] [fig.18] is a schematic view of the automated step of inserting a plate in a slot of a sector, and

[0071] [fig.19] [fig.19] is a schematic view of the step of removing an equipped sector on a tray associated with the corresponding dispenser.

[0072] In the various figures, identical reference numerals designate identical parts or parts having similar functions. Furthermore, the various elements are not necessarily shown to scale in order to present a view allowing to facilitate understanding of the invention.

[0073] By extension, the axial direction shall be defined as any direction parallel to an axis A of a turbomachine, and the radial direction as any direction perpendicular to and extending radially from the axial direction. DETAILED DESCRIPTION

[0074] Figure 1 illustrates a turbomachine 10 with longitudinal axis A of the twin-spool type. Such a turbomachine 10, here a turbojet 10, comprises, in a known manner, a fan 12, a low-pressure (LP) compressor 14, a high-pressure (HP) compressor 16, a combustion chamber 18, a high-pressure (HP) turbine 20, a low-pressure (LP) turbine 22, and an exhaust nozzle 24. The rotor of the HP compressor 16 and the rotor of the HP turbine 20 are connected by a high-pressure shaft HP 26 and together form a high-pressure housing. The rotor of the LP compressor 14 and the rotor of the low-pressure turbine LP 22 are connected by a shaft LP 28 and together form a low-pressure housing.

[0075] The high and low pressure bodies are traversed by a primary airflow "P" and the fan 12 produces a secondary airflow "S" which circulates in the turbojet 10, between a casing 11 and an outer casing 13 of the turbojet, in a cold flow channel 15. At the outlet of the nozzle 24, the gases from the primary flow "P" are mixed with the secondary flow "S" to produce a propulsion force, the secondary flow "S" here providing the majority of the thrust.

[0076] The BP 14 and HP 16 compressors and the HP 20 and BP 22 turbines each respectively comprise several stages of compressor or turbine.

[0077] As illustrated for example in [fig.2], the BP 22 turbine comprises several movable blade wheels 22a, 22b, 22c, 22d, 22e, 22f, 22g of the turbine blades which are carried by associated discs 30a, 30b, 30c, 30d, 30e, 30f, 30g which are assembled to each other by bolts 36.

[0078] The BP 22 turbine also includes fixed blade rings 32a, 32b, 32c, 32d, 32e, 32f of a distributor 32 which are intercalated between the movable blade wheels 22a, 22b, 22c, 22d, 22e, 22f, 22g of the turbine.

[0079] Each fixed blade ring 32a, 32b, 32c, 32d, 32e, 32f of distributor is formed of an assembly of sectors 34a, 34b, 34c, 34d, 34e, 34f of fixed blade ring, assembled around the axis A of the turbomachine over 360° so as to constitute a complete fixed blade ring 32a, 32b, 32c, 32d, 32e, 32f around the axis A of the turbomachine.

[0080] Figure 3 represents, by way of simplified example, a distributor blade 32a made up of an assembly of ten blade sectors 34a. Of course, the number of angular sectors to form a distributor may differ from one stage to another. of the turbine. For example, the blades 32 of the distributors of the different stages of a low pressure turbine are made up of an assembly of 21 or 26 blade sectors 34.

[0081] As illustrated in [fig.3], each sector 34a extends at a determined angle α around the axis of the ring 32a, which corresponds to the axis A of the turbomachine 10 previously illustrated in [fig.1].

[0082] The terms "lower" or "inner" refer to any positioning close to the axis A along the radial direction, while "upper" or "outer" refer to any positioning further from the axis A along the radial direction than the lower positioning. Finally, "transverse" refers to any plane or surface comprising the longitudinal axis A and parallel to a cross-sectional plane of a sector 34.

[0083] Conventionally, as illustrated in [Fig. 4], each sector 34 comprises, with respect to the axis A of the blade 32, a radially external platform 38, a radially internal platform 40, and at least two blades 42 extending substantially in a radial direction R between said platforms 38 and 40. In the illustrated example, the sector 34 comprises six blades 42. However, the number of blades may differ from one stage to another in the turbine. Each sector also comprises at least one block 44 of abradable honeycomb material, which consequently also extends internally to the internal platform 40 between transverse extremities (not shown) of the angular sector 34.

[0084] A radially inner radial sealing face 46 of the block 44 of abradable honeycomb material is configured to cooperate with swabbings of a labyrinth seal carried by a rotor of the turbomachine.

[0085] Conventionally, as illustrated in [Fig. 4], the seal between adjacent sectors 34 is achieved by means of plates 35a, 35b, 35c, 37a, 37b, 37c which are received in housings or slots 39a, 39b, 39c, 41a, 41b, 41c which are arranged opposite each other between the sectors 34 to form a barrier to a recirculation flow from downstream to upstream between the sectors 34. According to the illustrated example, this sector 34 has six slots formed in lateral faces 43 of the sector, including three upper slots 39a, 39b, 39c, formed in its outer platform 38, which each receive a plate 35a, 35b, 35c and three lower slots 41a, 41b, 41c formed in its inner platform 40, each of which receives a plate 37a, 37b, 37c. The orientation of the slots and therefore of the plates can be tangential (39b, 41a, 41c), radial (39a, 41b) or of any orientation (39c).

[0086] The slots in each sector, whether formed in the lateral surfaces of the outer platform 38 or in the inner platform 40, form a pattern comprising at least one intersection of two slots. In the illustrated example, the slots formed in the lateral surfaces of the outer platform 38 form a pattern of the type K while the slots made in the lateral surfaces of the inner platform 40 form a pattern of type H. Of course, the pattern whether for the slots of the inner platform 40 or outer platform 38 can vary from one stage of the turbine to another.

[0087] Referring to [fig.5], for certain low-pressure turbine stages, the outer platform 38 of a distributor sector 34 comprises a front rail 48 and a rear rail 49. The front rail 48 rests on a hook 50 of the low-pressure turbine housing 52. The front rail 48 has, in cross-section, the shape of a tongue extending radially and ending in a rounded end, on which is fixed an anti-wear device 54 or shim which covers it by conforming to its shape. Its radial cross-section has a U-shaped form, suitable for wrapping the end of the tongue of the front rail 48 and it extends at its lower part until it protrudes axially from the rear end of the hook 50. The shim is interposed between said front attachment means and said support when the sector is assembled to the housing in order to ensure the mechanical interface between the front rail 48 and the hook 50 and to eliminate any direct contact between them.As illustrated in [fig.6], the sash 54 is fixed by clipping onto the front rail 48 according to the arrow marked F.

[0088] Figure 7 illustrates an installation 100 for the pre-assembly of the distributors of the different stages of a turbine according to a preferred mode of the invention. The installation according to the invention is adapted to prepare, in an automated manner, the different sectors of all the distributors of the different stages of a turbine, in particular a low-pressure turbine.

[0089] The installation comprises a computer-readable storage medium on which one or more sequences of instructions forming a computer program are recorded, a processor, and a human-machine interface or console (not shown) configured to control the various automated elements of the installation. The instruction sequences are accessible by the processor and cause the processor to execute the automated steps of the pre-assembly process according to the invention when executed by the processor. They thus enable the automated devices, robotic arms, and transport device of the installation to be controlled.

[0090] Such an installation 100 according to the invention comprises several functional units which will be described later, and a transport device 101 adapted to transport sectors 34 in particular between the different functional units so that they interact with the transported sectors.

[0091] The various functional units are, for example, capable of inserting sealing plates into the sector slots, cleaning the sector slots before insertion, checking the quality of the sectors, and equipping sectors with shims if necessary... Such functional units will be described in detail below. After.

[0092] The transport device 101 is automated and comprises pallets 102, each capable of transporting a sector 34. The sectors 34 are supported by the pallets 102 and locked in a predefined position and orientation. For example, the transport device 101 includes a network of linear rails 103 allowing the movement of the pallets between the different functional units.

[0093] The installation further comprises several robotic arms, each consisting of a base fixed to a frame of the installation, an articulated arm, and at least one tool arranged at the free end of the articulated arm. As is known, the tool is most often a gripping tool, for example, a two- or three-finger gripper. The robotic arms can also support other equipment and accessories, for example, a camera. Such robotic arms are adapted to precisely position and orient the tool carried at its end along six degrees of freedom.

[0094] Each robotic arm is adapted and configured to perform a specific number of actions different from those performed by another robotic arm. The robotic arms operate simultaneously, thus reducing the preparation time for the sectors and their pre-assembly to form the turbine distributors. Furthermore, the robotic arms can work with several functional units, reducing the number of robotic arms required for the pre-assembly of a turbine distributor and consequently optimizing the space needed for such an installation.

[0095] Installation 100 further comprises:

[0096] - an input dock 104 for receiving an input trolley 105, - an automated device 110 for inserting sealing plates 35, 37, and - an output dock 106 for receiving an output trolley 108.

[0097] The automated device 110 for inserting sealing plates 35, 37 will be detailed later.

[0098] The inlet carriage 105 is configured to transport and support a set of sectors 34a, 34b, 34c, 34d, 34e, 34f as described above, intended to form the set of distributors 32a, 32b, 32c, 32d, 32e, 32f for the different stages of the turbine. More precisely, the set of sectors comprises as many sub-assemblies as there are stages in the turbine and therefore as many distributors to be assembled for the turbine. Thus, each sector is associated with a specific distributor of the turbine.

[0099] The installation 100 includes a first robotic arm 112 capable of grasping a sector 34 from the input carriage 105 and placing it on a pallet of the transport device. For this purpose, and as illustrated in [Fig. 8], the first robotic arm 112 includes a gripping tool 114, for example a gripper, configured to grasp a sector 34 both from the input carriage 105 and to place it on a pallet 102 of the transport device.

[0100] An example of an output carriage 108 is illustrated in [Fig. 9] and comprises a plurality of horizontal annular plates 109, each plate 109 being associated with a distributor for one stage of the turbine to be assembled. Thus, each plate 109 is designed to receive and support sectors equipped with a sub-assembly, and therefore associated with a specific distributor, so that the equipped sectors can be joined end to end to form the distributor. The plates 35, 37 of the equipped sectors are arranged opposite the slots 39, 41 of an adjacent sector 34 for insertion during the final assembly of the distributor. An equipped sector is defined as a sector 34 fitted with plates 39, 41 on one of its lateral faces and also fitted with a shim 54, if applicable, for a certain number of predefined sectors depending on the turbine stage for which the sectors are intended.

[0101] The annular plates are coaxial and movable independently of each other around their common axis, denoted B.

[0102] The installation 100 includes a second robot arm 142 adapted to grasp a sector 34 equipped and transported by a pallet 102 of the transport device 101 and to deposit and position it on the platform 109 associated with the determined distributor so as to pre-assemble the determined distributor.

[0103] For this purpose, the output dock 106 includes a first actuator (not shown) configured to lift the upper trays to the tray 109 on which the equipped sector is to be placed and thus disengage the upper trays in order to make the tray 109 on which the equipped sector is to be placed accessible.

[0104] In addition, the output dock 106 includes a second actuator (not shown) configured to rotate the platform 109 on which the equipped sector is to be placed in order to make accessible the location where the equipped sector is to be positioned.

[0105] The installation 100 further advantageously comprises:

[0106] - a control device 120 for sectors 34, - an automated system for installing anti-wear devices, and - an automated cleaning system for 140 slots in sectors 34.

[0107] The control device 120 includes an identification system 122 and a sector quality control system 124.

[0108] The identification system 122 is automated and configured to identify the sector 34 supported by a robot arm, preferably by the first robot arm 112. In other words, the automated identification system 122 is configured to identify which turbine distributor 32 is associated with the sector 34 supported by the gripping tool 114 of the first robot arm 112. Thus, the sector identification system 122 is also configured to identify the platform 109 of the output carriage 108, associated with the identified distributor 32, on which to place the sector 34 and position it correctly. location for the pre-assembly of the specified distributor.

[0109] For this purpose, each sector 34 includes a surface marking such as a reference, preferably alphanumeric, and the identification system 122 includes a means for reading the reference communicating with an acquisition means, for example a camera associated with character recognition software, the acquisition means being supported by another robotic arm of the installation, preferably by the second robotic arm 142.

[0110] The sector control device 120 includes a database of references for all sectors intended to form the turbine distributors, and a means for associating the read reference with an identified turbine distributor 32. The reference database takes into account, in particular, the typography, font, and size of the various characters that make up the reference.

[0111] The sector references 34 include characters that vary from one sector to another and characters that remain constant from one sector to another for the same distributor 32. The automated sector identification system 122 advantageously includes a means of verifying each constant character read by comparison with the constant characters of the references in the database, and a means of identifying each variable character read by comparison with the variable characters of the references in the database. Thus, this reading method, as described above, limits the risk of reading one character instead of another and therefore improves the reliability of the sector reference reading.

[0112] Preferably, the database includes a set of technical characteristics associated with each reference and therefore with each sector. The set of technical characteristics includes at least a specified number of slots formed in the lateral faces of each sector, technical characteristics of the slots such as their orientation and dimensions, physical characteristics of the inserts intended to be inserted into each slot, for example, the shape and dimensions of the inserts, a specified number of vanes for each sector, and the final angular position of the sector in the specified distributor. The database includes the number of wear-resistant devices intended to equip certain sectors and the sectors to which they are intended.

[0113] The quality control system 124 of the sector is automated and adapted to control the quality of the sector supported by a robotic arm, preferably by the first robotic arm 112. The control system 124 is configured to control the conformity of the sector to the quality standards for the aeronautical industry.

[0114] In particular, the control system 124 is configured to control at least the quality of the slots 35, 37 formed in the transverse walls of sector 34, the quality of the trailing edges and surfaces of the blades 42 of sector 34 and the quality of the block 44 of abradable honeycomb material from sector 34.

[0115] To this end, the control system 124 includes an image capture means 126 of the sector 34 while the sector 34 is supported by the first robotic arm 112 as illustrated in [Fig. 10]. Thus, the first robotic arm 112 is adapted to orient the sector 34 in different orientations relative to the image capture means, for example a camera.

[0116] The automated control system 120 allows monitoring of the sectors used for the pre-assembly of the turbine distributors and thus improves the quality and reliability of their pre-assembly and therefore of their final assembly.

[0117] The system for applying an anti-wear device or shim is also automated. It is capable of interacting with a number of predefined sectors transported by the automated transport device 101.

[0118] The shim-setting system includes a multiple shim support for equipping predefined sectors and an intermediate support.

[0119] A robotic arm of the installation, preferably the first robotic arm 112, is adapted and configured to grasp a shim from the multi-support and place it on the intermediate support. For example, the first robotic arm 112 includes an alternative gripping means, such as a small gripper adapted to grasp the shim. The intermediate support is shaped to support the shim in a predetermined position and orientation so as to allow the shim to be fixed to the sector. The first robotic arm 112 is then configured to grasp the sector 34 of a transport pallet 102 and position and orient it relative to the shim placed on the intermediate support so as to fix the shim to the sector.Preferably, the shim 54 is fixed, for example by clipping, so as to wrap around the front end of the front attachment means 48 and to be interposed between said front attachment means 48 of sector 34 and the hook 50 of the housing 52 when the distributor is fixed to the housing.

[0120] The cleaning system 140 is automated and configured to clean the slots 35, 37 of a sector 34 supported by a robotic arm, preferably the second robotic arm 142. Preferably, the automated cleaning system 140 includes a compressed air system for cleaning the inside of the slots 39, 4L

[0121] The second robotic arm 142 is configured to grasp the sector 34 of a transport pallet 102 and position and orient it relative to the cleaning system 140, in particular relative to a compressed air jet nozzle for cleaning the inside of the slots 39, 4L

[0122] The installation 100 further advantageously comprises an automated lubrication system 164 capable of injecting a greasy material into at least a portion of the slots 39, 41 of a sector 34 supported by a robotic arm, preferably the second robotic arm 142 of the installation. With reference to [Fig. 13], the lubrication system 164 includes, in particular, an injection means 166 for a greasy material 168, such as grease. The greasy material 168 is injected at least at each intersection between two slots in the sector. The second robotic arm 142 is configured to grasp the sector 34 of a transport pallet 102 and position and orient it relative to the lubrication system 164, in particular relative to the injection means 166, to deposit grease inside the slots 39, 4L

[0123] For this purpose, the installation 100 is configured to have a regulated temperature suitable for the fatty material by means of an air conditioner, in particular to regulate the viscosity of the fatty material. The injection means 166 is, for example, a needle or a syringe, as illustrated in [Fig. 13].

[0124] Preferably, the cleaning system 140 and the lubrication system 164 are combined in order to deposit the grease material just after cleaning the slots, thus optimizing space in the installation and saving time.

[0125] The sealing plate insertion device 110 is automated and capable of interacting with a sector 34 supported by a pallet 102 of the transport device 101.

[0126] The device 110 includes a third robotic arm 116 configured to insert sealing plates 35, 37 into the slots of a lateral face of the sector 34 to form an equipped sector.

[0127] As illustrated in [Fig. 11], the sealing pad insertion device 110 further comprises a sealing pad preparation system 35, 37 including a receptacle 150, a fourth robotic arm 154 and a pad holder (not shown). The sealing pad preparation system is automated.

[0128] The receptacle 150 is suitable for receiving and containing a plurality of sealing plates 35, 37. It comprises a plurality of bins 152, each containing sealing plates 35, 37 in bulk. Each bin 152 contains the same type of plates 35, 37, i.e., plates having the same shape and dimensions. The type of plates is thus different from one bin to another.

[0129] The fourth robot arm 154 includes a gripping means 155 adapted to grasp sealing plates 35, 37 from the receptacle and place them on the plate holder. For example, the gripping means 155 of the fourth robot arm 154 operates by air suction, for example a suction finger.

[0130] The fourth robotic arm 154 is configured to successively grasp wafers of different types, intended for different slots in the sector, and deposit them onto respective areas of the wafer holder. Each area is associated with a type of wafer. The wafer holder also includes an additional area for turning over a wafer if it is not deposited in the correct orientation for grasping by the third robotic arm 116 and subsequent insertion. The third Robot arm 116 is configured to perform such a reversal, if necessary.

[0131] The wafer preparation system includes a wafer identification means configured to identify at least one grippable sealing wafer in a tray, i.e., one shaped to be picked up by the gripping means 155 of the fourth robot 154. Preferably, the wafer identification means includes a camera 156 and implements pattern recognition software. An example of image acquisition by the camera 156 of the wafer identification system is illustrated in [Fig. 17] and will be described in detail thereafter.

[0132] The wafer preparation system further includes a gas jet generation system 160 inside the tray containing wafers of the defined type if no sealing wafer can be grasped by the grasping means of the fourth robot arm 154. The gas jet generation system 160 is attached to a cover 162 intended to close at least the tray 152 in order to keep the wafers 35, 37 in the tray 152 during the air injection as illustrated in [Fig. 11].

[0133] The third robotic arm 116 is capable of grasping a sealing plate 35, 37 supported by the plate holder and inserting it into a slot in the sector. For this purpose, the third robotic arm 116 includes a gripper, such as a small gripper adapted to grasp a predefined sealing plate 35, 37. The plate to be inserted is predefined according to the slot intended to receive it.

[0134] The third robot arm 116 is configured to position and orient the sealing plate 35, 37, grasped relative to the sector 34 supported by the transport pallet 102, in order to insert it into the slot designed to receive it on one of the lateral faces of the sector. To this end, and to ensure the delicate successive insertion of the plates into the slots of the sector, the third robot arm 116 supporting the plates can be oriented to a predetermined position via orientation means and includes an automated means for identifying the slots and their characteristics in the predetermined position of the sector on the transport pallet, whether they are located on the lateral face of the inner platform 40 and / or the outer platform 38.

[0135] The automated slot identification means is advantageously configured to identify, for each slot, the type of sealing plate to be inserted into the slot designed to receive it, based on the identified characteristics of said slot, and thus to identify the sealing plate of said type supported by the plate holder. To this end, the automated identification means includes a camera supported by the third robotic arm 116 and implements pattern recognition software that allows, in particular, the identification of the shape of the slots, even when partially covered with grease, by extrapolation. Thus, each predefined sealing plate can be inserted into the slot designed to receive it, based on the identified characteristics of said slot, in a precise and automated manner.

[0136] A pre-assembly method, according to the invention, of the distributors of a turbine by means of an installation as described above will now be described in detail with regard to [fig.14].

[0137] The method includes a step S2 of supplying an input trolley 105 supporting all the sectors intended to form the distributors of the turbine; and an output trolley 108 comprising a plurality of plates 109, each plate being associated with a distributor of the turbine.

[0138] The input trolley 105 and the output trolley 108 are installed respectively on the input docks 104 and output docks 106 by an operator.

[0139] The inlet trolley 105 is filled with all the sectors 34 intended to form all the distributors of the different stages of a turbine. Thus, the pre-assembly process of the distributors is implemented only once for an entire engine, thereby limiting the number of operator interventions and thus increasing the efficiency and profitability of the installation.

[0140] Similarly, the output trolley 108 is intended to receive all the pre-assembled distributor sectors of the same turbine stage on each platform 109, also limiting the number of operator interventions and thus increasing the efficiency of the installation.

[0141] The operator launches implements the automated process of preparing the sectors and their pre-assembly in the form of distributors via the console of the installation by specifying the model of turbine and motor to be manufactured and consequently the distributors to be assembled.

[0142] For each sector 34 supported by the infeed carriage 105, the method includes an automated step S4 of grasping one of the sectors by the gripping tool 114 of the first robotic arm 112, a gripper as illustrated in [Fig. 8]. If necessary, the sector 34 is realigned in the gripper 114, i.e., the position and / or orientation of the sector relative to the gripper are modified to correspond to a predetermined theoretical position.

[0143] The method further advantageously includes an automated step S6 of sector identification by the automated identification system 122 and consequently of identification of the distributor 32 to which the sector 34 in preparation is associated and the tray 109 of the output trolley 108 corresponding to the determined distributor on which to place the sector and position it in the right place so as to pre-assemble the determined distributor.

[0144] To this end, the identification step S6 includes a step of reading a surface marking corresponding to a reference of sector 34 and a step of associating the read sector reference with a specific distributor of the turbomachine, i.e., with a stage of the turbomachine, according to the database of references of all the sectors intended to train the distributors of the turbomachine. The reference is read by an acquisition means, for example a camera associated with character recognition software, the acquisition means being supported by another robotic arm of the installation, preferably by the second robotic arm 142.

[0145] The reading step advantageously includes reading each character of the reference and verifying each invariant character read by comparison with the invariant characters of the database references, and identifying each variant character read by comparison with the variant characters of the database references.

[0146] Indeed, for each stage of the turbomachine, the identification of possible markings makes it possible to identify variant and invariant characters in the sector references of the same distributor and even to determine a limited number of possibilities for the variant characters. Thus, this reading step as described above makes it possible to limit the risk of reading one character instead of another and therefore to improve the reliability of the sector reference readings.

[0147] Advantageously, the method further comprises, for each sector 34 supported by the first robotic arm 112, an automated step S 8 of quality control of the sector by the quality control device 124. During this step, several photos are taken from various orientations of the sector. Figure 10 illustrates this photo-taking by an image capture means 126 while the sector 34 is supported and oriented by the first robotic arm 112.

[0148] In particular, during this control step at least the quality of the slots made in the transverse walls of the sector, the quality of the trailing edges and surfaces of the blades of the sector and the quality of the honeycomb abradable material block of the sector are checked.

[0149] The control of the honeycomb abradable material block is carried out from, for example, two photos in order to have sufficient image quality to detect defects quite accurately as illustrated in [fig.10].

[0150] At the end of the control step, the sector is placed by the first robot arm 112 onto a pallet 102 and transported to the next functional unit for the next sector preparation step.

[0151] If an unacceptable defect is detected on one of the parts of the sector, the defective sector is placed on a pallet 102 of the transport device 101 and transported to a manual inspection device. The manual inspection is carried out by an operator to confirm or refute whether the defect is unacceptable for recycling and replacement with another sector, or for possible repair. In the latter case, or if the defect is ultimately acceptable, the sector is placed back on a pallet 102 and transported to the next functional unit for the next sector preparation stage.

[0152] For a predetermined number of turbine distributors and consequently for their predefined sectors intended to form them, the method includes an automated step S10 of installing a shim, or anti-wear device. The shims to be fitted to the predefined sectors are arranged on a multi-shim holder. A robotic arm of the installation, preferably the first robotic arm 112, grasps a shim from the multi-holder and places it on the intermediate holder in a predetermined position and orientation so as to allow the shim to be fixed to the sector. Then, the first robotic arm 112 grasps one of the predefined sectors supported by a transport pallet 102 and positions and orients it relative to the shim placed on the intermediate holder so as to fix the shim to the sector, for example by clipping it onto the front attachment means 48 of the sector 34.

[0153] The sector is then placed by the first robot arm 112 onto a transport pallet 102 and transported to the next functional unit for the next sector preparation step. Thus, the first robot arm 112 is then available to pick up another sector 34 from the input trolley 104 and repeat steps S4 to S10.

[0154] The process continues for the previously identified, controlled and possibly equipped sector with a shim, supported by a transport pallet 102 by an automated transport step to the cleaning and greasing device 140.

[0155] The method includes an automated cleaning step S12, preferably using compressed air, of the slots 39, 41 of the sector 34 by the automated cleaning system 140. During this step, the sector 34, supported by the transport pallet 102, is grasped by the second robotic arm 142. The latter positions and orients the sector relative to a compressed air jet nozzle to clean the inside of the slots 39, 41.

[0156] The process further comprises a step, illustrated in [Fig. 13], of injecting the fatty material S14 into the slots in zones 176 around each identified intersection. The determination of these zones 176 is described below.

[0157] During this step, a robotic arm, preferably the second robotic arm 142, supports the support 34 and positions and orients it relative to the lubrication system 164, in particular relative to the injection means 166, to deposit grease inside at least a portion of the slots 39, 4L

[0158] The cleaned and lubricated sector is placed by the second robot arm 142, or any other supporting robot arm, onto a transport pallet 102 and transported to the automated sealing plate insertion device 110. The second robot arm 142, or any other robot arm of the cleaning and lubrication device, is then available to pick up another sector 34 supported by another transport pallet and repeat the cleaning steps S12 and lubrication steps S14.

[0159] The process continues for the cleaned and greased sector, supported by a pallet 102 of the transport device 101, by an automated insertion step S16 of the sealing plates into the slots of a lateral face of the sector to form an equipped sector.

[0160] This step S16 includes an automated preliminary step of preparation S161 of sealing plates 35, 37 as illustrated in [fig.ll].

[0161] This step S161 of wafer preparation includes a substep S1611 of identification in the receptacle 150 of at least one pre-gripable sealing wafer by the gripping means of the fourth robot arm 154. This identification step is carried out by means of a camera 156, illustrated in [fig.ll], and pattern recognition software.

[0162] Figure 17 illustrates an image acquired by camera 156 of a top view of a bin 152 containing loose wafers. During this step, the shape of the wafers is detected and in the example illustrated in Figure 17, two graspable wafers are identified: the first, labeled PA, is identified correctly oriented and the second, labeled PB, is identified upside down.

[0163] A wafer in the right direction means that it can be inserted directly into a slot by the third robotic arm 116 of the insertion device, while a wafer upside down means that it must be turned over by the third robotic arm 116 before being inserted into a slot.

[0164] The plate preparation step S161 then includes a substep S1612 of grasping by the fourth robotic arm 154 of the device 110, in the receptacle 150 of a graspable plate, by means of its grasping tool, preferably a suction finger and of depositing the plate on the area corresponding to the type of plate grasped of the plate holder.

[0165] The fourth robotic arm 154 successively picks up wafers of different types from different bins in order to supply the different zones of the wafer holder. The different types of wafers are intended for different slots in the sector.

[0166] If no sealing plate is graspable by the grasping means in the tray, a jet of gas is generated inside at least one tray 152 of the receptacle 150 in order to lift and mix the sealing plates to provide a graspable plate as illustrated in [Fig. 12] during a substep S1613.

[0167] This substep S1613 can be repeated if there are still no grippable wafers. After three successive blowing steps, if no wafer is grippable, an alert message is generated on the console for the operator.

[0168] The automated insertion step S16 further includes a plate orientation step S162.

[0169] This orientation step S162 includes a substep S1621 of entering a plate 35, 37 by the third robotic arm 116, plate 35, 37 being supported by the plate support.

[0170] If the grasped wafer is not in the right direction, the third robotic arm 116 uses the additional area of ​​the wafer holder to turn the wafer around so that it is in the right direction during a substep S1622.

[0171] During this orientation step S162, the sealing plate 35, 37 is positioned and oriented relative to the sector 34 supported by the transport pallet 102 to insert it into the slot intended to receive it on one of the lateral faces of the sector.

[0172] To this end, the orientation step S162 includes a substep S1623 for the automated identification of the slots and their characteristics in the predetermined position of the sector on the transport pallet, whether they are located on the lateral face of the inner platform 40 and / or the outer platform 38. This substep enables the identification, for each slot in the sector, of the type of sealing plate to be inserted into the slot intended to receive it, based on the identified characteristics of said slot. This identification is performed by a camera supported by the third robotic arm 116, which supports the plate to be inserted, and uses pattern recognition software that allows, in particular, the identification of the shape of the slots, even when partially covered with grease, by extrapolation.

[0173] Sector 34 is supported by the transport pallet and locked in a predetermined, so-called theoretical, position and orientation allowing the identification of slot characteristics. This predetermined position and orientation is verified by the third robot arm 116. Thus, all the slots of the outer platform must be located in a first zone 172 shown continuously in [Fig. 15], and the same applies to the inner platform shown in [Fig. 16].

[0174] The identification step includes automated recognition of the slots and slot characteristics of the sector in the predetermined position, including their orientation, dimensions, patterns, and intersections, using the camera supported by the third robotic arm 116 associated with pattern recognition software, which notably allows for the identification of the shape of the slots, even when partially covered with grease, by extrapolation. Figures 15 and 16 illustrate, respectively for the outer platform and the inner platform, the recognition of the slots surrounded by a dotted area 174 and the definition of areas 176 around each intersection, marked by dashes in Figures 15 and 16. Thus, two areas 176a, 176b for grease application are identified for an H-shaped slot pattern as seen in [Fig. 15], while only one area 176c for grease is identified in [Fig. 16].16] for a K-shaped slot pattern.

[0175] Figure 18 illustrates, for example, the insertion of a plate 37b into a radial slot 41b of the inner platform of the sector of [fig.4]. The grease 168 deposited at the two intersections of the radial slot 41b with each tangential slot 41a, 41c is also clearly visible.

[0176] The sector thus equipped with plates is transported by the pallet 102 of the transport device 101 to the exit dock 106.

[0177] During an automated step S18, the second robot arm 142 of the installation grasps the equipped sector and places it on the output trolley 108, more precisely on the tray 109 associated with the determined distributor so as to pre-assemble the determined distributor as illustrated in [fig. 19].

[0178] For this purpose, the upper platforms of the output carriage 108 are lifted by the first actuator relative to the platform 109 of the distributor being assembled, thereby disengaging the upper platforms to make the platform 109, on which the equipped sector is to be placed, accessible. The upper platform is defined as the platforms located above the platform of the distributor being pre-assembled, i.e., associated with the equipped sector supported by the second robot arm 142.

[0179] The distributor platform being assembled is rotated on itself by the second actuator in order to make accessible the angular deposit area adapted to the equipped sector supported by the second robot arm 142.

[0180] When all the equipped sectors are placed on the trays 109 of the output carriage 108, the turbine distributors are thus pre-assembled. The final assembly of the distributors consists of juxtaposing all the equipped sectors of the same tray by inserting the free end of the plates of an equipped sector into the slots opposite the neighboring equipped sector until the entire ring of fixed blades is formed.

[0181] The automated steps of this process are implemented by computer.

Claims

Demands

1. Installation (100) for the pre-assembly of the distributors (32) of a turbine (22), the turbine comprising a plurality of distributors each formed from an assembly of sectors (34) juxtaposed to one another, the installation comprising: - an infeed trolley (105) configured to transport and support a set of sectors (34) intended to form the distributors of the turbine, each sector of the assembly having lateral faces (43) and slots (39, 41) formed in the lateral faces and being associated with a specific distributor; - an outfeed trolley (108) comprising a plurality of trays (109), each tray being associated with a distributor (32) of the turbine; - a transport device (101) for sectors (34) comprising at least one pallet (102) capable of transporting a sector (34), the transport device being automated;- a first robotic arm (112) capable of grasping a sector (34) from the input trolley (104) and placing it on a pallet (102) of the transport device; - an automated sealing plate insertion device (110) capable of interacting with a sector (34) transported by the automated transport device, the sealing plate insertion device (110) comprising a second robotic arm (116) capable of inserting sealing plates (35, 37) into the slots (39, 41) of a lateral face (43) of the transported sector to form an equipped sector; and - a third robotic arm (142) capable of grasping an equipped sector (34) transported by a pallet of the transport device and placing and positioning it on the platform (109) associated with the determined dispenser so as to pre-assemble the determined dispenser.

2. Installation for the pre-assembly of the distributors of a turbine according to claim 1, comprising a control system (124) capable of to control the quality of a sector supported by a robot arm, preferably by the first robot arm (112).

3. Installation for the pre-assembly of the distributors of a turbine according to claim 2, wherein the sector (34) comprises an inner platform (40), an outer platform (38), blades (42) each comprising a trailing edge and being fixed between said inner platform (40) and said outer platform (38), and a block (44) of abradable honeycomb material extending internally to the inner platform (40) between the lateral faces (43), and wherein the quality control system (124) of the sector is configured to control the quality of: - the slots (39, 41) formed in the lateral faces (43) of the sector, - the trailing edges and surfaces of the blades (42), and - the block (44) of abradable honeycomb material.

4. Installation for the pre-assembly of the distributors of a turbine according to any one of claims 1 to 3, comprising an identification system (122) capable of identifying a sector supported by a robot arm, preferably by the first robot arm (112).

5. Installation for the pre-assembly of the distributors of a turbine according to any one of claims 1 to 4, comprising a cleaning system (140), preferably compressed air, suitable for cleaning the slots (39, 41) of a sector (34) supported by a robotic arm, preferably a third robotic arm (142) of the installation.

6. Installation for the pre-assembly of the distributors of a turbine according to any one of claims 1 to 5, comprising a lubrication system (164) capable of injecting a grease material into at least a portion of the slots (39, 41) of a sector (34) supported by a robotic arm, preferably a third robotic arm (142) of the installation.

7. Installation for the pre-assembly of turbine distributors according to any one of claims 1 to 6, wherein the sealing plate insertion device (110) comprises a sealing plate preparation system (35, 37) including a receptacle (150) adapted to receive a plurality of sealing plates (35, 37) and a fourth robotic arm (154) having a means for gripping sealing plates (35, 37) from the receptacle, the gripping means being able to deposit the sealing plates (35, 37) on a sealing plate support and in which the second robot arm (116) includes a means for gripping sealing plates supported by the sealing plate support, the gripping means of the second robot arm (116) being orientable for the insertion of sealing plates (35, 37) into the slots (39, 41) of a lateral face (43) of the sector.

8. Installation for the pre-assembly of the distributors of a turbine according to any one of claims 1 to 7, comprising a manual control system capable of manually controlling the quality of a sector (34) transported by the automated transport device.

9. Installation for pre-assembly according to any one of the preceding claims, configured to pre-assemble low-pressure distributors of a turbine.

10. Method for pre-assembling the distributors of a turbine by means of an installation (100) for pre-assembling the distributors (32) of the turbine (22) according to any one of the preceding claims, the distributors each being formed of an assembly of sectors (34) juxtaposed to one another, the method comprising the steps of: - providing an infeed trolley (105) supporting all the sectors (34) intended to form the distributors of the turbine, each sector of the assembly having lateral faces (43) and slots (39, 41) formed in the lateral faces and being associated with a determined distributor;- provision of an output trolley (108) comprising a plurality of trays (109), each tray (109) being associated with a turbine distributor, and for each sector (34), the automated steps of: - grasping one of the sectors from the input trolley (104) and placing it on a pallet (102) of the transport device (101) by the first robot arm (112); - transporting the sector (34) by the transport device to the sealing plate insertion device (110) (35, 37); - automated insertion (S 16) of the sealing plates (35, 37) into the slots (39, 41) of a lateral face of the sector supported by the second robot arm (116) to form a; equipped sector; placement and positioning (S 18) of the equipped sector on the platform (109) associated with the distributor determined by the third robot arm (142) so as to pre-assemble the determined distributor.

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