Multi-spindle robot effector with means for adjusting the center distance between drilling tools.

Abstract

Multi-spindle robot end effector with means for adjusting the center distance between drilling tools. The invention relates to a multi-spindle robot end effector (10), intended for drilling a workpiece, comprising: - a body (2), - n spindles (5.1, 5.2, 5.3) mounted in the body forming an array, each spindle being intended to carry a drilling tool (6.1, 6.2, 6.3) adapted to perform drilling along a direction (Z) called the feed direction, - means for adjusting the center distances (e2) between the n spindles along at least one direction (X and / or Y) orthogonal to the feed direction (Z). Figure for the abstract: Fig. 1

Description

Title of the invention: Multi-spindle robot effector with means for adjusting the center distance between drilling tools. technical field

[0001] The present invention relates to the field of drilling composite materials, and more particularly to drilling parts intended for aeronautical use, notably sound traps.

[0002] The invention is mainly aimed at providing a reliable and easy solution Previous technique

[0003] A sound trap, also called a silencer or noise attenuator, is a device that captures sounds in an airflow and reduces the amplitude of the acoustic waves.

[0004] Sound traps, which are implemented in particular on aeronautical parts, are made by drilling areas in composite parts, according to specific patterns, determined by acousticians.

[0005] These patterns must first respect a ratio between open area and closed area. This ratio is directly related to the hole diameter and the distance between the holes.

[0006] Increasingly stringent constraints on aircraft noise reduction lead to: - introduce the acoustic reduction function on as many parts as possible, resulting in an increase in the number of part references, - to have significant variability in the definition of acoustic patterns.

[0007] To date, mechanical drilling technology is recognized and approved for carrying out these drilling operations.

[0008] For drilling sound traps, robotic arms or 5-axis machines carrying a head, also called a multi-spindle effector integrating drilling tools (spindles and cutting tools) arranged in line or according to a matrix, are generally used to perform simultaneous multi-drilling.

[0009] The definition of a multi-spindle effector, that is to say the number of spindles on board and their relative arrangement, is directly linked to the geometry and structure of the part, or even only to an area of ​​it, which one wishes to drill.

[0010] The multiplication of part references and drilling pattern definitions, as well as the need for productivity, implies investments in a larger number of effectors and therefore increasingly significant investment costs.

[0011] The difficulty lies in finding a good compromise between means, needs capacity and production costs.

[0012] There is therefore a need to make multi-spindle effectors more flexible for drilling sound traps, and more generally parts, in order to meet the varied and growing demands on the drilling market while keeping investments limited.

[0013] The aim of the invention is to meet at least part of this need. Description of the invention

[0014] To this end, the invention relates, in one of its aspects, to a multi-spindle robot end effector, intended for drilling a workpiece, comprising:

[0015] - a body,

[0016] - a number n of pins mounted in the body forming an array, each a spindle designed to hold a drilling tool adapted to perform drilling along a direction (Z) called the feed direction,

[0017] - means for adjusting the center distances (e2) between the n pins according to at least one direction (X and / or Y) orthogonal to the advance direction (Z).

[0018] According to an advantageous configuration, the effector comprises a number n of actuators, each adapted for advancing or retracting a spindle, the n actuators being mounted in the body arranged at a fixed center distance (el) between them.

[0019] Preferably, the actuators are electric screw jacks or linear motors.

[0020] According to an advantageous embodiment, the means for adjusting the center distance include:

[0021] - a number n of rigid mechanical links connecting each actuator to a spindle, each rigid mechanical link being a sliding link adapted to allow translation of the spindle relative to the actuator along a direction (X) orthogonal to the feed direction (Z) so as to adjust the center distances (e2) between them,

[0022] - a number n of free bearings, arranged in the body, each comprising a span and in each of which is mounted a spindle, adapted to allow movement of the spindle along the feed direction (Z),

[0023] - a center distance adjustment plate, removably fixed to the body, comprising n through holes in each of which a bearing span is fitted by being centered, the center distances between through holes defining the desired center distances (e2; e21, e23).

[0024] The invention also relates to a kit comprising:

[0025] - a multi-pin effector as described above,

[0026] - a plurality of separate center-to-center spacing adjustment plates, the center-to-center spacing between holes emerging from one plate being different from another plate of the plurality.

[0027] The invention also relates to a method for drilling a workpiece, implemented by at least one multi-spindle effector as described above, comprising prior to the drilling step, a step for adjusting the center distances of the spindles.

[0028] According to an advantageous embodiment, the step of adjusting the center distances of the spindles comprises the following sub-steps:

[0029] - supplying a center distance adjustment plate, the center distances of which are between holes open ends correspond to the desired pin spacing.

[0030] - fixing the plate onto the body of the effector by adjusting the bearing surfaces in the through holes.

[0031] The invention also relates to the use of a multi-spindle effector as described above and / or the process as described above, for machining an aeronautical part, in particular a sound trap.

[0032] The invention finally relates to a part, in particular an aeronautical part, machined by means of a multi-spindle effector as described above and / or according to the process as described above.

[0033] Thus, the invention essentially consists of a multi-spindle robot effector whose center distances between spindles can be adjusted according to the needs of the required drilling.

[0034] In conclusion, the invention offers numerous advantages over prior art methods, including: - the possibility of a multitude of pin matrix geometry configurations for the same effector, which an end user can easily and quickly change, - a lower investment in multi-spindle effectors since with the same effector kit with several different center distance adjustment plates, it can machine different types of parts and according to different drilling profiles required.

[0035] Other advantages and features of the invention will become clearer from the detailed description of examples of implementation of the invention given by way of illustration and not limitation with reference to the following figures. Brief description of the drawings

[0036] [Fig-1] [Fig. 1] is a longitudinal sectional view of an example of a two-row pin effector according to the invention.

[0037] [Fig.2] [Fig.2] is a longitudinal sectional view of an example of a three-effector rows of pins according to the invention. Detailed description

[0038] Throughout this application, the terms "front" and "rear" are to be understood by reference to a multi-spindle effector according to the invention in operating configuration, with the drilling tool which is its most forward component.

[0039] The multi-pin effector 1, illustrated in [Fig.1], firstly comprises a body 2 consisting of a blind cylinder or parallelepiped 20 forming the side shell and the bottom, and a front block forming the cover 21. The front block 21 can be fixed, for example screwed, or made entirely with the blind cylinder or parallelepiped 20.

[0040] Two actuators 3.1, 3.2 are fixed at a fixed center distance el to the bottom of the blind cylinder of the body 2. These actuators 3.1, 3.2, preferably identical, can be electric actuators or linear motors adapted to move in a forward direction (Z).

[0041] Each actuator 3.1, 3.2 includes, at its front end, a connecting piece 30.1, 30.2.

[0042] Inside each of two sleeves 4.1, 4.2, is housed and held a pin 5.1, 5.2, which itself houses and holds a drilling tool 6.1, 6.2.

[0043] The assembly consisting of a sleeve 4.1, 4.2, a spindle 5.1, 5.2, and a drilling tool 6.1, 6.2 forms a sub-assembly 7.1, 7.2.

[0044] Each sleeve 4.1, 4.2 includes at its rear end, a connecting piece 40.1, 40.2, adapted to cooperate with a connecting piece 30.1, 30.2 of an actuator 3.1, 3.2, so as to achieve a rigid sliding connection.

[0045] This sliding link is adapted to allow a translation of the sleeve 4.1, 4.2, and therefore of the sub-assembly 7.1, 7.2 relative to the actuator 3.1, 3.2, along a direction (X) orthogonal to the advance direction (Z) so as to adjust the center distance (e2) between them.

[0046] As an example of connecting parts 30.1, 30.2 and 40.1, 40.2 enabling the sliding connection to be made, a connecting screw fixed to the front end of the actuator can be considered, the T-shaped head of which slides in a rail fixed to the end of the sleeve.

[0047] Each subassembly 7.1, 7.2 is supported by a free bearing 8.1, 8.2, housed and guided in the block 21 forming the body cover. A free bearing 8.1, 8.2 allows movement of the subassembly 7.1, 7.2 along the feed direction (Z).

[0048] A center distance adjustment plate 9 is removably fixed to the front block 21 of the body 2, for example by screwing. This plate 9 has two through holes 91, 92 in each of which a bearing surface 80.1, 80.2 of the free bearing 8.1, 8.2 is adjusted by being centered.

[0049] Thus, the center distances between through holes 91, 92 define the desired center distances (e2) between sub-assemblies 7.1, 7.2 and therefore between the spindles and their drilling tools.

[0050] We now briefly describe a method for adjusting the desired center distances in a multi-pin effector 1, illustrated in [Fig.1].

[0051] An operator first determines an adjustment plate 9, the center distances between through holes correspond to the desired pin center distances.

[0052] Once this is supplied, the operator attaches the plate 9 to the front block 21 of the body by adjusting the bearing surfaces 80.1, 80.2 in the through holes 91, 92.

[0053] As soon as a user wishes to keep the same effector 1 while changing the center distances, it is enough to fix another plate 9 whose center distances between through holes 91, 92 are calibrated for the new desired center distances.

[0054] The example in [Fig.2] shows another example of an effector according to the invention with three rows of actuators 3.1, 3.2, 3.3 and sub-assemblies 7.1, 7.2, 7.3 with the same types of sliding links 30.1, 30.2, 30.3 and 40.1, 40.2, 40.3.

[0055] Here, the center distance adjustment plate 9 can have two different center distances (e21, e23) between these through holes 91, 92 and 92, 93 respectively.

[0056] We can therefore obtain two different center distances between the drilling tools 6.1, 6.2, 6.3 carried by the same effector.

[0057] The invention is not limited to the examples just described; in particular, features of the illustrated examples can be combined in unillustrated variants.

[0058] Other variants and improvements may be envisaged without departing from the scope of the invention.

[0059] The invention can be implemented for any effector regardless of the configuration of the drilling tool matrix to be produced, the center distances being able to be different between rows and between columns.

Claims

1.

2.

3. Demands Multi-spindle robot end effector (10), intended for drilling a workpiece, comprising: - a body (2), - a number n of pins (5.1, 5.2, 5.3) mounted in the body forming a matrix, each pin being intended to carry a drilling tool (6.1, 6.2, 6.3) adapted to perform a drilling along a direction (Z) called the feed direction, - a number n of actuators (3.1, 3.2, 3.3) each adapted for the advance or the retraction of a spindle, the n actuators being fixed in the body by being arranged at a fixed center distance (el) between them. - means for adjusting the center distances (e2) between the n pins along at least one direction (X and / or Y) orthogonal to the feed direction (Z), the center distance adjustment means comprising: - a number n of rigid mechanical links connecting each actuator to a spindle, each rigid mechanical link being a sliding link (30.1, 30.2, 30.3; 40.1, 40.2, 40.3) adapted to allow translation of the spindle relative to the actuator along a direction (X) orthogonal to the feed direction (Z) so as to adjust the center distances (e2) between them, - a number n of free bearings (8.1, 8.2, 8.3), arranged in the body, each comprising a bearing surface and in each of which a spindle is mounted, adapted to allow movement of the spindle along the feed direction (Z), - a center distance adjustment plate (9), removably fixed on the body, comprising n through holes in each of which a bearing surface is adjusted by being centered, the center distances between through holes defining the desired center distances (e2; e2b e23). Multi-spindle effector according to claim 1, the actuators being electric screw jacks or linear motors. Kit includes:

4.

5.

6.

7. - a multi-pin effector according to one of the preceding claims, - a plurality of distinct center-to-center adjustment plates, the center-to-center distances between through holes of one plate being different from another plate of the plurality. A drilling method for a workpiece, implemented by at least one multi-spindle effector according to one of the preceding claims, comprising, prior to the drilling step, a step for adjusting the center distances of the spindles. The method according to claim 4, the effector being according to claim 3, the step of adjusting the center distances of the spindles, comprising the following sub-steps: - provision of a center-to-center distance adjustment plate, the center-to-center distances of which between through holes correspond to the desired spindle center-to-center distances, - fixing the plate onto the body of the effector by adjusting the bearing surfaces in the through holes. Use of a multi-spindle effector according to one of claims 1 or 2 and / or the method according to claim 4 or 5, for machining an aeronautical part, in particular a sound trap. Part, in particular an aeronautical part, machined using a multi-spindle effector according to one of claims 1 or 2 and / or according to the method according to claim 4 or 5.

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