Device For Coordinated Movement And/Or Orientation Of A Tracking Tool, Method For Smoothing A Part Using Said Device And Smoothing Station For Implementing Said Method

• US 20200133245A1
• Filed: 10/11/2019
• Published: 04/30/2020
• Est. Priority Date: 10/31/2018
• Status: Abandoned Application

• Current Assignee: Airbus Operations SAS (Airbus SE), Genetic Intelligence, Inc.
• Original Assignee: Airbus Operations SAS (Airbus SE)
• Inventors: Laudrain, Yann-Henri, Martin, Sebastien
• Application Number:
  US16/599,263
• Publication Number:
  US 20200133245A1
• Time in Patent Office: Days
• CPC Class Codes: B21D 1/06 Removing local distortions
• CPC Class Codes: B21D 26/021 Deforming sheet bodies
• CPC Class Codes: B21D 43/003 Positioning devices B21D28/04 and B21D28/265 take precedence; stops B21D43/26; centering moving strips B21D43/023
• CPC Class Codes: B21D 53/92 other parts for aircraft
• CPC Class Codes: B23Q 11/0046 by sucking
• CPC Class Codes: B23Q 17/2428 for measuring existing positions of tools or workpieces
• CPC Class Codes: B24B 23/005 Auxiliary devices used in connection with portable grinding machines, e.g. holders
• CPC Class Codes: B24B 49/12 involving optical means
• CPC Class Codes: B24B 55/10 specially designed for portable grinding machines, e.g. hand-guided
• CPC Class Codes: B25F 5/00 Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
• CPC Class Codes: B25J 11/0065 Polishing or grinding
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 19/027 Electromagnetic sensing devices
• CPC Class Codes: B25J 5/02 travelling along a guideway
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 19/41815 characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
• CPC Class Codes: G05B 2219/36436 Arm follows movement of handheld device, camera detects, analyses motion

Abstract

A device for coordinated movement and/or orientation of a tracking tool relative to a portable tool handled by an operator on a production station allows a tracking tool to track the movements of a portable tool handled by an operator, without the intervention of an additional operator. Also described is a smoothing method using the device, as well as a smoothing station for implementing the method.

Claims

1. A device for coordinated movement and/or orientation of a tracking tool relative to a portable tool handled by an operator on a production station for performing a first task, called main task, wherein the device for coordinated movement and/or orientation comprises:

a system for moving and/or orienting the tracking tool;

at least one location system configured to determine information relating to at least one position and/or to at least one movement of the portable tool; and

at least one command unit configured to control the movement and/or orientation system, on the basis of the information determined by the location system, so as to move the tracking tool in a coordinated manner with the portable tool to perform a second task, called auxiliary task, complementing the main task.

2. The device for coordinated movement and/or orientation according to claim 1, wherein the location system comprises at least one camera configured to capture images of the portable tool, and

wherein the command unit comprises image processing configured to analyze the images captured by the one or more cameras and to control, as a function of the analysis, the movements of the system for moving and/or orienting the tracking tool.

3. The device for coordinated movement and/or orientation according to claim 2, wherein the at least one camera comprises a plurality of cameras fixed on a fixed point of the production station and/or on the system for moving and/or orienting the tracking tool and/or on the operator.

4. The device for coordinated movement and/or orientation according to claim 1, wherein the location system comprises a plurality of tags fixed on the portable tool, as well as a plurality of tag readers fixed on different fixed points of the production station and each configured to transmit a signal as a function of the position of the tags, and

Wherein the command unit is configured to control the movements of the system for moving and/or orienting the tracking tool on the basis of the signals transmitted by the tag readers.

5. The device for coordinated movement and/or orientation according to claim 4, wherein the tags are RFID type tags.

6. The device for coordinated movement and/or orientation according to claim 1, wherein the movement and/or orientation system comprises a robotic arm supporting the tracking tool, an arm support, to which the robotic arm is connected, as well as a rail, along which the arm support moves.

7. A method for smoothing a part using a portable smoothing tool handled by an operator, using a suction tool connected to a device for coordinated movement and/or orientation according to claim 1, to allow the suction tool to move in a coordinated manner with the portable smoothing tool, the method comprising:

scanning the part intended to gather a set of measurements for establishing dimensions and a geometry of the part;

obtaining a map of faults by comparing the measured values relating to the dimensions and to the geometry of the part with theoretical values relating to the dimensions and to a geometry of a theoretical part; and

smoothing for correcting the faults on the map.

8. The method for smoothing a part according to claim 7, wherein the map of faults comprises colour gradients as a function of the differences between the measured values and the theoretical values.

9. The method for smoothing a part according to claim 7, wherein an augmented reality viewing system is used during the smoothing step to view the map of faults so that the map of faults is superimposed on the part.

10. The smoothing method according to claim 7, wherein the map of faults is modified during smoothing to take into account rectifications that have already been performed.

11. A smoothing station for implementing the smoothing method according to claim 7, further comprising:

tooling for holding the part enabling the part to be fixedly held in at least one desired position;

a measuring system configured to measure values relating to dimensions and to a geometry of the part;

a control unit configured to compare the measured values relating to the dimensions and to the geometry of the part with theoretical values relating to dimensions and to a geometry of a theoretical part in order to establish a map of faults;

a portable smoothing tool; and

a device for coordinated movement and/or orientation of a tracking tool relative to the portable tool according to claim 1.