MOBILE PLATFORM FOR CABLE-DRIVEN PARALLEL ROBOT, CABLE-DRIVEN PARALLEL ROBOT, INSTALLATION AND METHOD FOR DRAPING USING SUCH A ROBOT

Abstract

A mobile platform which is designed to equip a cable-driven parallel robot, characterized in that the platform is configured to support at least one roll of a fabric made of composite material, and to permit the unwinding of said at least one roll, in order to carry out draping of a preform, in particular a dry preform, by controlled displacement of the platform above a draping line.

Claims

1: A device comprising: a mobile platform which is designed to equip a cable-driven parallel robot, wherein the platform is configured to support at least one roll of a fabric made of composite material, and permit the unwinding of said at least one roll, in order to carry out draping of a dry preform, by controlled displacement of the platform above a draping line.

2: The device as claimed in claim 1, comprising a support for the at least one roll.

3: The device as claimed in the claim 2, wherein the support is connected to the platform by a securing system, the latter being configured to permit controlled displacement in translation and/or in rotation of the support relative to the remainder of the platform.

4: The device as claimed in claim 3, wherein the securing system includes a mechanical system which permits guided displacement, selected in the group including a slide, a rail, a roller, a sliding shaft, and any combination thereof.

5: The device as claimed in claim 1, further comprising means for rotation of the roll.

6: The device as claimed in claim 1, further comprising a system for cutting the fabric.

7: The device as claimed in claim 1, further comprising a system for guiding the fabric.

8: The device as claimed in claim 1, further comprising means for perception of the relief and/or of a contrast of appearance chosen from a group consisting of at least one laser profile meter and at least one thermal camera.

9: The device as claimed in claim 8, wherein the means for perception are integral in displacement with the support for the at least one roll.

10: The platform as claimed in claim 8, wherein the means for perception are configured to detect a reference on the draping line.

11: The platform as claimed in claim 8, further comprising a system for correction of the position of the fabric before draping, configured to take into consideration the data received by the means for perception and to command according to the data a displacement of the support for the at least one relative to the platform.

12: A cable-driven parallel robot, comprising: the platform as claimed in claim 1; a plurality of cables extending between a point of anchorage on the platform and an anchorage connected to a structure which is fixed in space; a motor assembly in order to carry out the winding or unwinding of the cables; and a control assembly in order to control the displacement of the platform and/or the displacement of the support for the roll(s) relative to the platform and/or the unwinding of the fabric from the roll.

13: The cable-driven parallel robot as claimed in claim 12, wherein the number of cables supporting the platform is equal to eight.

14: An installation for draping of preforms comprising: a robot as claimed in claim 12 and a fixed structure.

15: The installation as claimed in claim 14, further comprising a draping line and a system for grasping fabric, which is designed to retain an end of the fabric of the roll during the draping.

16: A method for draping by an installation as claimed in claim 14, comprising displacing the platform and unwinding the roll, in order to carry out the draping, the speed of unwinding of the roll being dependent on the speed of advance along the draping axis of the platform.

17: The method as claimed in claim 16, further comprising cutting the fabric whilst maintaining the fabric taut, to the required length of fabric unwound.

18: The method as claimed in the claim 17, further comprising retaining an end of the fabric of the roll before unwinding the fabric.

19: The method as claimed in claim 16, further comprising detecting, by the means for perception of the relief and/or a contrast of appearance, chosen from a group consisting of a laser profile meter and a thermal camera, a reference on the draping line chosen from a group consisting of an edge of a band of fabric already deposited, an edge of a draping table, and a reference on the draping line.

20: The method as claimed in claim 16, further comprising displacing the support for the at least one roll relative to the platform, in order to correct a position of the platform.

Description

FIGURES

[0069] The invention will be able to be better understood by reading the following description of a non-limiting embodiment thereof, and by examining the appended drawing in which:

[0070] FIG. 1 represents schematically and in perspective an installation according to the invention comprising a cable-driven parallel robot according to the invention;

[0071] FIG. 2 is a schematic view in perspective of the platform according to the invention in FIG. 1;

[0072] FIG. 3 is an enlarged schematic view in perspective of a detail of FIG. 1;

[0073] FIG. 4 is a partial schematic view from the side of another example of an installation according to the invention; and

[0074] FIG. 5 represents the draping table in FIG. 4 seen from a perpendicular side.

DETAILED DESCRIPTION OF AN EMBODIMENT

[0075] FIG. 1 represents an installation 1 according to an embodiment of the invention, comprising a fixed structure 2 which can or need not be partly formed by the structure of a building.

[0076] In this example, this fixed structure 2 forms an open rectangular parallelepiped defining an interior volume which is not closed. The rectangular parallelepiped comprises four lower beams 5 forming a rectangle on the ground, as well as four upper beams 6, parallel to the lower beams 5, forming a rectangle in height, the rectangles being connected to one another at the corners by vertical uprights 4.

[0077] The installation 1 also comprises a line 7 for draping or depositing of bands of fabric. In this example, the draping line 7 comprises a flat depositing space, such as to provide a flat preform.

[0078] The draping line 7 is delimited laterally, parallel to a draping axis Y, by two lateral walls 13, extending on a portion of the height of the uprights 4 over the entire length of the line on both of its sides. On this draping line 7 there is positioned a system 15 for grasping the fabric, which can be seen better in FIG. 3, making it possible to retain the end of a strip of fabric, in this example forming a gripper 10. The gripper is supported by two cables 11, which themselves are connected to slides 12 which can slide in channels 14 formed in the lateral walls 13, and extending parallel to the draping axis Y. The cables 11 which support the gripper 10 are taut between the two lateral walls 13, and thus permit displacement of the gripper 10 along an axis X transverse to the draping axis Y, as well as the possibility of displacement along the axis Y by means of slides 12 which are mobile in the channels 14. The displacement along the transverse axis X is carried out for example by means of adjustment of the length of the cables 11 on both sides of the gripper 10, transversely to the gripper. Finally, by tightening or releasing the cables 11, the gripper 10 can be displaced in height along the vertical axis Z between a maximum height corresponding to the height of the channels 14, and a minimum height corresponding to the level of the depositing line 7. The gripper 10 itself comprises a jaw 9 which can occupy an open position and a closed position, the closed position making possible the gripping, as illustrated in FIG. 1, and thus the retention of an end of a strip or fold or band of fabric made of composite material to be deposited for the draping.

[0079] As a variant, the system 15 for grasping the fabric comprises a system for adhesion or laying of an adhesive in order to retain an end of the strip of fabric to be draped.

[0080] The installation 1 also comprises a parallel robot 20 with cables, comprising a plurality of cables 21, of which there are eight in this example, and a mobile platform 30. The cables 21 each extend between a point 22 of anchorage on the platform 30, and an anchorage 23 which is connected to the fixed structure 2. The platform 30 is thus connected by the cables 21 to the fixed structure 2.

[0081] It will be appreciated that, in a known manner, the cable-driven parallel robot 20 comprises a motor assembly in order to carry out the winding or unwinding of the cables 21, which motor assembly is not shown in the example illustrated for the sake of clarity of the drawing. The robot also comprises a control assembly, which makes it possible in particular to control the winding and unwinding of the cables 21 by means of the motor assembly, and thus the position and displacement of the platform 30.

[0082] Independently of the platform 30, this cable-driven parallel robot 20 can be as described in patent application EP 2 982 483, or different from this.

[0083] The presence in this example of eight cables 21 allows the robot to have six degrees of freedom, i.e. three degrees of freedom in translation along the axes X, Y and Z, and three degrees of freedom in rotation around these same axes.

[0084] According to other variants, not illustrated, the cable-driven parallel robot comprises only seven cables, or on the contrary comprises more than eight cables.

[0085] The platform 30 is configured to support at least one roll, in this case a single roll 33, of a fabric 34 which is made of composite material, preferably NCF, and to permit its unwinding in order to carry out draping of a preform, in particular a dry preform, by controlled displacement of the platform.

[0086] As shown in greater detail in FIGS. 2 and 3, the platform 30 comprises a frame 31, which is parallelepiped and hollow in this example, supporting the anchorages 22 and a support 32 for the roll 33. In this example, the support 32 for the roll(s) supports only a single roll 33, but a departure from the invention is not constituted if the support 32 supports a plurality of rolls 33, in particular two rolls 33.

[0087] In this example, the support 32 is fitted such as to be mobile in translation relative to the frame 31. In fact, the frame 31 comprises a securing system 24 comprising a mechanical system which permits guided displacement, consisting in this example of a slide 26 formed in a lower face of each of the upper cross-members 25 of the frame 31, extending parallel to the axis X. The slides 26 make it possible to receive tongues 35 of the support, of which there are two in this example, extending parallel to the draping axis Y. As can be seen in FIG. 1, the tongues 35 can slide transversely to the draping axis Y parallel to the transverse axis X, in the slides 26, in order to permit relative movement in translation of the support 32 in relation to the frame 31. Locking means can be provided in order to block the tongues 35 in the required position relative to the slides 26. The platform 30 can comprise an actuation system which permits displacement of the tongues 35 in the slides 26.

[0088] According to an embodiment not illustrated, the support 32 is fitted such as to be mobile in translation and in rotation, or in rotation alone, relative to the frame 31, the latter then comprising an alternative securing system. According to another embodiment not illustrated, the support 32 is fitted fixed relative to the frame 31. In this last case, the frame 31 of the platform 30 can itself form the support 32 for the roll(s).

[0089] The platform 30 comprises means 40 for perception of the relief and/or contrast of appearance, in this case formed by a laser profile meter 41, which makes it possible to measure in real time, during the draping, the length of the strip deposited by draping, and/or to situate precisely the edge of a strip or band already deposited by draping relative to a band being deposited. In this example, the platform 30 also comprises a system for correction of the position of the band, such as, according to the data received from the means 40 for perception, to correct the trajectory of the platform if applicable, by displacing the platform 30 according to its degrees of freedom, or by making the support 32 slide relative to the chassis 31 before draping, or in real-time during the draping.

[0090] In the example illustrated, the laser profile meter 41 forming the means 40 for perception is at the front, secured on a beam 5 of the platform 30, and extending downwards from the platform, on the side where the strip of fabric 34 exits.

[0091] According to another example illustrated in FIG. 4, the laser profile meter 41 is integral in displacement with the support 32 for the roll(s). It should be noted that, for the sake of clarity, this figure represents the support 32 only partially and highly schematically, and does not show the remainder of the robot.

[0092] The support 32 can also comprise a system 44 for guiding the fabric 34, for example comprising a slot 45 as shown in FIG. 2, permitting the passage of the fabric, and/or plates and/or rollers which permit the guiding of the fabric. It should be noted that this system 44 for guiding the fabric or a part of it, for example the slot 45, can constitute a fixed reference for the positioning of an edge of the fabric 34, for example, which is useful for example in order to control the positioning of the platform 30 and/or the support 32 for the roll.

[0093] The installation 1 makes it possible to carry out draping of preforms in an automated manner, in particular draping of dry large-sized preforms, for example in the fields of renewable energy, the motor vehicle industry or aeronautics, such as blades of wind turbines, motor vehicle floors, aeronautical wing panels, or the like. It should be noted that the draping of an elongate form, for example a blade of a wind turbine, can be carried out longitudinally or transversely relative to the elongate form to be draped. The installation and displacement of the robot are adapted according to the longitudinal or transverse direction of the draping.

[0094] In the example illustrated, the draping line 7 does not comprise any mold or form, but a flat surface which can be constituted by one or a plurality of depositing or draping tables 8, one of which is shown in the example illustrated in FIGS. 4 and 5. According to a variant, the draping line 7 can comprise a form which is not flat, for example curved, on which the draping is carried out.

[0095] The method for draping by means of the installation 1 can be carried out as follows.

[0096] By means of the assembly for control of the robot 20, the displacement of the mobile platform 30 is controlled by means of the cables 21, by acting on the length of the cables thanks to the motor assembly, and the roll 33 of fabric 34 made of composite material is unwound such as to provide the draping. The speed of displacement of the platform 30 along the draping axis Y is dependent on the speed of unwinding of the roll 33.

[0097] As far as the displacement of the platform 30 during the draping is concerned, the robot 20 is designed to ensure the linear displacement of the platform along the draping axis Y, at a constant altitude along the vertical axis Z, and at a speed which is correlated to the unwinding of the roll 33 of fabric 34. The displacement of the platform 30 along the axis X transverse to the draping axis Y can be designed to be a slight as possible. It should be noted that the displacements of the platform 30 associated with the depositing of the band of fabric 34 for the draping need not be limited only to the movements along the draping axis Y. In fact, all the movements on the plane (X, Y) can be carried out depending on the preform to be produced.

[0098] When the required length of fabric 34 has been unwound, it is possible to displace the platform 30 vertically, in particular downwards, whilst maintaining the fabric taut, and the fabric is cut, in particular by means of a cutting system. As a variant, the platform 30 is not displaced, in particular downwards, before the cutting is carried out.

[0099] Before unwinding the fabric 34 from the roll 33, it is possible to grip an end of the fabric by means of the gripper 10.

[0100] During the draping process, the laser profile meter 40 can situate the edge 36 of a strip or band 34 already deposited by draping precisely relative to a band being deposited, as illustrated in FIGS. 4 and 5, thanks to the relief formed by this edge 36. The laser profile meter 41 is thus designed to detect a reference on the draping line 7 which can be the edge 36, or also an edge of the draping table 8, or another reference of the draping line 7. The system for correction of the position of the band of fabric then makes it possible, according to the information provided by the laser profile meter 40, to correct the trajectory of the platform 30 if applicable, by displacing it according to the degrees of freedom, or by displacing the support 32 relative to the frame 31, such as to deposit the band of fabric 34 so that its edge is contiguous with the edge 36. When the laser profile meter 41 is integral in displacement with the support 32 for the roll, the correction system makes it possible to adjust the position of the support 32 for the roll relative to the platform 30, in order if applicable to correct the position of the fabric to be unwound, before or during the draping.

[0101] The length of unwinding of the fabric can be monitored precisely by the system for control of the displacement of the platform, in association with the speed of unwinding of the fabric.

[0102] The invention is not limited to the example which has just been described.

[0103] In particular, the platform and the support can be configured to support simultaneously a plurality of rolls of fabric made of composite material.

[0104] Rolls of different widths can be supported in succession by the same roll support, within the limit of the dimensions of a drive roller. In this case, mobile elements can be provided, such as unnumbered flanges for retention of the roll, and lateral guides for the fabric, in particular the slot 45.

[0105] Since the cable-driven parallel robot does not permit the rotation of the platform by 180, the installation can comprise a symmetrical platform positioned back to back with the platform 30, which makes it possible to carry out draping in an outward direction with the platform 30, and in a return direction with the symmetrical platform, in order to increase the pace of depositing or draping of two different materials or fabrics, with one type of material or fabric outwards and a different type of material of fabric on the return.

[0106] The means for perception of a relief and/or a contrast of appearance can be constituted by one or a plurality of thermal cameras. In this case, the heating of an edge of a band of fabric, or another spatial reference, makes it possible to detect the relief/contrast by means of the thermal camera(s).