EP0490007A1 - Device for moving an object in parallel with the curvature and in proximity to a surface of variable profile - Google Patents

Abstract

Device for moving an object or a person in parallel with the curvature of and in proximity to a surface of variable profile, having, should the need arise, convex and/or concave portions, comprising a support (5) for the object to be moved in the vicinity of the surface (1), comprising at least two guide rollers (22, 23) engaged respectively in one of two separate grooves (24, 25) forming rails, made in a structure (3) for resting on the ground, which is movable and arranged as close to the surface as possible, this structure having a profile substantially corresponding to that of this surface, the two rollers being arranged in their grooves respectively in such a way that they are always separated by a constant distance, control means (27, 35) being provided in order to move the rollers in their grooves. According to the invention, this device is characterised in that the grooves (24, 25) receiving the rollers (22, 23) are open towards the outside and provided on either side of an upright (34) belonging to the resting structure, these grooves having different profiles which are a function of the curvature of the surface and are arranged in such a way that the line joining the rollers always remains parallel to itself when these rollers describe the grooves under the effect of the control means, forming a constant angle with a given reference line of the support for the object. <IMAGE>

Description

The present invention relates to a device for moving an object or a person parallel to the curvature and near a surface with variable profile, possibly having convex and / or concave parts.

The invention relates more particularly, although not exclusively, to a device for moving a working tool, or an operator, whether or not actuating such a tool, brought and maintained in contact with or in the immediate vicinity of the surface, or even a nacelle. operator support having to intervene on this surface.

Numerous systems of scaffolding or mobile nacelles are already known, suitable for being mounted in the vicinity of the surface of a large room or a similar installation, making it possible to follow the profile of this surface in order to carry out machining, finishing or control interventions. However, these systems are generally difficult to build and set up, are relatively expensive and above all are ill-suited to follow the sometimes complex profile of the part, especially when the latter has large dimensions.

Devices are also known which, from a given fixed reference, make it possible to move in two directions perpendicular, an object or tool. The FR-A-2,384,437 thus uses an articulated assembly, expandable in a transverse direction and carried by a support movable in a perpendicular direction by means of a control jack. Such an apparatus is more particularly adapted to the positioning of a nacelle at the rear of an agricultural tractor and, in any event, cannot be adapted as such to the production of an assembly capable of following regularly the profile of a large surface.

In a more sophisticated manner, devices are also known which allow the monitoring of the profile of any surface, by reproducing at all times the coordinates in X and in Y of the successive points of the latter. However, such a device requires a storage of these coordinates and an appropriate restitution over time of the stored data, which generally entails the use of complex and expensive electronic equipment.

Finally, with application 89.07403 of June 5, 1989, on behalf of the Applicant Company, a device has already been described and claimed comprising a vertical support frame, disposed in the vicinity of the surface, and a support arm constituted by at least a pantograph, one end of which is integral with the vertical support frame, can be moved on demand according to the height thereof and the other end of which carries the object to be moved in contact with the surface, a device in which one at less of the axes of articulation of the pantograph arm moves, with the movement of the arm with respect to the frame, in a groove whose profile is homothetic to that of the surface and situated in a vertical plane containing the pantograph arm . Preferably, the pantograph is formed of at least two adjacent scissors, two ends of the crossed branches of the first scissors being freely articulated on two ends of the equally crossed branches of the second, the first scissors having their opposite ends carried by the frame, while the opposite ends of the second support the object to be moved.

Such an assembly, entirely mechanical and of relatively simple construction, overcomes the drawbacks of the previous solutions, in particular by avoiding a memorization of the coordinates of the surface, while keeping the object at a good distance from it, whatever its contour and the variations of the latter. However, this set requires the establishment of a fairly elaborate articulated structure.

The present invention relates to a device of a totally different design which has the advantage of avoiding, like the previous one, any direct contact with the surface of the object against which this device is to be moved, which is simple, robust, d '' limited maintenance and very easy to use.

To this end, the device considered, comprising a support for the object to be moved in the vicinity of the surface, comprising at least two guide rollers engaged respectively in one and the other of two separate grooves forming rails, formed in a support structure on the ground, mobile and disposed as close as possible to the surface, this structure having a profile corresponding substantially to that of this surface, the two rollers being arranged in their respective grooves so that they are always separated by a invariable distance, control means being provided for moving the rollers in their grooves, is characterized in that the grooves receiving the rollers are open towards the outside and provided on either side of an upright belonging to the structure d 'support, these grooves having different profiles which are a function of the curvature of the surface and arranged so that the line joining the rollers always remains parallel it itself when these rollers describe the grooves under the action of control means, forming a constant angle with a given reference line of the support of the object.

In a preferred embodiment of the invention, the angle formed by the line joining the rollers and the reference line of the support is close to 45 °.

The invention notably consists in giving the profiles of the grooves receiving the rollers respective curvatures adapted to precisely obtain that the aforementioned angle remains permanently constant, the reference line of the support of the object therefore remaining always parallel to itself. In particular, the grooves are arranged in such a way that they can cross each other in space without the risk that they can directly interfere with each other due to their distinct positions, on either side of the upright. who has them.

Preferably, the object support is constituted by a flat plate, crossed by a first and a second transverse shafts, the first shaft being rotatably mounted and the second being immobilized relative to the plate, the guide rollers being secured to the ends of these two trees.

In a preferred embodiment of the invention, the device comprises four guide rollers, respectively arranged in pairs at the ends of the two transverse shafts, these rollers being associated two by two in open grooves, provided respectively on two uprights of the support structure, parallel to each other and arranged on each side of the plate.

According to another particular characteristic of the invention, one of the rollers is mounted and stopped at the end of the first rotary shaft and is associated with a control pinion for moving the plate, also keyed onto the shaft and arranged in a parallel plane to that of the roller, this pinion driven by a motor carried by the plate meshing with a chain or toothing mounted and immobilized in the bottom of the groove receiving this roller. Advantageously, the other roller is mounted idly on an axis parallel to the second shaft and is carried by a crank pin, itself secured to the end of this shaft, this crank pin being wedged on this shaft with a fixed fixed orientation, defining, in combination with the position of the two shafts on the plate, the invariable distance between the two rollers.

According to yet another characteristic also, each lateral upright of the support structure comprises a central metal plate, on the opposite faces of which are welded or otherwise fixed curved U-section profiles, delimiting the open grooves receiving the rollers with a clearance inside these grooves canceling out depending on whether the roller rolls on one or the other of the opposite sides of the profile, depending on the direction of movement of the object support with respect to the support structure.

Advantageously, the tray supports a protective nacelle for an operator, moving according to the height of the structure relative to the surface. The support structure is mounted on wheels so that it can be moved on the ground and spread or approached as close as possible to the surface. Preferably finally, the support structure comprises means for immobilizing the ground and possibly means for tilting its uprights so that they can be brought into the immediate vicinity of the profile of the surface.

• La Figure 1 est une vue schématique en élévation du dispositif considéré, permettant d'assurer le déplacement d'un objet ou d'une personne au voisinage d'une pièce de grandes dimensions, présentant une surface courbe à profil régulier ou variable, continu ou non, concave ou convexe.
• La Figure 2 est une vue de dessus, à plus grande échelle, du dispositif selon la Figure 1.
• La Figure 3 est une vue en perspective du plateau constituant le support de l'objet à déplacer selon la courbure de la pièce, et des moyens de guidage et d'entraînement portés par ce plateau.
• Les Figures 4, 5 et 6 sont des coupes transversales d'un des montants de la structure d'appui au sol du dispositif, respectivement selon les lignes A-A, B-B, C-C de la Figure 1, prises à divers niveaux de cette structure..

Other characteristics of a device established in accordance with the invention will become more apparent from the following description of an exemplary embodiment, given by way of non-limiting example, with reference to the appended drawings in which:

• Figure 1 is a schematic elevational view of the device considered, ensuring the movement of an object or a person in the vicinity of a large room, having a curved surface with regular or variable profile, continuous or no, concave or convex.
• Figure 2 is a top view, on a larger scale, of the device according to Figure 1.
• Figure 3 is a perspective view of the plate constituting the support of the object to be moved along the curvature of the part, and the guide and drive means carried by this plate.
• Figures 4, 5 and 6 are cross sections of one of the uprights of the support structure on the ground of the device, respectively along the lines AA, BB, CC of Figure 1, taken at various levels of this structure.

In the drawings, in particular in Figures 1 and 2, the reference 1 designates the external surface of any part 2 of large dimensions of the box, tank or other type, which it is desired to follow by means of any object, in particular a tool or a control device (not shown) to control the profile or intervene thereon.

According to the invention, there is in the vicinity of the surface 1 a structure 3 for supporting the ground 4 for a support 5 of the object, this support preferably being constituted by the lower plate of a nacelle 6 the latter can directly support the tool or in the same way, carry an operator (not shown), intervening if necessary on the surface by means of said tool.

The structure 3 comprises a base 7, preferably having a U-shaped profile whose lateral sides, respectively 8 and 9, are provided with wheels, 10 and 11, making it possible to move the structure on the ground 4 in combination with a third wheel 12 mounted at the end of a middle arm 13, extending parallel to the lateral sides 8 and 9 substantially at the center of a connecting beam 14 provided perpendicularly between these sides. The wheels 10 and 11 are provided with an appropriate locking system (not shown) once the structure has been properly placed in front of the surface 1 of the part 2, a jack 15 being also provided in the vicinity of the central wheel 12 so to immobilize the assembly in the final position. The mounting of the wheels 10, 11 and 12 of the base 7 thus allows the latter to move in any appropriate direction and to adjust its position relative to the part 2 before immobilization, in particular avoiding being hampered by elements fixed possibly arranged in the vicinity of the room, such as, for example, the post 16 illustrated in Figures 1 and 2.

The base 7 comprises a transverse axis 17 on which the support structure 3 itself is articulated, the latter preferably comprising two lateral uprights, respectively 18 and 19, extending in two vertical planes parallel to the lateral sides 8 and 9 of the base 7. Cylinders 20 are provided between the base and an appropriate point of articulation on the uprights 18 and 19 so as to make it possible to raise or to lower the latter properly in order to arrange the structure as close as possible to the surface 1, the uprights presenting by construction a profile whose curvature is substantially similar to that of the surface 1 so as to partially envelop the latter, as shown diagrammatically the elevation view of Figure 1.

The support plate 5 with its nacelle 6 is provided, in accordance with the invention, to move along the uprights 18 and 19 of the support structure 3, always remaining parallel to itself and in particular in the example considered, still horizontal, the cantilever of the nacelle relative to the structure being usefully balanced thanks to a counterweight 21 disposed on the base 7. The plate 5 is supported on each of its lateral sides by two rollers, respectively 22 and 23, each engaged in a groove 24 or 25, these grooves being arranged on the uprights 18 and 19 of the structure in a manner which will be described below. In particular and according to the invention, these grooves are arranged in such a way that the distance which separates the rollers 22 and 23 associated with each of these uprights remains invariable and that the line which joins them forms permanently with the plane of the plate 5, materializing a reference line given on the support of the object, a constant angle, whatever the position of the plate according to the height of the support structure and consequently the position of this plate in the vicinity of the surface 1. In the 'example described and shown the above angle is chosen substantially equal to 45 °.

Figure 3 shows in more detail the production of the plate 5 and the mounting thereon of the guide rollers 22 and 23. This plate is in particular provided with a first rotary shaft 26, freely crossing the sides of the plate and swiveling by relative to the latter in support bearings (not shown), the shaft 26 comprising at each of its ends projecting from the lateral sides of the plate towards the uprights 18 and 19 respectively a roller 22. Each of the rollers 22 is also associated to a pinion 27, keyed onto the shaft 26 and disposed in the immediate vicinity of the roller in a plane parallel to the latter, a similar arrangement being naturally provided at the opposite end of the shaft 26. In its middle part, the tree 26 also includes a drive pinion 28, cooperating via a transmission 29 with a control gear motor 30, carried by the plate and making it possible to drive the shaft 26 in rotation, in one direction or the other; as a result the two pinions 27 which it carries at its ends, to cause, according to the direction of its rotation, the raising or lowering of the plate on the uprights 18 and 19 of the support structure 3.

The plate 5 also comprises, extending parallel to the rotary shaft 26, a second shaft 31, also passing through the plate but which is immobilized relative to the latter, by welding or other suitable fixing means. At each end of the shaft 31, projecting from the lateral sides of the plate, is fixed a crank pin 32 whose orientation is determined by construction, in particular with an appropriate inclination so that the roller 23, mounted freely on an axis 33 provided on the crank pin opposite the shaft 31 and parallel to it, is spaced from the roller 22 carried by the shaft 26 by a determined distance remaining invariable, regardless of the position of the plate on the support structure . In the same way as for the shaft 26, the shaft 31 supports at its opposite end another roller 23, mounted on a similar crankpin, so as to be disposed vis-à-vis the homologous roller carried by the shaft 26 in an exactly identical position.

As already specified, the rollers 22 and 23 are respectively mounted in the grooves 24 and 25, provided in the uprights 18 and 19 and arranged thereon according to an arrangement that Figures 4, 5 and 6 make it possible to explain more clearly. detailed. In these figures, cross sections of one of the uprights appear at different levels thereof, here the upright 19, it being naturally understood that exactly similar and symmetrical arrangements of the first are implemented on the upright 18.

Each of the uprights 18 and 19 comprises in particular a central plate 34, extending in a vertical plane and against the opposite surfaces of which the grooves are arranged, 24 and 25 respectively, these receiving the rollers 22 and 23. The groove 24 comprises in addition, to the right of the gable 27 associated with the roller 22, a toothing or chain 35, immobilized or otherwise fixed in the bottom of the groove so as to allow, when it cooperates with the pinion, to ensure by reaction the movement of the plate 5 relative to the support structure 3. The roller 23 is for its part engaged in the second groove 25, the two rollers 22 and 23 forming with the side walls of the grooves 24 and 25 against which they bear games 36, which are specific to cancel each other depending on whether the corresponding roller rolls on one or the other of these walls. Preferably, each groove is delimited by means of a profile 37, which has come from manufacturing or attached and welded to the flat 34, the shape of these profiles being such that the open grooves 24 and 25 which they thus delimit, cross in the space according to the height of the support structure, without naturally interfering with each other since they each remain arranged on one and the other of the two opposite faces of the central plate 34. The sections AA, BB and CC, corresponding respectively to Figures 4, 5 and 6, thus show the relative arrangement in space of the grooves 24 and 25 and as a result of the rollers received in these grooves, the profile of the latter being adapted so that according to the invention, the angle of the line which joins the rollers 22 and 23 and the plane of the plate remains permanently invariable and preferably equal in the example considered, at 45 °, as already specified above.

This produces a very simple design arrangement which avoids the use of conventional solutions, using walkways, ladders or other scaffolding, poorly adapted, difficult to adjust in height and which permanently clutter the work area, these devices being able to in addition, there is a risk of damaging the surface of the structure by leaning on or leaning directly on it. The proposed structure can by construction be easily produced so as to present itself a profile partially surrounding the part or the work whose surface is to be followed or controlled, the curvature of the grooves receiving the rollers being determined so as to ensure invariance in the space of the plane of the plate and as a result of the relative orientation of the two guide rollers, the angle chosen between these two directions being determined to best pick up the moments of bending which are exerted on the structure according to the successive positions of the plate on the structure.

Of course, it goes without saying that the invention is not limited to the embodiment more specifically described and shown above; on the contrary, it embraces all its variants. In particular, it is common ground that the shape of the uprights of the support structure could be easily adapted to any profile of the surface to be followed, the latter possibly having successive concave or convex parts, the grooves crossing each other as much times necessary to maintain always equal to itself the angle of the reference line of the plate and the relative direction of the two guide rollers.

Claims (10)

Device for moving an object or a person parallel to the curvature and near a surface with variable profile, possibly having convex and / or concave parts, comprising a support (5) for the object to be moved in the vicinity of the surface (1), comprising at least two guide rollers (22, 23) respectively engaged in one and the other of two separate grooves (24, 25) forming rails, formed in a structure ( 3) support on the ground, mobile and arranged as close as possible to the surface, this structure having a profile corresponding substantially to that of this surface, the two rollers being arranged in their respective grooves so that they are always separated by an invariable distance, control means (27, 35) being provided for moving the rollers in their grooves, characterized in that the grooves (24, 25) receiving the rollers (22, 23) are open towards the outside and provided on either side of u n upright (34) belonging to the support structure, these grooves having different profiles which are a function of the curvature of the surface and arranged so that the line joining the rollers always remains parallel to itself when these rollers describe the grooves under the effect of the control means, forming a constant angle with a given reference line of the object support. Device according to claim 1, characterized in that the angle formed by the line joining the rollers and the reference line of the support, is close to 45 °. Device according to claim 1 or 2, characterized in that the support (5) of the object consists of a flat plate, crossed by a first and a second transverse shafts, the first shaft (26) being rotatably mounted and the second shaft (31) being immobilized relative to the plate, the guide rollers (22, 23) being secured to the ends of these two shafts. Device according to claim 3, characterized in that it comprises four guide rollers, respectively arranged in pairs at the ends of the two transverse shafts (26, 31), these rollers being associated two by two in open grooves, provided respectively on two uprights of the support structure, mutually parallel and arranged on each side of the plate (5). Device according to any one of Claims 2 to 4, characterized in that one of the rollers (22) is mounted and stopped at the end of the first rotary shaft (26) and is associated with a drive pinion (27) in movement of the plate (5), also keyed to the shaft and disposed in a plane parallel to that of the roller, this pinion, driven by a motor (30) carried by the plate, meshing with a chain (35) or a toothing mounted and immobilized in the bottom of the groove (21) receiving this roller. Device according to claim 5, characterized in that the other roller (23) is mounted idly on an axis (33) parallel to the second shaft (31) and is carried by a crank pin (32), itself secured to the end of this shaft, this crank pin being wedged on this shaft with a fixed fixed orientation, defining, in combination with the position of the two shafts on the plate (5), the invariable distance between the two rollers. Device according to any one of Claims 4 to 6, characterized in that each lateral upright (18, 19) of the support structure (3) comprises a central metal plate (34), on the opposite faces of which are welded or otherwise fixed curved profiles with a U-shaped cross section, delimiting the open grooves (24, 25) receiving the rollers (22, 23), with a play inside these grooves canceling out according to whether the roller rolls on the one or the other of the opposite sides of the profile, depending on the direction of movement of the support of the object vis-à-vis the support structure. Device according to any one of Claims 3 to 7, characterized in that the plate (5) supports a protective nacelle (6) for an operator, moving according to the height of the structure relative to the surface. Device according to any one of Claims 1 to 8, characterized in that the support structure (3) is mounted on wheels (10, 11, 12) so that it can be moved on the ground and moved away or brought closer of the surface (1). Device according to any one of Claims 1 to 9, characterized in that the support structure (3) comprises means (15) for immobilizing the ground and possibly inclination means (17, 20) of its uprights so that these can be brought in the immediate vicinity of the surface profile.

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