EP3641963B1 - Riveting method for aircraft - Google Patents

Riveting method for aircraft Download PDF

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Publication number
EP3641963B1
EP3641963B1 EP18755529.7A EP18755529A EP3641963B1 EP 3641963 B1 EP3641963 B1 EP 3641963B1 EP 18755529 A EP18755529 A EP 18755529A EP 3641963 B1 EP3641963 B1 EP 3641963B1
Authority
EP
European Patent Office
Prior art keywords
riveting
rivet
head
acquisition device
image acquisition
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18755529.7A
Other languages
German (de)
French (fr)
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EP3641963A1 (en
Inventor
Sylvaine Picard
Yann LE GUILLOUX
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Safran SA
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Safran SA
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Publication of EP3641963A1 publication Critical patent/EP3641963A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/02—Riveting procedures
    • B21J15/04—Riveting hollow rivets mechanically
    • B21J15/043—Riveting hollow rivets mechanically by pulling a mandrel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/145—Turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B21J15/285—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups for controlling the rivet upset cycle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/105—Portable riveters

Definitions

  • the invention relates to a riveting system for manufacturing an aircraft. More precisely, the invention relates to the control of riveting operations.
  • Rivets are widely used in the aeronautical industry, for non-removable assembly of aircraft parts by crimping. These aircraft rivets are subjected to significant mechanical and thermal stresses. Moreover, they are generally chosen so as to disturb the air flow around the aircraft parts to a minimum.
  • Riveting operations are largely automated. They are made using a riveting head which carries several tools involved in the riveting operations.
  • Certain riveting operations can be controlled in real time automatically, in particular by means of a curve of the forces exerted on a rivet as a function of the displacement of a riveting head.
  • Such a control method is for example disclosed in the application EP 1 302 258 .
  • riveting control operations are usually performed by specialist operators, once all rivets in a part have been assembled.
  • the invention aims to at least partially resolve the problems encountered in the solutions of the prior art.
  • the subject of the invention is a riveting method comprising the riveting of a first aircraft part to a second aircraft part, by means of a riveting system comprising a riveting tool and a plenoptic device. image acquisition.
  • the riveting tool is configured to assemble the first part to the second part by riveting, the riveting tool comprising a riveting head intended to come into contact with the first part and / or the second part.
  • the plenoptic image acquisition device is integral with the riveting head.
  • the riveting method comprises taking a plenoptic image of the rivet and of the surroundings of the rivet, by the image acquisition device after riveting from the first part to the second part.
  • the method comprises detecting the positioning and the surface condition of the rivet, from the plenoptic image taken by the image acquisition device.
  • the state of the rivet and the positioning of the rivet are checked as soon as the riveting has taken place.
  • the plenoptic image acquisition device used has a small footprint and does not interfere with the riveting. The movements of the image acquisition device and of the associated riveting head are limited. The use of a plenoptic image of the rivet and its surroundings thus makes the control precise, reliable, fast and implemented on the same equipment.
  • a plenoptic image is a two-dimensional image sampling both the intensity of light rays coming from a scene and the direction of said rays.
  • taking a plenoptic image can be understood as taking a plurality of images.
  • the invention may optionally include one or more of the following features combined or not.
  • the riveting method comprises the three-dimensional reconstruction of the rivet and of the surroundings of the rivet, from the image taken by the image acquisition device.
  • the riveting method comprises comparing the detected position of the rivet with a reference position of the rivet, and comparing the detected surface condition of the rivet with a reference surface condition of the rivet.
  • the riveting method comprises signaling a defect in positioning and / or surface condition of the rivet, in particular when a defect in the flush of a head of the rivet and / or a notch in the rivet. rivet were detected.
  • the rivet is a blind rivet.
  • the rivet has a head intended to be flush with a surface of the first part and / or with a surface of the second part, once it is assembled.
  • the rivet is a countersunk rivet.
  • the riveting method comprises the riveting of a first rivet, in order to assemble the first part to the second part by a riveting method as defined above.
  • the method further comprises riveting a second rivet, to assemble the first part to the second part by a riveting process as defined above.
  • the riveting method comprises comparing the detected positioning of the second rivet with the detected positioning of the first rivet.
  • the riveting method comprises comparing the detected surface condition of the second rivet with the detected surface condition of the first rivet.
  • the riveting method comprises the establishment of statistics of the placement of the rivets.
  • an aircraft riveting system including riveting tooling configured to join a first aircraft part to a second aircraft part by riveting.
  • Riveting tool including a riveting head intended to come into contact with the first part and / or the second part.
  • the riveting system comprises a plenoptic image acquisition device, configured to take a plenoptic image of the rivet and of the surroundings of the rivet after riveting from the first part to the second part.
  • the image acquisition device is integral with the riveting head.
  • the plenoptic image acquisition device is configured to take images with variable focusing areas at least in the direction of the longitudinal axis of the riveting head, when the riveting head is relatively stationary. to the first room and to the second room.
  • the riveting head comprises a rotary barrel and riveting tools.
  • the rotary barrel has housings distributed circumferentially around a longitudinal axis of the riveting head. Riveting tools perform different operations involved in riveting.
  • the riveting tools are intended to be housed in the housings of the barrel.
  • the image acquisition device is housed in one of the housings of the barrel.
  • Riveting tools are in particular different from each other.
  • the riveting tools comprise a tool for drilling an orifice passing through the first part and the second part, a tool for inserting a rivet shank and / or a rivet body, and / or a riveter.
  • the figure 1 represents a turbomachine 1 with double flow and double body.
  • the turbomachine 1 is a turbojet engine which has a shape of revolution around a longitudinal axis AX.
  • the turbomachine 1 comprises, from upstream to downstream on the path of a primary flow A, an air inlet sleeve 2, a fan 3, a low pressure compressor 4, a high pressure compressor 6, a combustion chamber 7, a high pressure turbine 8 and a low pressure turbine 10.
  • upstream and downstream directions are used in this document with reference to the overall flow of gases in the turbojet, such a direction is substantially parallel to the direction of the longitudinal axis AX.
  • the low pressure compressor 4, the high pressure compressor 6, the high pressure turbine 8 and the low pressure turbine 10 delimit a secondary flow stream of a secondary flow B which bypasses them.
  • the high pressure compressor 6 and the high pressure turbine 8 are mechanically connected by a drive shaft 5 of the high pressure compressor 6, so as to form a high pressure body of the turbomachine 1.
  • the low pressure compressor 4 and the low pressure turbine 10 are mechanically connected by a turbomachine shaft 1, so as to form a low pressure body of the turbomachine 1.
  • the high low pressure compressor 4, the high pressure compressor 6, the combustion chamber 7, the high pressure turbine 8 and the low pressure turbine 10 are surrounded by a casing 9 which extends from the inlet sleeve 2 to the low pressure turbine 10.
  • the figures 2a to 2c represent the steps of placing a blind rivet 20 in order to assemble by crimping a first part 11 of an aircraft to a second part 13 of an aircraft.
  • the first part 11 and the second part 13 are, for example, segments of the casing 9 or else other segments of an aircraft nacelle.
  • the blind rivet 20 is also known by the name of the "POP" rivet. It comprises a shank 22 and a body 24 which forms an annular ring around the shank 22.
  • the shank 22 comprises a head 23 at one of its ends, which is intended to form part of the rivet 28 once the rivet 20 has been installed.
  • the upper end of the body 24 forms a head 26 of the rivet, once the rivet 20 has been installed.
  • the rivet 20 is inserted into an orifice 15 which passes through the first part 11 and the second part 13.
  • This orifice 15 comprises a countersunk part at the level of the first part 11, which is intended to retain the countersunk head 26.
  • the shank 22 of the rivet is pulled upwards in an assembly direction XX by a riveter 68, opposite the first part 11 and the second part 13.
  • the riveter 68 is typically a riveting pliers comprising a jaw 69 to grip the rod 22.
  • the rod 22 has split into an upper portion of the rod 22b and a lower portion 22a.
  • the upper portion 22b is removed by the riveting pliers 68 according to the arrow C.
  • the lower portion 22a remains to assemble the first part 11 to the second part 13.
  • the upper end of the body forms the countersunk head 26 which is flush with the upper surface of the first part 11. The flush of the head 26 makes it possible to limit the aerodynamic disturbances created by the rivet 20 on the surface of the first part 11.
  • the head 23 of the rod and the lower end of the body 24 are flattened against the second part 13, to form the rivet 28.
  • the first part 11 is then riveted to the second part 13.
  • the figure 3a represents a first possible flush defect for the rivet 20.
  • the figure 3b represents a second possible flush defect for the rivet 20.
  • the riveting system 5 comprises a riveting tool 30 and a control system 50 which is used to detect possible assembly faults of the rivet 20 such as those shown in figures 3a and 3b .
  • the riveting tool 30 comprises a riveting head 40, means for moving the riveting head 32 and a control system 36.
  • the riveting tool 30 is configured to assemble the first part 11 of the aircraft to the second part 13 of the aircraft by blind rivets 20, in an automated manner.
  • the riveting head 40 includes a rotating barrel 42. It carries riveting tools 62, 64, 66, 68 and an image acquisition device 52 which is part of the riveting control system 50.
  • the riveting head 40 is intended to come into contact with the first part 11 and / or the second part 13 in order to assemble them by riveting.
  • the barrel 42 comprises housings 43 which are distributed circumferentially around the longitudinal axis XX of the riveting head 40.
  • the longitudinal axis XX of the riveting head 40 corresponds to the direction of assembly of the rivet 20 when the rivet 20 is being assembled.
  • the barrel 42 is rotatable about the longitudinal axis XX of the riveting head.
  • the housings 43 serve to house the various riveting tools 62, 64, 66, 68 which are involved in the various operations necessary for riveting. At least one of the housings 43 serves to house the image acquisition device 52.
  • Riveting tools 62, 64, 66, 68 include a first piercing tool 62, a second piercing tool 64, a rivet insertion tool 66, and the riveter 68 which has been described above with reference to figures 2a to 2c .
  • the first drilling tool 62 is used to drill the through-hole 15 which passes through the first part 11 and the second part 13.
  • the second drilling tool 64 is used to make a bore in the first part to house the countersunk head 26 in the part. top of the through-hole 15.
  • the insertion tool 66 serves to insert the body 24 of the rivet and the shank 22 of the rivet in the assembly direction XX.
  • the assembly direction XX, a first lateral direction YY and a second lateral direction ZZ form an orthonormal mark centered on the rivet head 20. It is for example shown in FIGS. figures 2a to 2c and to figures 3a to 3b .
  • a first of the housings 43 accommodates the first drilling tool 62.
  • a second housing 43 accommodates the second drilling tool 64.
  • a third housing 43 accommodates the insertion tool 66.
  • a fourth housing 43 accommodates the riveter 68.
  • a fifth housing housing houses the image acquisition device 52.
  • the means 32 for moving the riveting head include a motor and an arm at the end of which the riveting head 40 is located.
  • the motor is capable of rotating the barrel 42 around the longitudinal axis XX of the riveting head 40. , in order to bring in turn each of the riveting tools 62, 64, 66, 68 and the image acquisition device 52 opposite the place where the rivet 20 is intended to be installed.
  • the arm is intended to move the riveting head 40 in translation, in particular along the assembly direction X-X, the first lateral direction Y-Y and the second lateral direction Z-Z.
  • the control system 36 serves to control the displacement means 32 for the displacement of the barrel 42. It also serves to control the operation of each of the riveting tools 62, 64, 66, 68 independently of each other, as well as the operation of the image acquisition device 52.
  • control system 50 comprises the image acquisition device 52 and a control unit 58.
  • the image acquisition device 52 is a plenoptic image acquisition device. It comprises a plenoptic sensor 54. It also comprises a light source 56. The image acquisition device 52 is housed in the housing 43. It is integral with the riveting head 40.
  • the plenoptic sensor 54 includes an optical system 55 and a processing unit 57. It is configured to take one or more images of the rivet 20 once it has been assembled.
  • the plenoptic sensor 54 is a digital image acquisition device which captures the light intensity of the rivet 20, and which samples the directions of arrival of the light rays coming from the rivet 20. By a triangulation approach of the rays coming from the rivet. the same point on the rivet, it is possible to reconstruct the position of this point. If this operation is carried out for all the points seen by plenoptic sensor 54, a three-dimensional reconstruction of the rivet and of its neighboring surface is obtained.
  • the optical system 55 comprises a plurality of micro-objectives forming a matrix.
  • the processing unit 57 is configured to process the signal it receives from the optical system 55, to form the image of the rivet 20.
  • the light source 56 is intended to illuminate the rivet 20, so that the plenoptic sensor 54 can take an image of the rivet 20. It is preferably located in the housing 43 of the plenoptic sensor 54 or near the area to be imaged.
  • the control unit 58 is a computer unit. It is connected to the processing unit 57. It comprises in particular a memory and a microprocessor.
  • the control unit 58 is configured to detect the positioning and the surface state of the rivet 20 from the images taken by the image acquisition device 52. For this it carries out the three-dimensional reconstruction of the rivet 20 and it uses also at least a two-dimensional image of the rivet 20 and its neighboring surface.
  • the control unit 58 is then configured to compare the positioning of the rivet 20 detected with a position reference. It is also configured to compare the surface condition of the rivet 20 detected with a reference surface condition for the rivet 20.
  • a defect in the positioning of the rivet 20 such as a defect on the flush of a head of the rivet 26 and / or a notch in the rivet or a so-called cosmetic defect such as a stain or a scratch which occurs. would see in the two-dimensional image.
  • the outcrop faults detected are in particular those shown in figures 3a and 3b . If it does not detect any fault in the positioning of the rivet 20, the control unit 58 validates the installation of the rivet 20.
  • the control unit 58 is also configured to compare the positioning and surface finish of the rivet 20 with respect to the positioning and surface finish of other rivets. It thus makes it possible to establish statistics for the placement of rivets 20.
  • It is configured to be connected to an audible, tactile and / or visual warning device to warn an operator in the event of an assembly error of the rivet 20 and / or of an abnormally high number of assembly errors of rivets 20. .
  • the method of riveting a first rivet 20 is described with reference to figure 6 .
  • the riveting process 100 begins with the placement of the first rivet 20 by the riveting tool 30, in step 101.
  • the image acquisition device 52 takes images of the rivet 20 and of the first part 11 and / or of the second part 13 around the rivet 20 in step 103, once the rivet 20 has been put in place and assemble the first part 11 to the second part 13.
  • the processing unit 57 and control unit 58 then detect the positioning of the rivet 20, in step 105. They also detect the surface condition of the rivet 20, in step 105.
  • the control unit 58 compares the positioning of the rivet 20 detected with a reference positioning of the rivet 20 with respect to the first part 11 and with respect to the second part 13, in step 107.
  • the control unit 58 compares the surface condition of the rivet 20 to the reference surface condition for the rivet 20.
  • the control unit 58 can then validate the placement of the rivet 20 if it has not detected any defect linked to the placement of the rivet 20 such as a flush defect or a notch in the rivet 20.
  • control unit 58 can detect a defect linked to the positioning of the rivet 20.
  • the riveting tool 30 and / or an operator can remove the defective rivet 20 in order to install a new one.
  • step 109 the control unit 58 compares the placement of the first rivet 20, that is to say the positioning and the surface condition of the first rivet 20, with the positioning and the condition of surface of other rivets. In particular, it establishes statistics on the placement of the rivets, in step 111.
  • Steps 103, 105, 107, 111 and 113 together form a riveting inspection method which is carried out after the rivet has been set in step 101.
  • the riveting process 100 is repeated with a second rivet 20 which is different from the first rivet. The process is repeated until the first part 11 is assembled by crimping with rivets to the second part 13.
  • the image acquisition device 52 is configured to take images of the rivet 20 once it has been assembled to the first part 11 and to the second part 13, to quickly check its condition and its positioning, without hindering the operation. riveting.
  • the taking of plenoptic images of the rivet 20 and its surroundings that is to say images with variable focusing zones according to the assembly direction XX, according to the first lateral direction YY and according to the second lateral direction ZZ by the image acquisition device 52, facilitates the subsequent analysis of these images by the control unit 58 to conclude on the state and the position of the rivet 20 once it is put in place.
  • the plenoptic image acquisition device 52 has a limited size, which allows it to be housed in the barrel 42 and not to hinder the riveting operations.
  • certain steps of the riveting process 100 can take place simultaneously.
  • the step 105 of detecting the positioning and the surface condition of the rivet can be done simultaneously with the step 107 of comparing the positioning and the surface condition of the rivet 20.
  • the step 105 of detecting the positioning and the surface condition of the rivet can be carried out by the processing unit 57 simultaneously with the step 103 of taking images.
  • the positioning detection and the detection of the state of the rivet 20 can be performed visually by an operator on the basis of the images taken by the plenoptic image acquisition device 52, at least with respect to some rivets 20.
  • the light source 56 is integrated into the plenoptic sensor 54.
  • control unit 58 is housed in the housing 43 of the plenoptic sensor 54.
  • the displacement means 32 are configured to advance and / or retreat the plenoptic image acquisition device 52 relative to its housing 43.
  • the rivet insertion tool 66 is replaced with a shank insertion tool and a body insertion tool.
  • Riveter 68 may form a single rivet tool with rivet insertion tool 66.
  • the shape of riveter 68 is likely to vary, particularly if rivet 20 is a snap rivet.
  • Rivet 20 can be replaced by a solid rivet. Furthermore, the head 26 of the rivet may be domed, in particular if the rivet 20 does not risk causing aerodynamic disturbance for the aircraft.
  • the first part 11 and the second part 13 can be formed by different casing segments of the turbomachine 1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Insertion Pins And Rivets (AREA)
  • Automatic Assembly (AREA)

Description

DOMAINE TECHNIQUETECHNICAL AREA

L'invention se rapporte à un système de rivetage pour la fabrication d'un aéronef. Plus précisément, l'invention concerne le contrôle d'opérations de rivetage.The invention relates to a riveting system for manufacturing an aircraft. More precisely, the invention relates to the control of riveting operations.

ÉTAT DE LA TECHNIQUE ANTÉRIEURESTATE OF THE PRIOR ART

Des rivets sont largement utilisés dans l'industrie aéronautique, pour assembler de manière non démontable des pièces d'aéronef par sertissage. Ces rivets pour aéronef sont soumis à des sollicitations mécaniques et thermiques importantes. Par ailleurs, ils sont généralement choisis de manière à perturber au minimum l'écoulement d'air autour des pièces d'aéronef.Rivets are widely used in the aeronautical industry, for non-removable assembly of aircraft parts by crimping. These aircraft rivets are subjected to significant mechanical and thermal stresses. Moreover, they are generally chosen so as to disturb the air flow around the aircraft parts to a minimum.

Les opérations de rivetage sont largement automatisées. Elles sont réalisées à l'aide d'une tête de rivetage qui porte plusieurs outils impliqués dans les opérations de rivetage.Riveting operations are largely automated. They are made using a riveting head which carries several tools involved in the riveting operations.

Certaines opérations de rivetage peuvent être contrôlées en temps réel automatiquement, notamment à l'aide d'une courbe d'efforts exercés sur un rivet en fonction du déplacement d'une tête de rivetage. Un tel procédé de contrôle est par exemple divulgué dans la demande EP 1 302 258 .Certain riveting operations can be controlled in real time automatically, in particular by means of a curve of the forces exerted on a rivet as a function of the displacement of a riveting head. Such a control method is for example disclosed in the application EP 1 302 258 .

Cependant, les opérations de contrôle du rivetage sont généralement effectuées par des opérateurs spécialisés, une fois que tous les rivets d'une pièce ont été assemblés.However, riveting control operations are usually performed by specialist operators, once all rivets in a part have been assembled.

Il existe un besoin de vérifier l'assemblage correct de rivets pour aéronef, de manière fiable, dans un temps limité, le plus rapidement possible après le rivetage et sans gêner le rivetage.There is a need to verify the correct assembly of aircraft rivets, reliably, in a limited time, as quickly as possible after riveting and without hindering riveting.

Un procédé de rivetage connu de l'état de la technique est décrit dans le document EP 2 546 022 , qui forme la base du préambule des revendications 1 et 9.A riveting process known from the state of the art is described in the document EP 2,546,022 , which forms the basis of the preamble of claims 1 and 9.

EXPOSÉ DE L'INVENTIONDISCLOSURE OF THE INVENTION

L'invention vise à résoudre au moins partiellement les problèmes rencontrés dans les solutions de l'art antérieur.The invention aims to at least partially resolve the problems encountered in the solutions of the prior art.

A cet égard, l'invention a pour objet un procédé de rivetage comprenant le rivetage d'une première pièce d'aéronef à une deuxième pièce d'aéronef, au moyen d'un système de rivetage comprenant un outillage de rivetage et un dispositif plénoptique d'acquisition d'images.In this regard, the subject of the invention is a riveting method comprising the riveting of a first aircraft part to a second aircraft part, by means of a riveting system comprising a riveting tool and a plenoptic device. image acquisition.

L'outillage de rivetage est configuré pour assembler la première pièce à la deuxième pièce par rivetage, l'outillage de rivetage comprenant une tête de rivetage destinée à venir en contact de la première pièce et/ou de la deuxième pièce. Le dispositif plénoptique d'acquisition d'images est solidaire de la tête de rivetage.The riveting tool is configured to assemble the first part to the second part by riveting, the riveting tool comprising a riveting head intended to come into contact with the first part and / or the second part. The plenoptic image acquisition device is integral with the riveting head.

Selon l'invention, le procédé de rivetage comprend une prise d'image plénoptique du rivet et des alentours du rivet, par le dispositif d'acquisition d'images après rivetage de la première pièce à la deuxième pièce. Le procédé comprend la détection du positionnement et de l'état de surface du rivet, à partir de l'image plénoptique prise par le dispositif d'acquisition d'images.According to the invention, the riveting method comprises taking a plenoptic image of the rivet and of the surroundings of the rivet, by the image acquisition device after riveting from the first part to the second part. The method comprises detecting the positioning and the surface condition of the rivet, from the plenoptic image taken by the image acquisition device.

Grâce au procédé de rivetage selon l'invention, le contrôle de l'état du rivet et du positionnement du rivet est effectué dès que le rivetage a eu lieu. Le dispositif plénoptique d'acquisition d'images utilisé présente un faible encombrement et il ne perturbe pas le rivetage. Les déplacements du dispositif d'acquisition d'images et de la tête de rivetage associés sont limités. Le recours à une image plénoptique du rivet et de ses alentours rend ainsi le contrôle précis, fiable, rapide et mis en œuvre sur le même équipement.By virtue of the riveting method according to the invention, the state of the rivet and the positioning of the rivet are checked as soon as the riveting has taken place. The plenoptic image acquisition device used has a small footprint and does not interfere with the riveting. The movements of the image acquisition device and of the associated riveting head are limited. The use of a plenoptic image of the rivet and its surroundings thus makes the control precise, reliable, fast and implemented on the same equipment.

Une image plénoptique est une image bidimensionnelle échantillonnant à la fois l'intensité des rayons lumineux provenant d'une scène et la direction des dits rayons. Bien entendu, une prise d'image plénoptique peut s'entendre comme la prise d'une pluralité d'images.A plenoptic image is a two-dimensional image sampling both the intensity of light rays coming from a scene and the direction of said rays. Of course, taking a plenoptic image can be understood as taking a plurality of images.

L'invention peut comporter de manière facultative une ou plusieurs des caractéristiques suivantes combinées entre elles ou non.The invention may optionally include one or more of the following features combined or not.

Avantageusement, le procédé de rivetage comprend la reconstruction tridimensionnelle du rivet et des alentours du rivet, à partir de l'image prise par le dispositif d'acquisition d'images.Advantageously, the riveting method comprises the three-dimensional reconstruction of the rivet and of the surroundings of the rivet, from the image taken by the image acquisition device.

Avantageusement, le procédé de rivetage comprend la comparaison du positionnement détecté du rivet à une position de référence du rivet, et la comparaison de l'état de surface détecté du rivet à un état de surface de référence du rivet.Advantageously, the riveting method comprises comparing the detected position of the rivet with a reference position of the rivet, and comparing the detected surface condition of the rivet with a reference surface condition of the rivet.

Selon une particularité de réalisation, le procédé de rivetage comprend la signalisation d'un défaut de positionnement et/ou d'état de surface du rivet, notamment lorsqu'un défaut d'affleurement d'une tête du rivet et/ou une entaille du rivet ont été détectés.According to one particular embodiment, the riveting method comprises signaling a defect in positioning and / or surface condition of the rivet, in particular when a defect in the flush of a head of the rivet and / or a notch in the rivet. rivet were detected.

Selon une forme de réalisation avantageuse, le rivet est un rivet aveugle.According to an advantageous embodiment, the rivet is a blind rivet.

Selon une autre forme de réalisation avantageuse, le rivet a une tête destinée à affleurer à une surface de la première pièce et/ou à une surface de la deuxième pièce, une fois qu'il est assemblé.According to another advantageous embodiment, the rivet has a head intended to be flush with a surface of the first part and / or with a surface of the second part, once it is assembled.

De préférence, le rivet est un rivet à tête fraisée.Preferably, the rivet is a countersunk rivet.

Selon une autre particularité de réalisation, le procédé de rivetage comprend le rivetage d'un premier rivet, pour assembler la première pièce à la deuxième pièce par un procédé de rivetage tel que défini ci-dessus. Le procédé comprend en outre le rivetage d'un deuxième rivet, pour assembler la première pièce à la deuxième pièce par un procédé de rivetage tel que défini ci-dessus.According to another particularity of embodiment, the riveting method comprises the riveting of a first rivet, in order to assemble the first part to the second part by a riveting method as defined above. The method further comprises riveting a second rivet, to assemble the first part to the second part by a riveting process as defined above.

Avantageusement, le procédé de rivetage comprend la comparaison du positionnement détecté du deuxième rivet au positionnement détecté du premier rivet.Advantageously, the riveting method comprises comparing the detected positioning of the second rivet with the detected positioning of the first rivet.

Selon une forme de réalisation avantageuse, le procédé de rivetage comprend la comparaison de l'état de surface détecté du deuxième rivet à l'état de surface détecté du premier rivet.According to an advantageous embodiment, the riveting method comprises comparing the detected surface condition of the second rivet with the detected surface condition of the first rivet.

Avantageusement, le procédé de rivetage comprend l'établissement de statistiques de mise en place des rivets.Advantageously, the riveting method comprises the establishment of statistics of the placement of the rivets.

L'invention porte également sur un système de rivetage pour aéronef, comprenant un outillage de rivetage configuré pour assembler une première pièce d'aéronef à une deuxième pièce d'aéronef par rivetage. L'outillage de rivetage comprenant une tête de rivetage destinée à venir en contact de la première pièce et/ou de la deuxième pièce.Also disclosed is an aircraft riveting system, including riveting tooling configured to join a first aircraft part to a second aircraft part by riveting. Riveting tool including a riveting head intended to come into contact with the first part and / or the second part.

Selon l'invention, le système de rivetage comprend un dispositif plénoptique d'acquisition d'images, configuré pour prendre une image plénoptique du rivet et des alentours du rivet après rivetage de la première pièce à la deuxième pièce. Le dispositif d'acquisition d'images est solidaire de la tête de rivetage.According to the invention, the riveting system comprises a plenoptic image acquisition device, configured to take a plenoptic image of the rivet and of the surroundings of the rivet after riveting from the first part to the second part. The image acquisition device is integral with the riveting head.

En particulier, le dispositif plénoptique d'acquisition d'images est configuré pour prendre des images avec des zones de mise au point variables au moins selon la direction de l'axe longitudinal de la tête de rivetage, lorsque la tête de rivetage est immobile relativement à la première pièce et à la deuxième pièce.In particular, the plenoptic image acquisition device is configured to take images with variable focusing areas at least in the direction of the longitudinal axis of the riveting head, when the riveting head is relatively stationary. to the first room and to the second room.

Avantageusement, la tête de rivetage comprend un barillet rotatif et des outils de rivetage. Le barillet rotatif comporte des logements répartis circonférentiellement autour d'un axe longitudinal de la tête de rivetage. Les outils de rivetage réalisent différentes opérations impliquées dans le rivetage. Les outils de rivetage sont destinés à être logés dans les logements du barillet. Le dispositif d'acquisition d'images est logé dans un des logements du barillet.Advantageously, the riveting head comprises a rotary barrel and riveting tools. The rotary barrel has housings distributed circumferentially around a longitudinal axis of the riveting head. Riveting tools perform different operations involved in riveting. The riveting tools are intended to be housed in the housings of the barrel. The image acquisition device is housed in one of the housings of the barrel.

Les outils de rivetage sont notamment différents les uns des autres.Riveting tools are in particular different from each other.

Selon une particularité de réalisation, les outils de rivetage comprennent un outil de perçage d'un orifice traversant la première pièce et la deuxième pièce, un outil d'insertion d'une tige de rivet et/ou d'un corps de rivet, et/ou une riveteuse.According to one particular embodiment, the riveting tools comprise a tool for drilling an orifice passing through the first part and the second part, a tool for inserting a rivet shank and / or a rivet body, and / or a riveter.

BRÈVE DESCRIPTION DES DESSINSBRIEF DESCRIPTION OF THE DRAWINGS

La présente invention sera mieux comprise à la lecture de la description d'exemples de réalisation, donnés à titre purement indicatif et nullement limitatif, en faisant référence aux dessins annexés sur lesquels :

  • la figure 1 est une représentation schématique partielle d'une turbomachine pour aéronef ;
  • les figures 2a, 2b et 2c illustrent une opération de rivetage pour aéronef à l'aide d'un système de rivetage selon un premier mode de réalisation préféré ;
  • les figures 3a, 3b illustrent deux types de défauts d'assemblage susceptibles d'être détectés par le système de rivetage ;
  • la figure 4 est une représentation schématique partielle du système de rivetage avec sa tête de rivetage en vue en coupe transversale ;
  • la figure 5 est une représentation schématique partielle du système de rivetage avec sa tête de rivetage en coupe longitudinale, détaillant en particulier le positionnement du capteur plénoptique et schématisant le trajet de rayons lumineux.
  • la figure 6 illustre un procédé de rivetage à l'aide du système de rivetage selon le premier mode de réalisation.
The present invention will be better understood on reading the description of exemplary embodiments, given purely as an indication and in no way limiting, with reference to the appended drawings in which:
  • the figure 1 is a partial schematic representation of an aircraft turbomachine;
  • the figures 2a, 2b and 2c illustrate a riveting operation for an aircraft using a riveting system according to a first preferred embodiment;
  • the figures 3a, 3b illustrate two types of assembly faults liable to be detected by the riveting system;
  • the figure 4 is a partial schematic representation of the riveting system with its riveting head in cross-sectional view;
  • the figure 5 is a partial schematic representation of the riveting system with its riveting head in longitudinal section, detailing in particular the positioning of the plenoptic sensor and schematizing the path of light rays.
  • the figure 6 illustrates a riveting method using the riveting system according to the first embodiment.

EXPOSÉ DÉTAILLÉ DE MODES DE RÉALISATION PARTICULIERSDETAILED PRESENTATION OF PARTICULAR EMBODIMENTS

La figure 1 représente une turbomachine 1 à double flux et double corps. La turbomachine 1 est un turboréacteur qui a une forme de révolution autour d'un l'axe longitudinal AX.The figure 1 represents a turbomachine 1 with double flow and double body. The turbomachine 1 is a turbojet engine which has a shape of revolution around a longitudinal axis AX.

La turbomachine 1 comprend, de l'amont vers l'aval sur le chemin d'un flux primaire A, une manche d'entrée d'air 2, une soufflante 3, un compresseur basse pression 4, un compresseur haute pression 6, une chambre de combustion 7, une turbine haute pression 8 et une turbine basse pression 10.The turbomachine 1 comprises, from upstream to downstream on the path of a primary flow A, an air inlet sleeve 2, a fan 3, a low pressure compressor 4, a high pressure compressor 6, a combustion chamber 7, a high pressure turbine 8 and a low pressure turbine 10.

Les directions amont et aval sont utilisés dans ce document en référence à l'écoulement global des gaz dans le turboréacteur, une telle direction est sensiblement parallèle à la direction de l'axe longitudinal AX.The upstream and downstream directions are used in this document with reference to the overall flow of gases in the turbojet, such a direction is substantially parallel to the direction of the longitudinal axis AX.

Le compresseur basse pression 4, le compresseur haute pression 6, la turbine haute pression 8 et la turbine basse pression 10 délimitent une veine secondaire d'écoulement d'un flux secondaire B qui les contourne.The low pressure compressor 4, the high pressure compressor 6, the high pressure turbine 8 and the low pressure turbine 10 delimit a secondary flow stream of a secondary flow B which bypasses them.

Le compresseur haute pression 6 et la turbine haute pression 8 sont reliées mécaniquement par un arbre d'entraînement 5 du compresseur haute pression 6, de sorte à former un corps haute pression de la turbomachine 1. De manière similaire, le compresseur basse pression 4 et la turbine basse pression 10 sont reliées mécaniquement par un arbre de turbomachine 1, de façon à former un corps basse pression de la turbomachine 1.The high pressure compressor 6 and the high pressure turbine 8 are mechanically connected by a drive shaft 5 of the high pressure compressor 6, so as to form a high pressure body of the turbomachine 1. Similarly, the low pressure compressor 4 and the low pressure turbine 10 are mechanically connected by a turbomachine shaft 1, so as to form a low pressure body of the turbomachine 1.

Le compresseur haute basse pression 4, le compresseur haute pression 6, la chambre de combustion 7, la turbine haute pression 8 et la turbine basse pression 10 sont entourés par un carter 9 qui s'étend depuis la manche d'entrée 2 jusqu'à la turbine basse pression 10.The high low pressure compressor 4, the high pressure compressor 6, the combustion chamber 7, the high pressure turbine 8 and the low pressure turbine 10 are surrounded by a casing 9 which extends from the inlet sleeve 2 to the low pressure turbine 10.

Les figures 2a à 2c représentent les étapes de mise en place d'un rivet aveugle 20 pour assembler par sertissage une première pièce 11 d'aéronef à une deuxième pièce 13 d'aéronef. La première pièce 11 et la deuxième pièce 13 sont par exemple des segments du carter 9 ou bien d'autres segments de nacelle pour aéronef.The figures 2a to 2c represent the steps of placing a blind rivet 20 in order to assemble by crimping a first part 11 of an aircraft to a second part 13 of an aircraft. The first part 11 and the second part 13 are, for example, segments of the casing 9 or else other segments of an aircraft nacelle.

Le rivet aveugle 20 est également connu sous la dénomination de rivet « POP ». Il comprend une tige 22 et un corps 24 qui forme une bague annulaire autour de la tige 22. La tige 22 comprend une tête 23 à une de ses extrémités, qui est destinée à faire partie de la rivure 28 une fois que le rivet 20 a été installé. L'extrémité supérieure du corps 24 forme une tête 26 du rivet, une fois que le rivet 20 a été installé.The blind rivet 20 is also known by the name of the "POP" rivet. It comprises a shank 22 and a body 24 which forms an annular ring around the shank 22. The shank 22 comprises a head 23 at one of its ends, which is intended to form part of the rivet 28 once the rivet 20 has been installed. The upper end of the body 24 forms a head 26 of the rivet, once the rivet 20 has been installed.

A une première étape représentée à la figure 2a, le rivet 20 est inséré dans un orifice 15 qui traverse la première pièce 11 et la deuxième pièce 13. Cet orifice 15 comprend une partie fraisée au niveau de la première pièce 11, qui est destinée à retenir la tête fraisée 26.Has a first step shown in figure 2a , the rivet 20 is inserted into an orifice 15 which passes through the first part 11 and the second part 13. This orifice 15 comprises a countersunk part at the level of the first part 11, which is intended to retain the countersunk head 26.

A une étape intermédiaire représentée à la figure 2b, la tige 22 du rivet est tirée vers le haut selon une direction d'assemblage X-X par une riveteuse 68, à l'opposé de la première pièce 11 et de la deuxième pièce 13. La riveteuse 68 est typiquement une pince à river comprenant une mâchoire 69 pour enserrer la tige 22.At an intermediate stage shown in figure 2b , the shank 22 of the rivet is pulled upwards in an assembly direction XX by a riveter 68, opposite the first part 11 and the second part 13. The riveter 68 is typically a riveting pliers comprising a jaw 69 to grip the rod 22.

A une étape finale représentée à la figure 2c, la tige 22 s'est scindée en une portion supérieure de la tige 22b et une portion inférieure 22a. La portion supérieure 22b est enlevée par la pince à river 68 selon la flèche C. La portion inférieure 22a est restée pour assembler la première pièce 11 à la deuxième pièce 13. L'extrémité supérieure du corps forme la tête fraisée 26 qui affleure à la surface supérieure de la première pièce 11. L'affleurement de la tête 26 permet de limiter les perturbations aérodynamiques crées par le rivet 20 à la surface de la première pièce 11.At a final stage shown in figure 2c , the rod 22 has split into an upper portion of the rod 22b and a lower portion 22a. The upper portion 22b is removed by the riveting pliers 68 according to the arrow C. The lower portion 22a remains to assemble the first part 11 to the second part 13. The upper end of the body forms the countersunk head 26 which is flush with the upper surface of the first part 11. The flush of the head 26 makes it possible to limit the aerodynamic disturbances created by the rivet 20 on the surface of the first part 11.

La tête 23 de la tige et l'extrémité inférieure du corps 24 se sont aplaties contre la deuxième pièce 13, pour former la rivure 28. La première pièce 11 est alors rivetée à la deuxième pièce 13.The head 23 of the rod and the lower end of the body 24 are flattened against the second part 13, to form the rivet 28. The first part 11 is then riveted to the second part 13.

La figure 3a représente un premier défaut d'affleurement possible pour le rivet 20. Dans ce cas, il existe un jeu j1 entre la surface supérieure de la tête de rivet 20 et la surface supérieure de la première pièce 11, ce qui peut conduire à des perturbations aérodynamiques de l'écoulement à proximité de la première pièce 11.The figure 3a represents a first possible flush defect for the rivet 20. In this case, there is a clearance j 1 between the upper surface of the rivet head 20 and the upper surface of the first part 11, which can lead to disturbances aerodynamics of the flow near the first part 11.

La figure 3b représente un deuxième défaut d'affleurement possible pour le rivet 20. Dans ce cas, il existe un jeu j2 entre la surface latérale de la tête de rivet 20 et la surface supérieure de la première pièce 11, ce qui peut conduire à des perturbations aérodynamiques de l'écoulement à proximité de la première pièce 11 et éventuellement à une moins bonne tenue mécanique du rivet 20.The figure 3b represents a second possible flush defect for the rivet 20. In this case, there is a clearance j 2 between the lateral surface of the rivet head 20 and the upper surface of the first part 11, which can lead to disturbances aerodynamics of the flow near the first part 11 and possibly to poorer mechanical strength of the rivet 20.

Le système de rivetage 5 comprend un outillage de rivetage 30 et un système de contrôle 50 qui est utilisé pour détecter les défauts d'assemblage éventuels du rivet 20 tels que ceux représentés aux figures 3a et 3b.The riveting system 5 comprises a riveting tool 30 and a control system 50 which is used to detect possible assembly faults of the rivet 20 such as those shown in figures 3a and 3b .

En référence aux figures 4 et 5, l'outillage de rivetage 30 comprend une tête de rivetage 40, des moyens de déplacement de la tête de rivetage 32 et un système de commande 36. L'outillage de rivetage 30 est configuré pour assembler la première pièce 11 d'aéronef à la deuxième pièce 13 d'aéronef par des rivets aveugles 20, de manière automatisée.With reference to figures 4 and 5 , the riveting tool 30 comprises a riveting head 40, means for moving the riveting head 32 and a control system 36. The riveting tool 30 is configured to assemble the first part 11 of the aircraft to the second part 13 of the aircraft by blind rivets 20, in an automated manner.

La tête de rivetage 40 comprend un barillet 42 rotatif. Elle porte des outils de rivetage 62, 64, 66, 68 et un dispositif d'acquisition d'images 52 qui fait partie du système de contrôle 50 de rivetage. La tête de rivetage 40 est destinée à venir en contact de la première pièce 11 et/ou de la deuxième pièce 13 pour les assembler par rivetage.The riveting head 40 includes a rotating barrel 42. It carries riveting tools 62, 64, 66, 68 and an image acquisition device 52 which is part of the riveting control system 50. The riveting head 40 is intended to come into contact with the first part 11 and / or the second part 13 in order to assemble them by riveting.

Le barillet 42 comporte des logements 43 qui sont répartis circonférentiellement autour de l'axe longitudinal X-X de la tête de rivetage 40. L'axe longitudinal X-X de la tête de rivetage 40 correspond à la direction d'assemblage du rivet 20 lorsque le rivet 20 est en train d'être assemblé. Le barillet 42 est rotatif autour de l'axe longitudinal X-X de la tête de rivetage.The barrel 42 comprises housings 43 which are distributed circumferentially around the longitudinal axis XX of the riveting head 40. The longitudinal axis XX of the riveting head 40 corresponds to the direction of assembly of the rivet 20 when the rivet 20 is being assembled. The barrel 42 is rotatable about the longitudinal axis XX of the riveting head.

Les logements 43 servent à loger les différents outils de rivetage 62, 64, 66, 68 qui sont impliqués dans les différentes opérations nécessaires au rivetage. Au moins un des logements 43 sert à loger le dispositif d'acquisition d'images 52.The housings 43 serve to house the various riveting tools 62, 64, 66, 68 which are involved in the various operations necessary for riveting. At least one of the housings 43 serves to house the image acquisition device 52.

Les outils de rivetage 62, 64, 66, 68 comprennent un premier outil de perçage 62, un deuxième outil de perçage 64, un outil d'insertion 66 de rivet et la riveteuse 68 qui a été décrite ci-dessus en référence aux figures 2a à 2c. Le premier outil de perçage 62 sert à percer l'orifice traversant 15 qui traverse la première pièce 11 et la deuxième pièce 13. Le deuxième outil de perçage 64 sert à réaliser un alésage dans la première pièce pour loger la tête fraisée 26 dans la partie supérieure de l'orifice traversant 15. L'outil d'insertion 66 sert à insérer le corps 24 du rivet et la tige 22 de rivet selon la direction d'assemblage X-X.Riveting tools 62, 64, 66, 68 include a first piercing tool 62, a second piercing tool 64, a rivet insertion tool 66, and the riveter 68 which has been described above with reference to figures 2a to 2c . The first drilling tool 62 is used to drill the through-hole 15 which passes through the first part 11 and the second part 13. The second drilling tool 64 is used to make a bore in the first part to house the countersunk head 26 in the part. top of the through-hole 15. The insertion tool 66 serves to insert the body 24 of the rivet and the shank 22 of the rivet in the assembly direction XX.

La direction d'assemblage X-X, une première direction latérale Y-Y et une deuxième direction latérale Z-Z forment un repère orthonormé centré sur la tête de rivet 20. Il est par exemple représenté aux figures 2a à 2c et aux figures 3a à 3b.The assembly direction XX, a first lateral direction YY and a second lateral direction ZZ form an orthonormal mark centered on the rivet head 20. It is for example shown in FIGS. figures 2a to 2c and to figures 3a to 3b .

A la figure 4, un premier des logements 43 loge le premier outil de perçage 62. Un deuxième logement 43 loge le deuxième outil de perçage 64. Un troisième logement 43 loge l'outil d'insertion 66. Un quatrième logement 43 loge la riveteuse 68. Un cinquième logement loge le dispositif d'acquisition d'images 52.To the figure 4 , a first of the housings 43 accommodates the first drilling tool 62. A second housing 43 accommodates the second drilling tool 64. A third housing 43 accommodates the insertion tool 66. A fourth housing 43 accommodates the riveter 68. A fifth housing housing houses the image acquisition device 52.

Les moyens de déplacement 32 de la tête de rivetage comprennent un moteur et un bras au bout duquel est situé la tête de rivetage 40. Le moteur est apte à faire tourner le barillet 42 autour de l'axe longitudinal X-X de la tête de rivetage 40, pour amener à tour de rôle chacun des outils de rivetage 62, 64, 66, 68 et le dispositif d'acquisition d'images 52 en vis-à-vis de l'endroit où le rivet 20 est destiné à être installé. Le bras est destiné à déplacer la tête de rivetage 40 en translation, notamment selon direction d'assemblage X-X, la première direction latérale Y-Y et la deuxième direction latérale Z-Z.The means 32 for moving the riveting head include a motor and an arm at the end of which the riveting head 40 is located. The motor is capable of rotating the barrel 42 around the longitudinal axis XX of the riveting head 40. , in order to bring in turn each of the riveting tools 62, 64, 66, 68 and the image acquisition device 52 opposite the place where the rivet 20 is intended to be installed. The arm is intended to move the riveting head 40 in translation, in particular along the assembly direction X-X, the first lateral direction Y-Y and the second lateral direction Z-Z.

Le système de commande 36 sert à commander aux moyens de déplacement 32 le déplacement du barillet 42. Il sert également à commander le fonctionnement de chacun des outils de rivetage 62, 64, 66, 68 indépendamment les uns des autres, ainsi que le fonctionnement du dispositif d'acquisition d'images 52.The control system 36 serves to control the displacement means 32 for the displacement of the barrel 42. It also serves to control the operation of each of the riveting tools 62, 64, 66, 68 independently of each other, as well as the operation of the image acquisition device 52.

En référence conjointe aux figures 4 et 5, le système de contrôle 50 comprend le dispositif d'acquisition d'images 52 et une unité de contrôle 58.With joint reference to figures 4 and 5 , the control system 50 comprises the image acquisition device 52 and a control unit 58.

Le dispositif d'acquisition d'images 52 est un dispositif plénoptique d'acquisition d'image. Il comprend un capteur plénoptique 54. Il comporte aussi une source lumineuse 56. Le dispositif d'acquisition d'images 52 est logé dans le logement 43. Il est solidaire de la tête de rivetage 40.The image acquisition device 52 is a plenoptic image acquisition device. It comprises a plenoptic sensor 54. It also comprises a light source 56. The image acquisition device 52 is housed in the housing 43. It is integral with the riveting head 40.

Le capteur plénoptique 54 comprend un système optique 55 et une unité de traitement 57. Il est configuré pour prendre une ou plusieurs images du rivet 20 une fois qu'il a été assemblé. Le capteur plénoptique 54 est un dispositif d'acquisition d'images numériques qui capte l'intensité lumineuse du rivet 20, et qui échantillonne les directions d'arrivée des rayons lumineuxen provenance du rivet 20.Par une approche de triangulation des rayons provenant d'un même point sur le rivet, il est possible de reconstruire la position de ce point. Si cette opération est réalisée pour tous les points vus par capteur plénoptique 54, une reconstruction tridimensionnelle du rivet et de sa surface avoisinante est obtenue.The plenoptic sensor 54 includes an optical system 55 and a processing unit 57. It is configured to take one or more images of the rivet 20 once it has been assembled. The plenoptic sensor 54 is a digital image acquisition device which captures the light intensity of the rivet 20, and which samples the directions of arrival of the light rays coming from the rivet 20. By a triangulation approach of the rays coming from the rivet. the same point on the rivet, it is possible to reconstruct the position of this point. If this operation is carried out for all the points seen by plenoptic sensor 54, a three-dimensional reconstruction of the rivet and of its neighboring surface is obtained.

Le système optique 55 comprend une pluralité de micro-objectifs formant une matrice.The optical system 55 comprises a plurality of micro-objectives forming a matrix.

L'unité de traitement 57 est configurée pour traiter le signal qu'elle reçoit du système optique 55, pour former l'image du rivet 20.The processing unit 57 is configured to process the signal it receives from the optical system 55, to form the image of the rivet 20.

La source lumineuse 56 est destinée à éclairer le rivet 20, de manière à ce que le capteur plénoptique 54 puisse prendre en image le rivet 20. Elle est préférentiellement située dans le logement 43 du capteur plénoptique 54 ou à proximité de la zone à imager.The light source 56 is intended to illuminate the rivet 20, so that the plenoptic sensor 54 can take an image of the rivet 20. It is preferably located in the housing 43 of the plenoptic sensor 54 or near the area to be imaged.

L'unité de contrôle 58 est une unité informatique. Elle est reliée à l'unité de traitement 57. Elle comporte notamment une mémoire et un microprocesseur. L'unité de contrôle 58 est configurée pour détecter le positionnement et l'état de surface du rivet 20 à partir des images prises par le dispositif d'acquisition d'images 52. Pour cela elle réalise la reconstruction tridimensionnelle du rivet 20 et elle utilise également au moins une image bidimensionnelle du rivet 20 et de sa surface avoisinante. L'unité de contrôle 58 est alors configurée pour comparer le positionnement du rivet 20 détecté à une position de référence. Elle est aussi configurée pour comparer l'état de surface du rivet 20 détecté à un état de surface de référence pour le rivet 20.The control unit 58 is a computer unit. It is connected to the processing unit 57. It comprises in particular a memory and a microprocessor. The control unit 58 is configured to detect the positioning and the surface state of the rivet 20 from the images taken by the image acquisition device 52. For this it carries out the three-dimensional reconstruction of the rivet 20 and it uses also at least a two-dimensional image of the rivet 20 and its neighboring surface. The control unit 58 is then configured to compare the positioning of the rivet 20 detected with a position reference. It is also configured to compare the surface condition of the rivet 20 detected with a reference surface condition for the rivet 20.

Elle est configurée pour en déduire un défaut de mise en place du rivet 20 tel qu'un défaut d'affleurement d'une tête du rivet 26 et/ou une entaille du rivet ou un défaut dit cosmétique comme une tâche ou une rayure qui se verrait dans l'image bidimensionnelle. Les défauts d'affleurement détectés sont notamment ceux représentés aux figures 3a et 3b. Si elle ne détecte aucun défaut de mise en place du rivet 20, l'unité de contrôle 58 valide la mise en place du rivet 20.It is configured to deduce therefrom a defect in the positioning of the rivet 20 such as a defect on the flush of a head of the rivet 26 and / or a notch in the rivet or a so-called cosmetic defect such as a stain or a scratch which occurs. would see in the two-dimensional image. The outcrop faults detected are in particular those shown in figures 3a and 3b . If it does not detect any fault in the positioning of the rivet 20, the control unit 58 validates the installation of the rivet 20.

L'unité de contrôle 58 est également configurée pour comparer le positionnement et l'état de surface du rivet 20 par rapport au positionnement et à l'état de surface d'autres rivets. Elle permet ainsi d'établir des statistiques de mise en place des rivets 20.The control unit 58 is also configured to compare the positioning and surface finish of the rivet 20 with respect to the positioning and surface finish of other rivets. It thus makes it possible to establish statistics for the placement of rivets 20.

Elle est configurée pour être reliée à un avertisseur sonore, tactile et/ou visuel pour avertir un opérateur en cas d'une erreur d'assemblage du rivet 20 et/ou d'un nombre d'erreurs d'assemblage de rivets 20 anormalement élevé.It is configured to be connected to an audible, tactile and / or visual warning device to warn an operator in the event of an assembly error of the rivet 20 and / or of an abnormally high number of assembly errors of rivets 20. .

Le procédé de rivetage d'un premier rivet 20 est décrit en référence à la figure 6. Le procédé de rivetage 100 commence par la mise en place du premier rivet 20 par l'outillage de rivetage 30, à l'étape 101.The method of riveting a first rivet 20 is described with reference to figure 6 . The riveting process 100 begins with the placement of the first rivet 20 by the riveting tool 30, in step 101.

Puis, le dispositif d'acquisition d'images 52 prend des images du rivet 20 et de la première pièce 11 et/ou de de la deuxième pièce 13 alentours du rivet 20 à l'étape 103, une fois que le rivet 20 a été mis en place et qu'il assemble la première pièce 11 à la deuxième pièce 13.Then, the image acquisition device 52 takes images of the rivet 20 and of the first part 11 and / or of the second part 13 around the rivet 20 in step 103, once the rivet 20 has been put in place and assemble the first part 11 to the second part 13.

L'unité de traitement 57 et unité de contrôle 58 détectent alors le positionnement du rivet 20, à l'étape 105. Elles détectent également l'état de surface du rivet 20, à l'étape 105.The processing unit 57 and control unit 58 then detect the positioning of the rivet 20, in step 105. They also detect the surface condition of the rivet 20, in step 105.

L'unité de contrôle 58 compare le positionnement du rivet 20 détecté à un positionnement de référence du rivet 20 par rapport à la première pièce 11 et par rapport à la deuxième pièce 13, à l'étape 107. L'unité de contrôle 58 compare l'état de surface du rivet 20 à l'état de surface de référence pour le rivet 20.The control unit 58 compares the positioning of the rivet 20 detected with a reference positioning of the rivet 20 with respect to the first part 11 and with respect to the second part 13, in step 107. The control unit 58 compares the surface condition of the rivet 20 to the reference surface condition for the rivet 20.

L'unité de contrôle 58 peut alors valider la mise en place du rivet 20 si elle n'a détecté aucun défaut lié à la mise en place du rivet 20 tel qu'un défaut d'affleurement ou une entaille du rivet 20.The control unit 58 can then validate the placement of the rivet 20 if it has not detected any defect linked to the placement of the rivet 20 such as a flush defect or a notch in the rivet 20.

En variante, l'unité de contrôle 58 peut détecter un défaut lié à la mise en place du rivet 20. Dans ce cas, l'outillage de rivetage 30 et/ou un opérateur peuvent retirer le rivet 20 défectueux pour en installer un nouveau.As a variant, the control unit 58 can detect a defect linked to the positioning of the rivet 20. In this case, the riveting tool 30 and / or an operator can remove the defective rivet 20 in order to install a new one.

A l'étape 109, l'unité de contrôle 58 compare la mise en place du premier rivet 20, c'est-à-dire le positionnement et l'état de surface du premier rivet 20, avec le positionnement et l'état de surface d'autres rivets. Elle établit notamment des statistiques sur la mise en place des rivets, à l'étape 111.In step 109, the control unit 58 compares the placement of the first rivet 20, that is to say the positioning and the surface condition of the first rivet 20, with the positioning and the condition of surface of other rivets. In particular, it establishes statistics on the placement of the rivets, in step 111.

En cas de défaut de mise en place du premier rivet 20 détecté par l'unité de contrôle 58, un opérateur est susceptible d'être averti par le système de contrôle 50, à l'étape 113. En particulier, un opérateur est averti en cas de défauts récurrents de mise en place de rivets 20, pour limiter d'éventuelles erreurs ultérieures.In the event of a failure to install the first rivet 20 detected by the control unit 58, an operator is likely to be warned by the control system 50, in step 113. In particular, an operator is warned by case of recurring faults in the positioning of rivets 20, to limit any subsequent errors.

Les étapes 103, 105, 107, 111 et 113 forment conjointement un procédé d'inspection du rivetage qui est mis en œuvre une fois que le rivet a été mis en place à l'étape 101.Steps 103, 105, 107, 111 and 113 together form a riveting inspection method which is carried out after the rivet has been set in step 101.

Une fois que le premier rivet 20 a été mis en place et que l'inspection du premier rivet 20 a eu lieu, le procédé de rivetage 100 est réitéré avec un deuxième rivet 20 qui est différent du premier rivet. Le procédé est réitéré jusqu'à ce que la première pièce 11 soit assemblée par sertissage par rivets à la deuxième pièce 13.Once the first rivet 20 has been placed and the inspection of the first rivet 20 has taken place, the riveting process 100 is repeated with a second rivet 20 which is different from the first rivet. The process is repeated until the first part 11 is assembled by crimping with rivets to the second part 13.

Le dispositif d'acquisition d'images 52 est configuré pour prendre des images du rivet 20 une fois qu'il a été assemblé à la première pièce 11 et à la deuxième pièce 13, pour contrôler rapidement son état et son positionnement, sans gêner le rivetage.The image acquisition device 52 is configured to take images of the rivet 20 once it has been assembled to the first part 11 and to the second part 13, to quickly check its condition and its positioning, without hindering the operation. riveting.

En particulier, la prise d'images plénoptiques du rivet 20 et de ses alentours, c'est-à-dire d'images avec des zones de mise au point variables selon la direction d'assemblage X-X, selon la première direction latérale Y-Y et selon la deuxième direction latérale Z-Z par le dispositif d'acquisition d'images 52, facilite l'analyse ultérieure de ces images par l'unité de contrôle 58 pour conclure sur l'état et la position du rivet 20 une fois qu'il est mis en place.In particular, the taking of plenoptic images of the rivet 20 and its surroundings, that is to say images with variable focusing zones according to the assembly direction XX, according to the first lateral direction YY and according to the second lateral direction ZZ by the image acquisition device 52, facilitates the subsequent analysis of these images by the control unit 58 to conclude on the state and the position of the rivet 20 once it is put in place.

Le dispositif plénoptique d'acquisition d'images 52 présente un encombrement limité, ce qui permet de le loger dans le barillet 42 et de ne pas gêner les opérations de rivetage.The plenoptic image acquisition device 52 has a limited size, which allows it to be housed in the barrel 42 and not to hinder the riveting operations.

Bien entendu, diverses modifications peuvent être apportées par l'homme du métier à l'invention qui vient d'être décrite sans sortir du cadre de l'exposé de l'invention.Of course, various modifications can be made by those skilled in the art to the invention which has just been described without departing from the scope of the description of the invention.

En particulier, certaines étapes du procédé de rivetage 100 peuvent avoir lieu simultanément. Par exemple, l'étape 105 de détection du positionnement et de l'état de surface du rivet peut se faire simultanément à l'étape 107 de comparaison du positionnement et de l'état de surface du rivet 20. En variante ou en plus, l'étape 105 de détection du positionnement et de l'état de surface du rivet peut être effectuée par l'unité de traitement 57 simultanément à l'étape 103 de prise d'images.In particular, certain steps of the riveting process 100 can take place simultaneously. For example, the step 105 of detecting the positioning and the surface condition of the rivet can be done simultaneously with the step 107 of comparing the positioning and the surface condition of the rivet 20. As a variant or in addition, the step 105 of detecting the positioning and the surface condition of the rivet can be carried out by the processing unit 57 simultaneously with the step 103 of taking images.

La détection du positionnement et la détection de l'état du rivet 20 peuvent être effectuées visuellement par un opérateur sur la base des images prises par le dispositif plénoptique d'acquisition d'images 52, au moins en ce qui concerne certains rivets 20.The positioning detection and the detection of the state of the rivet 20 can be performed visually by an operator on the basis of the images taken by the plenoptic image acquisition device 52, at least with respect to some rivets 20.

En variante, la source lumineuse 56 est intégrée au capteur plénoptique 54.As a variant, the light source 56 is integrated into the plenoptic sensor 54.

En variante ou en plus, l'unité de contrôle 58 est logée dans le logement 43 du capteur plénoptique 54.As a variant or in addition, the control unit 58 is housed in the housing 43 of the plenoptic sensor 54.

En variante, les moyens de déplacement 32 sont configurés pour avancer et/ou reculer le dispositif plénoptique d'acquisition d'images 52 relativement à son logement 43.As a variant, the displacement means 32 are configured to advance and / or retreat the plenoptic image acquisition device 52 relative to its housing 43.

En variante, l'outil d'insertion de rivet 66 est remplacé par un outil d'insertion de la tige et par un outil d'insertion du corps.Alternatively, the rivet insertion tool 66 is replaced with a shank insertion tool and a body insertion tool.

La riveteuse 68 peut former un unique outil de rivetage avec l'outil d'insertion de rivet 66. La forme de la riveteuse 68 est susceptible de varier, en particulier si le rivet 20 est un rivet à bouterolles.Riveter 68 may form a single rivet tool with rivet insertion tool 66. The shape of riveter 68 is likely to vary, particularly if rivet 20 is a snap rivet.

Le rivet 20 peut être remplacé par un rivet plein. Par ailleurs, la tête 26 du rivet peut être bombée, en particulier si le rivet 20 ne risque pas d'engendrer de perturbation aérodynamiques pour l'aéronef.Rivet 20 can be replaced by a solid rivet. Furthermore, the head 26 of the rivet may be domed, in particular if the rivet 20 does not risk causing aerodynamic disturbance for the aircraft.

La première pièce 11 et la deuxième pièce 13 peuvent être formés par différents segments de carter de la turbomachine 1.The first part 11 and the second part 13 can be formed by different casing segments of the turbomachine 1.

Claims (11)

  1. A riveting method comprising riveting a first aircraft part (11) to a second aircraft part (13), by means of a riveting system (5) comprising:
    a riveting tooling (30) configured to assemble the first part (11) to the second part (13) by riveting, wherein the riveting tooling (30) comprises a riveting head (40) that is intended to come into contact with the first part (11) and/or the second part (13), and
    a plenoptic image acquisition device (52), wherein the plenoptic image acquisition device (52) is secured to the riveting head (40),
    characterized in that the riveting method further comprises:
    capturing a plenoptic image (103) of a rivet and of the surroundings of the rivet, by the image acquisition device (52), after riveting the first part (11) to the second part (13), and
    detecting (105) the positioning and the surface condition of the rivet, from the plenoptic image captured by the image acquisition device (52).
  2. The riveting method according to the preceding claim, comprising the three-dimensional reconstruction of the rivet and of the surroundings of the rivet.
  3. The riveting method according to any one of the preceding claims, comprising comparing (107) the detected positioning of the rivet to a reference position of the rivet and comparing the detected surface condition of the rivet to a reference surface condition of the rivet.
  4. The riveting method according to the preceding claim, comprising signalling (113) a positioning and/or surface condition defect of the rivet, in particular when a rivet head flushness defect and/or a notch of the rivet have been detected.
  5. The riveting method according to any one of the preceding claims, wherein the rivet is a blind rivet and/or
    wherein the rivet has a head intended to be flush with a surface of the first part (11) and/or a surface of the second part (13) after riveting, such as a countersunk head rivet.
  6. The riveting method for aircraft, comprising:
    riveting a first rivet to assemble the first part (11) to the second part (13), by a riveting method according to any one of the preceding claims,
    riveting a second rivet to assemble the first part (11) to the second part (13), by a riveting method according to any one of the preceding claims.
  7. The riveting method according to the preceding claim, comprising comparing (109) the detected positioning of the second rivet to the detected positioning of the first rivet and/or comparing the detected surface condition of the second rivet to the detected surface condition of the first rivet.
  8. The riveting method according to the preceding claim, comprising establishing (111) rivet placement statistics.
  9. A riveting system (5) for aircraft, comprising a riveting tooling (30) configured to assemble a first aircraft part (11) to a second aircraft part (13) by riveting, the riveting tooling (30) comprising a riveting head (40) intended to come into contact with the first part (11) and/or the second part (13),
    characterised in that the riveting system (5) comprises a plenoptic image acquisition device (52), configured to capture a plenoptic image of the rivet and the surroundings of the rivet after riveting the first part (11) to the second part (13) by the rivet, wherein the image acquisition device (52) is secured to the riveting head (40).
  10. The riveting system (5) according to the preceding claim, wherein the riveting head (40) comprises:
    a rotary barrel (42) which includes housings distributed circumferentially around a longitudinal axis of the riveting head (40), and
    riveting tools (62, 64, 66, 68) which are different from each other and which perform various operations involved in riveting,
    wherein the riveting tools (62, 64, 66, 68) are intended to be housed in the housings (43) of the barrel, wherein the image acquisition device (52) is housed in one of the housings (43) of the barrel.
  11. The riveting system (5) according to the preceding claim, wherein the riveting tools comprise a tool for drilling (62, 64) an orifice passing through the first part (11) and the second part (13), a tool for inserting (66) a rivet pin and/or a rivet body, and/or a riveter (68).
EP18755529.7A 2017-07-28 2018-07-27 Riveting method for aircraft Active EP3641963B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1757206A FR3069467B1 (en) 2017-07-28 2017-07-28 RIPING METHOD FOR AIRCRAFT
PCT/FR2018/051935 WO2019020959A1 (en) 2017-07-28 2018-07-27 Riveting method for aircraft

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EP3641963A1 EP3641963A1 (en) 2020-04-29
EP3641963B1 true EP3641963B1 (en) 2021-08-25

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CN (1) CN111050945B (en)
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CN116630306B (en) * 2023-07-19 2023-10-20 成都信息工程大学 Defect detection method and device for aircraft semi-circular head rivet

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US20210154727A1 (en) 2021-05-27
CN111050945A (en) 2020-04-21
FR3069467A1 (en) 2019-02-01
US11052452B2 (en) 2021-07-06
WO2019020959A1 (en) 2019-01-31
EP3641963A1 (en) 2020-04-29
CN111050945B (en) 2021-12-31

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