WO2023280959A1

WO2023280959A1 - Parallel cable-operated robot for inspecting a component and associated inspection method

Info

Publication number: WO2023280959A1
Application number: PCT/EP2022/068814
Authority: WO
Inventors: Nicolas Colin; Xavier TARDIF; Tanneguy DE VILLEMAGNE
Original assignee: Institut De Recherche Technologique Jules Verne
Priority date: 2021-07-06
Filing date: 2022-07-06
Publication date: 2023-01-12
Also published as: FR3124962A1; FR3124962B1

Abstract

The invention relates to a parallel cable-operated robot (1) inspecting a component (200), the parallel cable-operated robot (1) comprising: cables (20); a mobile platform (10) intended to be suspended from the cables (20), each of the cables (20) having a length (21) of cable that is configured to be stretched between a first end (211) of the length (21), which end is connected to the mobile platform (10), and a second end (212) of the length (21), which end is connected to a structure (30) that is fixed in space; winding assemblies (40), each winding assembly (40) being connected to at least one associated cable (20) from among the cables (20) so as to wind in or pay out the associated cable (20); and a control assembly for controlling the winding assemblies (40) of the mobile platform (10) and for monitoring the movement of the mobile platform (10), the parallel cable-operated robot (1) being characterized in that the platform (10) comprises at least one inspection tool (60) and at least one orientable mechanism (50) supporting the inspection tool (60), the orientable mechanism (50) being configured to move the inspection tool (60) with respect to the platform (10), the inspection tool (60) comprising at least one inspection sensor configured to map the inspected zones of the component (200), the parallel cable-operated robot (1) comprising location means configured to locate the maps made by the inspection sensor on a digital model of the part (200) inspected.

Description

DESCRIPTION

TITLE: PARALLEL ROBOT WITH CABLES FOR THE INSPECTION OF A PART AND PROCESS

ASSOCIATED INSPECTION

TECHNICAL FIELD OF THE INVENTION

The invention relates, in general, to the technical field of parallel robots with cables.

[0002] The invention relates more specifically to a parallel robot with cables for the inspection of a part, in particular of large size, an installation comprising such a robot and an associated inspection method.

PRIOR ART

[0003] Due to the size and geometry of certain large structures, for example several tens of meters long, it is known to carry out inspection phases which are carried out regularly to look for possible defects and control the quality of the structure.

[0004] During the life of an aircraft, for example, inspections are carried out during the production of the elementary parts, the final assembly, in particular after a painting stage, and during maintenance, generally on a tarmac or in a hangar.

[0005] During production, visual inspections are carried out regularly throughout the manufacture of an aircraft, from the elementary parts to the final assembly, at a significant cost. In addition, customer companies seek to detect the slightest defect before delivery in order to lower the price of the device. These inspections aim to detect, quantify, locate, identify and trace defects such as missing parts, discontinuities, dents, seal deterioration and scratches. The inspection operations of the upper parts, in particular during final assembly and after painting, are carried out by harnessed operators or in a nacelle. The measurements are still made with a ruler and the markings by hand. [0006] In addition, the life of an airplane in service consists of an alternation of different cycles, namely “active cycles” during flight phases, and “passive cycles” during stopped phases. Aircraft downtime corresponds to maintenance operations, scheduled or not, throughout the service life. Maintenance operations are of several types: short but daily operations, such as pre-flight inspections, or operations that can last up to several days, but often more spaced out in time.

[0007] Reducing the “aircraft passive cycle” constitutes a major profitability objective both for aircraft manufacturers and for their customers, lessors and airlines. Thus, the trend is to space out maintenance operations while maintaining the safety standards defined by the aeronautical certification authorities. Typical defects found during maintenance inspections are generally lightning strikes, discontinuities, bird strikes, hail damage, damage due to maintenance operations, dents, deterioration of seals and missing parts.

[0008] To date, inspection is mainly carried out by operators. Nevertheless, the inspection of the upper parts (fuselage, wings, fin) of the aircraft requires the installation of gigantic scaffolding or the use of a nacelle. During the inspection, there is a risk of damage due to contact and/or impact between the aerial work platform and the structure of the aircraft in the event of human mishandling. On the other hand, there are safety issues to be respected because the inspector may have to work at a height of around 15 m.

[0009] There are also solutions of the drone type. Such a solution nevertheless suffers from several drawbacks whose limits are inherent to this technology: low on-board mass, low autonomy, impossibility of evolving in a constrained environment such as a production or final assembly line, security, etc.

[0010] Furthermore, the use of an aerial platform to access the top of the fuselage, the wing and the empennage of an aircraft involves safety risks. for the operator. Such use is also long, inefficient and does not guarantee the quality of visual inspection required.

DISCLOSURE OF THE INVENTION

[0011] The invention aims to remedy all or part of the drawbacks of the state of the art by proposing in particular a solution allowing the inspection of large structures, in a secure manner, with efficiency, reliability and quality. improved.

To do this is proposed, according to a first aspect of the invention, a parallel cable robot for the inspection of a part, the parallel cable robot comprising: cables; a mobile platform intended to be suspended by the cables, each of the cables having a cable strand configured to be tensioned between a first end of the strand linked to the mobile platform, and a second end of the strand linked to a structure fixed in space ; winding assemblies, each winding assembly being linked to at least one associated cable among the cables to perform winding or unwinding of the associated cable; and a control assembly for controlling the winding assemblies of the mobile platform and controlling the displacement of the mobile platform, the parallel cable robot being characterized in that the platform comprises at least one inspection tool and at least one mechanism steerable carrying the inspection tool, the steerable mechanism being configured to move the inspection tool relative to the platform, the inspection tool comprising at least one inspection sensor configured to map inspected areas of the part, the parallel cable robot comprising location means configured to locate maps produced by the inspection sensor on a digital model of the inspected part.

[0013] Thanks to such a combination of characteristics, a solution is obtained for performing inspection operations on large structures, such as aircraft, and in particular non-destructive testing operations, allowing characterize the state of their integrity without degrading them, either during production, or during use, or within the framework of maintenance procedures. The use of such a parallel robot with cables makes it possible in particular to be able to embark a greater payload than that of other solutions of the prior art, such as drones for example, while guaranteeing satisfactory precision and control speed. increased. The payload that can be carried also makes it possible to use high-precision sensors. Furthermore, such a solution does not involve any safety risk for an operator.

[0014] The platform, or effector, is equipped with an adjustable mechanism which can accommodate inspection tools. The steerable mechanism is oriented according to the structure to be inspected and the inspection tool used. Such an orientable mechanism makes it possible to control or pilot the orientation of the sensors independently of that of the platform, which makes it possible to position the sensor so as to carry out the measurement without having to manage all the rotations and translation of the parallel robot with cables. This also significantly reduces the impact of vibrations on the quality of the maps produced. The localization means configured to locate the maps produced by the inspection sensor on the digital model of the inspected part thus make it possible, in combination with the precision of the configuration of the cable parallel, to obtain a very precise localization of the maps while by presenting a simplified architecture.

[0015]According to one embodiment, the location means locate the maps according to one or more of the following data: a measured macroscopic position data of the platform relative to the inspected part; a measured datum of orientation of the steerable mechanism; recognition in the map of at least one identifiable mark of the inspected part.

[0016] The steerable mechanism making it possible to control the orientation of the sensors independently of that of the platform, it is possible to only have to manage a macroscopic position of the platform with respect to the inspected part, preferably of the sensor of 'inspection. Furthermore, thanks to the inspection sensor(s) embedded on the platform, and articulated in relation to it, it is possible to produce a fine map of the different inspected zones of the part. Marks can also be identified more finely.

[0017]According to one embodiment, the parallel cable robot at least partly embeds macroscopic positioning means configured to locate a macroscopic position of the platform relative to the inspected part, preferably according to a macroscopic position of the platform relative to the fixed structure and a macroscopic position of the inspected part relative to the fixed structure. In such a configuration, the macroscopic positioning means are embedded at least partly, or even entirely, embedded in the parallel cable robot, in particular on the platform of the parallel cable robot.

According to one embodiment, the inspection sensor comprises at least one visual sensor. Such a sensor offers many advantages since they allow quick shots, while inspecting a large area with each measurement. Such sensors are also generally light, which makes it possible to carry several of them. Furthermore, the localization means comprise analysis means making it possible to ensure an analysis and a processing of the acquired images and thus to differentiate different aspects of detection, quantification, localization, diagnosis, this from the same sensor.

[0019] According to one embodiment, the inspection sensor comprises at least one infrared camera (also called thermal camera) making it possible to ensure measurements while being less sensitive to external lighting and also makes it possible to identify structural elements sub-surface, for example angles or smooth. This type of inspection sensor makes it possible in particular to detect and locate defects in the surface and sub-surface condition of the inspected part (corrosion, etc.). The infrared camera possibly associated with a source of thermal excitation such as a lamp, a laser, an inductor and/or microwave device to carry out measurements by active thermography.

According to one embodiment, the inspection sensor comprises at least one three-dimensional sensor. This type of sensor makes it possible to characterize a fault in geometrically: characteristic depth and width using a two-dimensional (2D) Gaussian for example. The use of this type of sensor on a parallel cable robot platform is suitable since the sensors are generally very precise and their weight is compatible with such a parallel cable robot, which is not the case for he other solutions of the prior art, such as drones and the parallel robot with cables, ensure the stability of the platform.

According to one embodiment, the inspection sensor comprises at least: an infrared thermography sensor, for example an infrared camera optionally associated with a source of thermal excitation such as a lamp, a laser, an inductor and / or microwave device; and/or at least one three-dimensional scanner (for example of the profilometer type and/or of the type comprising means for producing snapshots, that is to say for saving snapshots at given times, also called in English terms Saxon scanners of the “snapshot” type), in particular of the active or passive contactless type; and/or at least one camera.

[0022] Of course, different sensors can be transported by the parallel robot with cables, in particular on the platform. For example, it is possible to use any three-dimensional digitization sensor whose accuracy is relevant for the application envisaged. The motorization, the mobile platform and the steerable mechanism will be sized so as to embed the sensors associated with their accessories on the platform. Other inspection sensors may also be provided alone or in combination, such as: a profilometer, a deflectometry sensor, a white light interferometer, a time-of-flight camera (TOF camera, "Time of Flight"), a sensor ultrasound, an eddy current sensor, etc.

[0023] Active non-contact three-dimensional scanners emit radiation and detect its reflection in order to probe an object or an environment. Different types of radiation source are used such as light, ultrasound or X-rays. Passive non-contact three-dimensional scanners, not emitting any type of radiation, are based on the detection of radiation reflected ambient. These scanners detect visible light because it is immediately available. Other types of radiation, such as infrared can also be used. Passive methods are generally inexpensive, since in the majority of cases they do not require a specific emission device.

According to one embodiment, the steerable mechanism comprises at least one motor, the steerable mechanism being configured to move the inspection tool relative to the platform along at least one degree of freedom, preferably along three to six degrees of freedom. Such a configuration is motivated by the need to control not only the fine orientation of the inspection sensor(s) transported by the parallel robot with cables, but also a fine positioning of these with respect to the part to be inspected.

According to one embodiment, the platform and/or the orientable mechanism supports at least one lighting tool, the lighting tool comprising for example LEDs. This is particularly advantageous when the inspection sensor(s) are sensitive to lighting, in order to guarantee the efficiency and accuracy of the measurement performed.

According to one embodiment, each winding assembly is linked to a pair of associated cables among the cables and configured to synchronously wind the pair of associated cables. By having each winding assembly bonded to an associated cable pair of the cables and configured to synchronously wind the associated cable pair, a configuration results in which each cable is doubled to form a cable pair. . In such a configuration, the cables of the same pair are wound, or unwound according to the operating sequence, synchronously by the same winding assembly forming a parallelogram in the suspended connection between the platform and the fixed structure. Such a configuration confers a maximum stability of the platform during the breakage of a cable.

According to one embodiment, each winding assembly is linked to only one pair of associated cables among the cables and configured to synchronously wind the pair of associated cables. In such a configuration, each winding assembly is linked to the platform by only two cables. Such a configuration is sufficient to guarantee the stability of the platform while offering an architecture that is simple to implement and to control.

According to one embodiment, the mobile platform is intended to be suspended by four cables or groups of cables. The choice to use four cables is motivated by the need to limit the risk of collisions between the cables and the environment, while guaranteeing three degrees of freedom to the mobile platform so that it can evolve all around and above the part to be inspected. A configuration equipped with four pairs of cables makes it possible in particular to combine its advantages with improved stability of the platform when a cable breaks and safety provided to the inspected part in the event of breakage of one of the cables. In general, a number of cable pairs greater than or equal to 3, preferably greater than or equal to 4 and/or less than or equal to 10, preferably less than or equal to 8, more preferably less than or equal to 6 will be chosen. In particular, four pairs of cables represents a good compromise between the stability sought and the simplicity of the structure.

According to one embodiment, when the mobile platform is in a reference orientation with respect to the vertical, the first ends of the cable strands of the same pair of cables are vertically offset from each other and are offset horizontally from each other, the vertical offset and the horizontal offset of the first ends of the cable strands of a given cable pair preferably being equal. The vertical and horizontal offsets of the ends of the cables on the platform make it possible to limit parasitic rotations, the moments exerted on the platform but also the oscillations of the platform.

[0030]According to one embodiment, each winding assembly comprises two drums movable in rotation around a common rotation shaft, each of the drums being secured to one of the cables among the cables of an associated pair of cables. , the two drums being preferably spaced from each other by an average distance substantially equal to the distance separating the first ends of the cable strands of the associated pair of cables. In this way, a substantially constant spacing of the cables of the cables of the same pair is obtained in order to limit the oscillations. According to one embodiment, the first end of each cable strand is fixed to the platform at an anchor point. In this way the first end of the strand is anchored on the platform. Such a configuration makes it possible to obtain a structure that is both simple and stable and which makes it possible not to weigh down the platform. Alternatively, the first end of each cable strand can be configured to be stretched over a return member between the associated cable strand and a remote anchor point on the platform. In this case the cable arrives on the platform at the level of a return member, for example a return pulley and is secured at the level of a more distant anchoring point. According to one embodiment, the second end of each cable strand is configured to be stretched over a return member between the associated cable strand and the associated winding assembly. This configuration makes it possible to deport the anchoring or fixing of the cable to a more practical area, in particular near the ground so as to improve the installation of the platform when it is removable or to facilitate the installation of the parallel robot with cable and handling by operators.

Alternatively, the second end of each cable strand is fixed to the fixed structure at an anchor point.

According to one embodiment, the vertical offset and the horizontal offset of the first ends of the cable strands of a given pair of cables are equal. According to one embodiment, the platform has a suspension frame having a template forming a right prism with a polygonal base, the base being arranged horizontally in a reference orientation with respect to the vertical.

[0035]According to one embodiment, the platform has a suspension frame having a parallelepiped template, preferably rectangular parallelepiped, preferably even cubic.

According to one embodiment, the first ends of the cable strands of a given pair of cables are arranged on the platform substantially at the ends of a diagonal of a side face of the suspension frame. Such a configuration further improves the stability of the platform. In such a configuration, the prismatic template delimits the side faces of the platform. Preferably, the parallel robot with cables comprises as many pairs of cables as side faces of the platform. A rectangular or cubic parallelepipedic template corresponding to particular configurations of right prisms with square bases. When the first ends of the cable strands of each given pair of cables are arranged on the platform substantially at the ends of a diagonal of an associated side face of the suspension frame, a configuration is obtained in which each side face of the template prismatic is suspended from a given cable pair guaranteeing it maximum stability, all the more so for a cubic shape in which the first two ends of the cable strands of each given cable pair are located in a vertical plane and located on a straight line oriented at 45 degrees to a horizontal plane in the reference orientation to the vertical.

According to another aspect of the invention, the latter relates to an installation comprising a parallel robot with cables as described above, and a fixed structure from which the platform is suspended.

[0038]According to one embodiment, the fixed structure at least partially supports macroscopic positioning means configured to locate the macroscopic position of the platform relative to the inspected part, preferably as a function of a macroscopic position of the platform relative to the fixed structure and a macroscopic position of the inspected part relative to the fixed structure.

According to one embodiment, the macroscopic positioning means comprising, for example, at least one laser tracking system and/or a camera system allowing tracking by photogrammetry, at least one system for detecting and estimating the distance by light.

[0040] A tracking laser, also called a "laser tracker" in Anglo-Saxon terms, is a system for detecting and estimating the distance by light or laser such as a Lidar, acronym for the expression in English English "light detection and ranging" or "laser imaging detection and ranging", or cameras, for example cameras configured to provide photogrammetric monitoring of the moving platform, are means that are simple to implement and make it possible to measure at least one datum of the macroscopic position of the platform with respect to the inspected part.

According to one embodiment, the fixed structure comprises a plurality of suspension structures, each of the suspension structures being configured to comprise a connection with each of the second ends of the cable strands of a given pair of cables, each of the connection preferably comprising a cable return member for each of the cables of the given pair of cables, the second end of each cable strand of the given pair of cables being configured to be stretched over the associated return member, between the associated cable strand and the associated winding assembly. In this configuration, each suspension structure forms a localized suspension zone for a given cable pair. In other words, the two cable strands of a given pair of cables are associated with a single suspension structure, different from the others and forming a dedicated suspension zone. Each of the suspension structures preferably comprises only two links, the suspension structure interconnecting the two links.

According to one embodiment, the distance between the connections of the second ends of the cable strands of a given pair of cables are spaced from each other by a distance equal to the distance separating the first ends of the cable strands of the associated cable pair.

According to one embodiment, in a suspended position of the mobile platform, the cable strands of a given pair of cables are parallel. Preferably, each of the first and second ends of the cable strands of the same pair of cables are arranged so as to form an associated parallelogram. In such a configuration, the first and second ends of the cable strands of the same pair of cables each form one of the angles of the associated parallelogram and two of the parallel sides being carried by the associated cable strands. Only the variation in length of said cable strands varying concomitantly for the two cable strands of the same pair makes it possible to control the displacement of the platform. Such an arrangement of the cable pairs in a parallelogram makes it possible to further improve the stability of the platform during the inspection phases. The parallelograms thus make it possible to constrain the rotations of the mobile platform.

According to one embodiment, in a suspended position of the mobile platform, each cable of the parallel cable robot comprises a secondary cable strand configured to be stretched between the second end of the associated cable strand and a third end of the strand secondary linked to the fixed structure in space, the secondary cable strands of a given pair of cables preferably being substantially parallel.

According to one embodiment, in a suspended position of the mobile platform, the second ends of the cable strands of the given pair of cables are vertically offset from each other and are horizontally offset from one another. each other, the vertical offset and the horizontal offset of the second ends of the cable strands of a given pair of cables preferably being equal. When the vertical offset and the horizontal offset of the second ends of the cable strands of a given pair of cables are equal, a configuration is obtained in which the two ends are located in the same vertical plane and located on a straight line oriented at 45 degrees relative to a horizontal plane.

According to one embodiment, for cable strands of a given pair of cables, the vertical offset of the first ends is equal to the vertical offset of the second ends and the horizontal offset of the first ends is equal to the horizontal offset of the seconds ends. In this way, the arrangement on the mobile platform of the first ends of the cable strands of a given pair of cables respects the arrangement of the second ends of the cable strands of the same given pair of cables, in practice pulleys. It will be noted that in the particular configuration where the vertical and horizontal offsets of the first and second ends of the cable strands of a given pair of cables are all equal in absolute value, a configuration is obtained in which the parallelogram associated with the pair of given cables is located in a plane oriented at 45 degrees to a horizontal plane. Preferably each of the cable pairs has such a configuration in which the vertical and horizontal offsets of the first and second ends of the cable strands of one of the cable pairs given are equal, and therefore all the parallelograms associated with the given pairs of cables are each located in an associated work plane oriented at 45 degrees with respect to a horizontal plane.

According to one embodiment, at least one of the second ends of the cable strands of a given pair of cables is connected to the fixed structure by at least one damping mechanism, preferably each of the second ends of the cable strands of the given cable pair is connected to the fixed structure by at least one damping mechanism.

According to one embodiment, the winding assemblies are each located close to the ground on which the fixed structure rests. In this way the maintenance of the winding sets is facilitated. The weight of the winding assemblies also contributes to improving the stability of the fixed structure.

According to one embodiment, each winding assembly is driven by at least one motor, preferably a single motor, to motorize a rotation shaft carrying at least one of the two drums, preferably both drums, to the same given pair of cables. The rotation of the shaft carrying the drums in one direction or the other allows the winding or respectively the unwinding of the cables. The motor is preferably associated with a reduction gear, to form a geared motor. In other words, each of the motors or geared motor rotates two associated drums. Of course, even if the winding assembly is driven by a single motor, a second safety motor or gear motor may be provided, for example located at an opposite end of the main drive motor or gear motor with respect to the rotating shaft, and which is actuated only in the event of failure of the main drive motor. Thanks to such a configuration, with one motor per pair of cables, it is possible to halve the number of motors relative to the number of data cables, grouped here in pairs. With a parallel robot configured by four pairs of cables, the four motors are used to control the movements of the translation of the mobile platform. According to one embodiment, the fixed structure comprises removable masts configured to be erected vertically in the deployed position, and each support at least one of the suspension structures.

The fixed structure can be either formed by a structure of a hangar, or a dedicated installation, in particular comprising removable masts configured to be erected vertically in the deployed position, and each supporting at least one of the suspension structures. The suspension points of the platform are therefore carried by the masts and offset in height thanks to these masts. Preferably, the macroscopic positioning means configured to locate the macroscopic position of the platform relative to the inspected part are located on at least one upper end of at least one of the masts. In this way, the macroscopic positioning means are located at a height greater than that of the platform, regardless of the position of the platform in the workspace of the cable parallel robot.

According to another aspect, the invention also relates to a method for inspecting a part by a parallel cable robot of the type comprising: cables; a mobile platform intended to be suspended by the cables, each of the cables having a cable strand configured to be tensioned between a first end of the strand linked to the mobile platform, and a second end of the strand linked to a structure fixed in space ; winding assemblies, each winding assembly being linked to at least one associated cable among the cables to perform winding or unwinding of the associated cable; and a control assembly for controlling the winding assemblies of the mobile platform and controlling the movement of the mobile platform, the platform comprising at least one inspection tool and at least one steerable mechanism carrying the inspection tool, the steerable mechanism being configured to move the inspection tool relative to the platform, the inspection tool comprising at least one inspection sensor configured to map inspected areas of the part, the parallel cable robot comprising means of location configured to locate maps produced by the inspection sensor on a digital model of the inspected part, the inspection method being remarkable in that it comprises a step of locating the maps produced by the inspection sensor on the digital model of the inspected part. According to one embodiment, the step of locating the maps produced by the inspection sensor on the digital model of the inspected part comprises: a) a step of measuring macroscopic position data of the platform with respect to the part inspected; b) a step of recognition in the cartography of at least one identifiable marker of the inspected part; c) locating maps of the inspection sensor on the digital model of the inspected part according to the results of steps a) and b). Step a) of measuring macroscopic position data of the platform relative to the inspected part is implemented by the macroscopic positioning means configured to locate a macroscopic position of the platform relative to the inspected part.

According to one embodiment, step a) of measuring macroscopic position data of the platform relative to the inspected part comprises: a step of measuring a macroscopic position of the platform relative to the fixed structure ; and a step of measuring a macroscopic position of the inspected part relative to the fixed structure. According to one embodiment, the inspection method includes a step of adjusting the inspected part and the digital model of the inspected part. This step is notably implemented from the measurements acquired at the step of measuring the macroscopic position of the inspected part relative to the fixed structure. According to one embodiment, the step of measuring the macroscopic position of the platform relative to the fixed structure is implemented by measuring means comprising an image acquisition means (3D scanner, cameras , etc.). According to one embodiment, the step of measuring a macroscopic position of the inspected part relative to the fixed structure comprises a recognition step in the images acquired by the image acquisition means to determine the macroscopic position of the platform relative to the fixed structure, of at least one identifiable mark of the inspected part. Analysis means implement at least part of the recognition step in the images acquired by the image acquisition means to determine the macroscopic position of the platform relative to the fixed structure. These means of analysis can be located on the platform, or remote.

According to one embodiment, step b) of recognition in the map of at least one identifiable mark of the inspected part comprises at least one step of acquisition of a map by the inspection sensor configured to map inspected areas of the part and integral with the steerable mechanism, itself integral with the platform.

Analysis means implement step b) at least in part, these analysis means possibly being distinct or not from the analysis means of step a) mentioned above.

BRIEF DESCRIPTION OF FIGURES

Other characteristics and advantages of the invention will become apparent on reading the following description, with reference to the appended figures, which illustrate: [Fig. 1]: a diagram of an installation comprising a parallel robot with cables according to one embodiment of the invention inspecting a part to be inspected;

[Fig. 2]: a view of an installation comprising a parallel robot with cables according to one embodiment of the invention; [Fig. 3]: a view of an adjustable mechanism according to one embodiment;

[Fig. 4]: a detail of Figure 2;

[Fig. 5]: a top view of the installation according to figure 2;

[Fig. 6]: an isometric view of the platform according to this embodiment;

[Fig. 7A]: a side and perspective view of FIG. 4;

[Fig. 7B]: a block diagram of FIG. 7A;

[Fig. 8]: a top view of Figure 4;

[Fig.9]: a front view of a suspension structure of the parallel cable robot according to this embodiment;

[Fig. 10]: an isometric view of a removable mast of the installation according to this embodiment;

[Fig. 11]: an isometric view of the suspension structure according to this embodiment;

[Fig. 12]: a view of a winding assembly of the cable parallel robot according to this embodiment;

For greater clarity, identical or similar elements are identified by identical reference signs in all of the figures.

In the description and the claims, to clarify the description and the claims, the terminology longitudinal, transverse and vertical will be adopted without limitation with reference to the trihedron X, Y, Z indicated in the figures.

DETAILED DESCRIPTION OF AN EMBODIMENT

[0065] Figure 1 ([Fig.1]) illustrates a diagram of an installation 100 comprising a parallel cable robot 20 according to one embodiment of the invention inspecting a part 200, here corresponding to an aircraft. The installation 100 comprises a parallel cable robot 1 ensuring the inspection of the aircraft 200. The parallel cable robot 1 comprises a mobile platform 10 suspended by cables 20, each of the cables 20 having a strand 21 of cable 20 configured to be stretched between a first end 211 of strand 21 connected to the mobile platform 10, and a second end 212 of strand 21 connected to a fixed structure 30 in space.

A "parallel cable robot" 20 or "cable robot" is a robot with parallel kinematics, in which a platform 10 is positioned and moved in a determined space by means of cables 20 acting on said platform 10. Each cable 20 extends between an anchor point on this platform and for example a winch (not shown here) attached to a fixed structure, the winch constituting an anchor. The capacity for significant variation in the length of the cable between the anchor point of the platform and the suspension to the fixed structure 30, in particular here between the first end 211 and the second end 212 of the strands 21 of cables makes it possible to obtain a particularly large working volume of the mobile platform 10 with a light structure and easily set up by installing the suspension points, for example on the ceiling of a workshop, on high beams or at the ends of masts 35 as illustrated in this figure 1 ([Fig.l]).

The stability of such a platform 10 in a given position is generally ensured by its static equilibrium, which equilibrium is ensured by the tension of the cables 20 which act in such a way as to oppose the external forces to which the platform 10 is subjected. . The parallel cable robot 20 works with several kinematic chains or closed loops.

The platform 10 is configured to carry at least one inspection tool 60 (see Figure 3 ([Fig.3])), for example an inspection sensor, connected to the mobile platform 10 by an adjustable mechanism 50. Thus the inspection tool 60 can be oriented towards a desired zone of the inspected part depending on the position of the mobile platform 10 . Such a configuration allows use of the platform 10 in the context of inspecting parts or products 200 of large dimensions such as an aircraft, wind turbine blades or ship hulls. Thanks to such inspection and non-destructive testing operations, it is possible to characterize the state of integrity of structures or materials inspected, without degrading them, either during production, or during use, or as part of maintenance procedures. The parallel robot with cables 1 according to the invention is particularly suitable for such operations of inspection and determination of the material health of large structures.

One of the masts 35 of the fixed structure 30 supports at its upper end a means 70 of measuring at least one macroscopic position datum of the platform 10 relative to the inspected part 200, in particular here a tracking laser 70 , also called laser tracker. The laser tracker system 70 is installed so as to follow the movement of the platform 10 in translation as in rotation. The mobile platform 10 is equipped with at least three reflectors (not shown) each having a measurement error of less than 0.1 mm for each reflector. The reflectors make it possible to follow the movement of the platform 10 in translation as well as in rotation.

In another embodiment (not shown), the installation comprises a plurality of cameras allowing, for example, the monitoring by photogrammetry of the moving platform 10, each of the cameras being located at one of the upper ends masts 35. The number of cameras is fixed according to the size of the area to be monitored.

[0072] The acquisition of a three-dimensional (3D) image by the means 70 for measuring at least one macroscopic position datum of the platform 10 relative to the inspected part 200 makes it possible in particular to measure a macroscopic position of the platform 10 with respect to the fixed structure 30 forming the reference frame of the 3D acquisition sensor, and of a macroscopic position of the inspected part 200 with respect to the fixed structure 30, in particular by the recognition of points of interest of the inspected structure 200 in the images acquired by the acquisition sensor. It is thus possible to determine with simple means, remote from the platform 10, thus making it possible to lighten its payload, while having a reliable position of the position of the platform 10 with respect to the inspected part 200. [0073] Referring to Figure 3 ([Fig.3]), the platform 10 also includes a swivel mechanism 50 carrying an inspection tool 60 so that the inspection tool 60 is movable relative to the platform 10. The inspection tool comprises at least one inspection sensor 60 configured to map inspected areas of the part 200. The same steerable mechanism 50 can carry several inspection sensors 60 and/or inspection sensors 60 can be carried by separate orientable mechanisms 50, as required, as well as accessories associated with these sensors (lighting means, profilometer, etc.). Such an adjustable mechanism 50 makes it possible to control or pilot the orientation of the sensors independently of that of the platform 10. The inspection tool 60 makes it possible to acquire images or maps of the inspected zones of the part 200.

The steerable mechanism 50 comprises at least one motor, optionally coupled to a reducer to form a geared motor and configured to move the inspection tool 60 relative to the platform 10 according to at least one degree of freedom. This steerable mechanism 50 may comprise an articulated arm, which has the advantage of being able to vary the distance between the inspection sensor 60 and the part 200 being inspected, which is particularly advantageous when the platform cannot approach at a distance sufficient of the part 200 inspected for the sensor to ensure reliable data acquisition. For example, if a profilometer must be at a distance between 0.5 and 1 meter from the inspected part 200 for the measurement to be reliable and the platform 10 cannot approach the inspected part 200 to satisfy this distance , in particular because of the configuration of the inspected part 200 and the cables 20 which support it, then the steerable mechanism 50, in particular the motorized arm, can move the inspection sensor 60 according to the distance to be reached.

The inspection sensor 60 comprises for example an infrared thermography sensor, for example an infrared camera possibly associated with a source of thermal excitation such as a lamp.

The inspection sensor can also comprise a laser, an inductor and/or microwave device, at least one three-dimensional scanner, in particular of the active or passive non-contact type and/or at least one camera. The location means configured to locate maps made by the inspection sensor 60 on the digital model of the inspected part 200 here provide such location as a function, on the one hand, of the measured data of the macroscopic position of the platform 10 with respect to the part 200 inspected, and the recognition in the cartography of an identifiable marker of the part 200 inspected. The harmfulness of a defect depends on its position on the structure to be inspected. For example, on an airplane, an impact-type defect is much more harmful if it is located at the level of a stringer or a frame on the fuselage. Hence the importance of knowing the position of identifiable markers of the part 200 being inspected. These reference marks can be a stringer, a Pitot tube, an edge of a wing, a crosspiece, etc.

It is thus possible to use a high-precision inspection sensor 60 on a precise zone of the inspected part, which, by being combined with a macroscopic localization of the platform 10 with respect to the inspected part 200, makes it possible to locate the maps acquired with increased precision on the digital model. Any defects that can be identified will then be so with great precision, in particular less than one millimeter.

It will be understood that the means on board the platform 10 for mapping the inspected part 200, in particular the inspection tools 60, must, in order to allow reliable and precise localization of the maps produced by the inspection sensor 60 on the digital model of the inspected part 200, be perfectly stabilized. The stability of the platform 10 therefore contributes to the accuracy of the measurements taken, and to the safety of the part 200 inspected in the event of a failure, such as the breakage of a cable 20.

With reference to Figures 2 [Fig.2] to 12 [Fig.12] is illustrated an installation 100 comprising a parallel cable robot 1 provided with a mobile platform 10 suspended by suspension cables 20 from a fixed structure 30. This parallel robot with cables 1, and more generally this installation 100, responds in a particularly advantageous way to the problems of stability of the platform 10.

[0081] The platform 10 comprises a suspension frame 12 having a generally cubic template. Such an armature 12 is composed of a plurality of crosspieces, each of the crosspieces being preferably tubular to guarantee good rigidity at the same time as a reduced weight to the frame 12 and to be able to carry the inspection tools. The template of the platform 10 corresponds overall to the shape of a virtual outer shell of the platform corresponding to its size. In this embodiment, the number of crosspieces is relatively small, the platform 10 comprising four horizontal crosspieces delimiting a bottom of the platform 10, square in this embodiment, four other horizontal crosspieces which are superimposed vertically on the bottom crosspieces so as to parallel to delimit a frame, also square, and four vertical crosspieces, each of them being placed at the junction of two crosspieces of each horizontal level, namely the bottom and the frame. Of course, the shapes of the frame 12 can change, but such a configuration offers a good compromise between stability, structural strength and lightness. The platform 10 forms a nacelle allowing the necessary inspection equipment to be housed therein.

The crosspieces of the platform 10 are here each made up of bars protected by foam elements (not shown) so as to protect the surface of the part to be inspected 200 in the event of a cable 20 breaking, the elements in foam providing a bumper function.

[0083] The fixed structure 30 is here composed of a plurality of masts 35 erected generally vertically, spaced from each other in a regular manner around a work space inside which the platform 10 can move. The installation 100 here comprises four masts 35 which each have the particularity of being removable. The feet of the masts 35 are each connected to a base 37 weighted with an associated mass 39 sufficient to guarantee the stability and the positioning of the mast 35 on the ground S on which it rests.

[0084] In particular each of the masts 35 has a lower portion 35A and an upper portion 35B aligned vertically and assembled together by means of assemblies 36. The assembly means 36 are removable to allow the dismantling of the mast 35 and allow fixedly hold a lower end of the upper portion 35B with an upper end of the lower portion 35A. The mast 35, in particular the lower and upper portions 35A, 35B, has a parallelepipedic section, in particular square, the assembly means 36 being positioned on at least two opposite vertical faces of the mast 35. The assembly means 36 comprise a lever closure arranged on one 35A of the two connected parts configured to be secured with an opposite hook attached to the other 35B of the two parts to be connected. Closing the lever in engagement with the hook allows with less effort to tighten the two parts relative to each other.

Each base 37 rests on four feet 38 adjustable in height so as to be able to adjust the height of each foot 38, and therefore the horizontality of the base 37, even if the ground is uneven, that is to say that it is not perfectly horizontal. This adjustment also makes it possible to ensure the perfect verticality of the mast 35. The mast 35 is connected here to its base 37 in the same way as the connection between the lower and upper portions 35A, 35B. This link is also removable. Each of the bases 37 has a base 37A aligned vertically and assembled with a lower end of the lower portion 35A by means of similar assemblies 36, also comprising lever closures placed astride the connection and vis-à-vis the one relative to the other.

Despite the ballast 39 resting on the base 37, the rigidity of the mast is guaranteed by reinforcing cables 35C extending between an upper end of the mast 35, in particular an upper end of the upper portion 35B of the mast 35 and the base 37. The masts 35 are positioned around the workspace inside which the platform 10 is moved, each mast 35 separating a front part of the mast 35, oriented frontally with respect to this workspace, and a rear part of the mast 35, opposite the front part and located behind the mast 35. The ballast 39 is placed at the rear of each mast 35, and the anchoring points of the reinforcing cables 35C to the associated base 37 also being located at the rear of the associated mast 35 This configuration allows better absorption of the forces applied by the mobile platform 10 suspended on the associated mast 35.

A suspension structure 31 is placed at an upper end of each of these masts 35, that is to say also in the vicinity of an upper end of the upper portion 35B of the mast 35. The platform 10 mobile of the parallel cable robot 1 is suspended by cables 20, each of the cables 20 having a strand 21 of cable stretched between a first end 211 of strand 21 linked to the mobile platform 10, and a second end 212 of strand 21 linked to a fixed structure 30 in space, in particular in this configuration, at the level of the suspension structure 31. The suspension structures 31 are configured to each comprise a connection 32 with each of the second ends 212 of the strands 21 of cables 20 of the same given pair 20' of cables 20. In the figures, each of these connections 32 are ensured by a cable return device 20 for each of the cables 20 of the given pair 20' of cables 20, the second end 212 of each strand 21 of cables 20 of the pair 20' cable 20 given being configured to be stretched on the associated return member, between the strand 21 of associated cable and the winding assembly 40 associated.

The parallel cable robot 1 further comprises winding assemblies 40, each winding assembly 40 being linked to at least one associated cable 20 among the cables 20 to perform a winding or unwinding of the associated cable 20. In particular, each winding assembly 40 is linked here to only one pair 20' of associated cables 20 among the cables 20 and configured to wind and unwind the pair 20' of associated cables 20 synchronously. By virtue of the fact that each winding assembly 40 is linked to a pair 20' of associated cables among the cables 20 and configured to synchronously wind the pair 20' of associated cables, a configuration results in which each cable 20 is doubled to form a 20' pair of cables. In such a configuration, the cables of the same pair 20' are wound up, or unwound according to the operating sequence, synchronously by the same winding assembly 40. Such a configuration confers optimized stability of the platform 10 during breakage of a cable 20. In the embodiment illustrated in the figures, the number of pairs 20' of cables 20 is equal to 4.

The winding assemblies 40 are each located in the vicinity of the ground S on which the fixed structure 30 rests. In particular, each winding assembly 40 is fixed to one of the bases 37. Such a configuration facilitates maintenance by an operator who can intervene directly on the winding assemblies 40 without having to rise vertically, making it possible to refrain from any use of a lifting platform, for example. Such a configuration also makes it possible to improve the stability of the mast 35 since the mass of the winding assembly 40 participates, with the associated ballast 39, in stabilizing the associated base 37 on the ground S. Each set of winding 40 comprises two drums 41 movable in rotation around the same shaft 42 of rotation. Each of the drums 41 being secured to one of the two cables 20 among the cables 20 of the same pair 20' of associated cables 20.

Each winding assembly 40 comprises at least one motor for motorizing the rotation shaft 42, the motor preferably being associated with a reduction gear, to form an assembly commonly referred to as a geared motor. In other words, each of the motors driving in rotation two associated drums 41 comprises a reduction gear to modify the speed ratio and/or the torque, this to drive the associated winding drums 41 in rotation with less effort. The winding assemblies 40 may comprise, associated with each of the drums 41, a guide finger to guide a portion of the associated cable 20 intended to pass between the guide finger and the associated drum 41. Such a guide pin makes it easier to wind the associated cable 20 around the drum 41.

[0093] The drums 41 can have a smooth winding surface, that is to say without a guide groove. In addition to the fact that the drums 41 are positioned at a certain distance from the suspension platform 10, this allows the cables 20 to wrap naturally over the entire length of the drum 41. A spring system makes it possible to position the cable 20 associated with the drum 41 by limiting the formation of local extra thicknesses due to poor winding and thus obtaining a homogeneous winding.

[0094] The drums 41 are configured to ensure winding of the associated cable 20 over several thicknesses to allow the parallel robot with cable 1 to move over great distances without having to increase the size considerably. drums 41. This constraint is greater if the winding assembly 40 were to be carried by the platform 10 itself.

Each cable 20 extends between the mobile platform 10 where it is linked at an anchor point of the associated cable 20, and the fixed structure 30 where it is connected to the associated winding assembly 40 , of which a portion of the cable is wound on the corresponding drum. A return member formed by a return pulley secured to the associated suspension structure 31 and allows an angle return between, on the one hand, the cable portion located between the winding assembly 40 and the connection 32 and , on the other hand, the connection 32 and the mobile platform 10.

In particular, each of the cables 20 has a cable strand 21 configured to be stretched between the first end 211 of the strand 21 of the associated cable connected to the mobile platform 10; and the second end 212 of strand 21 linked to the fixed structure 30 in space, in particular in this configuration, at the level of the suspension structure 31 via the link 32.

Furthermore, each of the cables 20 has a secondary cable strand 22 configured to be stretched substantially between the second end 212 of the suspension strand 21 of the associated cable 20; and a third end 223 of the secondary strand 22 linked to the structure 30 fixed in space, in particular in this configuration, at the level of the associated winding assembly 40;

The first end 211 of each strand 21 of cables 20 is fixed directly to the platform 10 at an anchor point 11 while the second end 212 of each strand 21 of cables 20 is configured to be stretched over a return member, between the strand 21 of the associated cable 20 and the associated winding assembly 40. The third end 223 of each secondary strand 22 is configured to be stretched over one of the drums of the associated winding assembly 40 while the end of the secondary strand 22, opposite the corresponding third end 223, is configured to be stretched on the return member linked to the suspension structure 31, between the secondary strand 22 of cable 20 and the strand 21 of associated cables 20.

[00100] The winding assembly 40 is located generally plumb with the suspension structure 31 for each of the masts 35. In particular, each of the drums 41 of a given winding assembly 40 is located plumb one of the two connecting means 32 of one of the return members to the corresponding suspension structure 31 for a given pair 20' of cables 20. In such a configuration, the secondary strands extend generally vertically between the winding assembly 40 and the suspension structure 31 of the mast 35.

Preferably, as illustrated in the diagram of FIG. 7B, at least one of the second ends 212 of the strands 21 of cables 20 of a given pair 20' of cables 20 is connected to the fixed structure 30, in particular to the suspension structure 31, by at least one damping mechanism 33. Of course, the parallel robot with cables could be configured so that each of the second ends 212 of the strands 21 of cables 20 of the pair 20' of cables 20 given is connected to the fixed structure 30, in particular to the suspension structure 31, by at least one damping mechanism 33. In other words, each of the links 32 between one of the second ends 212 of one strands 21 of cables 20 and one of the suspension structures 31 is preferably equipped with at least one damping mechanism 33. Its objective is to reduce as much as possible the shock that the breakage of a cable 20 could cause on the system in its entirety.

[00102] When the mobile platform 10 is in a reference orientation with respect to the vertical Z, the first ends 211 of the strands 21 of cables 20 of the same pair 20' of cables 20 are offset vertically dl" one of each other and are offset horizontally dl' from each other (see Figures 7A [Fig.7A] and 7B [Fig.7B]). from each other, the vertical offset corresponding to a non-zero distance separating projections of these ends on a vertical axis, and the horizontal shift corresponding to a non-zero distance separating vertical projections from these ends on a horizontal plane.

Similarly, in a suspended position of the mobile platform 10 where the mobile platform 10 is in a reference orientation with respect to the vertical Z, the second ends of the strands 21 of cables 20 of the pair 20' of cables 20 data are offset vertically d2" from each other and are offset horizontallyd2' from each other (see Figure 9 [Fig.9]).

[00104] This makes it possible to counter the moments around the axes X, Y and Z exerted on the platform 10 and to limit parasitic rotations.

A configuration will preferably be chosen in which, in the suspended position of the mobile platform 10, the strands 21 of cables 20 of a given pair 20 of cables 20 are parallel.

[00106] Such a configuration is obtained, for example, by configuring the parallel robot with cables 1 and the installation 100 so that the distance D2 between the links 32 of the second ends 212 of the strands 21 of cables 20 of a given pair 20' of cables 20 are separated from each other by a distance D2 equal to the distance DI separating the first ends of the strands 21 of cables 20 of the pair 20 of associated cables 20. In addition, the parallel robot with cables 1 and the installation 100 will also be configured so that: the vertical offset d2" of the second ends 212 of the strands 21 of cables 20 of a given pair 20' of cables 20 is equal to the offset vertical dl" of the first ends of the strands 21 of cables 20 of the associated pair 20' of cables 20; and - the horizontal offset d2' of the second ends 212 of the strands 21 of cables 20 of a given pair 20' of cables 20 is equal to the horizontal offset dl' of the first ends of the strands 21 of cables 20 of the pair 20' of cables 20 associated. [00107] In such an embodiment, the two strands 21 of cables 20 of the same pair 20' are parallel and are not aligned along the vertical axis Z. Regardless of the end i considered given that the strands 21 of cables 20 of the same pair 20' are parallel, the transverse distance di' between the cables is equal to the vertical distance di" of the ends of the two strands 21 of cables, where the square root of the sum of the squares of di' and di" is equal to Di. In this configuration, the projection of a pair 20' of strands 21 of parallel cables 20 on XZ and XY planes, or else YZ and XY according to the pair 20' which is considered, forms a parallelogram always having the same dimensions on the one of the two planes relative to the other. This makes it possible to counter the moments around the X, Y and Z axes exerted on the platform and to limit parasitic rotations.

[00108] In another embodiment not illustrated, the transverse distance di' may be greater than the vertical distance di", the sum of their squares always being equal to the square of Di; in this embodiment, the moments around the vertical Z axis will be countered more effectively.

[00109] In another embodiment not illustrated, the transverse distance di' is less than the vertical distance d", the sum of their squares always being equal to the square of Di; in this embodiment, the moments around the axes X and Y will be countered more effectively.

[00110] A vertical offset di" equal to the horizontal offset di' of the first ends 211 and of the second ends 212 of the strands 21 of cables 20 of the same given pair 20' of cables 20 therefore form a good alternative for countering the moments around of the three axes of space.

[00111] To ensure good stability of the platform 10 during its movements, the first ends 211 of the strands 21 of cables 20 of a given pair 20' of cables 20 are arranged on the platform 10 at the ends of a diagonal of a side face of the parallelepipedal shape of the frame 12 of suspension. As illustrated in the figures, a configuration of a parallel robot with cables 1 is thus obtained provided with eight cables 20 divided into four pairs 20′ of cables 20, of which the strands 21 of each pair 20′ of corresponding cables 20 form a parallelogram whose angles are defined by their first and second ends 212, 212, each of the parallelograms being arranged “diagonally”. In this embodiment, this offset being equal in both the horizontal and vertical directions with the strands 21 of each pair 20' of cables 20 being parallel so that each parallelogram thus formed is inclined by 45°. The two links 32, formed here by the deflection pulleys, are integral with the corresponding suspension structure 31 for a given pair 20' of cables 20, being aligned along a straight line inclined at 45° with respect to the horizontal plane.

To improve the performance of the parallel robot with cables 1, the installation is configured so that the strands 22 of secondary cables 20 of a given pair 20' of cables 20 are substantially parallel. In such a configuration, the two drums 41 being preferably separated from each other by an average distance D40 substantially equal to the distance D2 separating the links 32 from the second ends 212 of the strands 21 of cables 20 of the pair 20 'of cables 20 associated, also corresponding to the distance separating the two corresponding return members, the average distance D40 also being equal to the distance DI separating the first ends 211 of the strands 21 of cables 20 from the pair 20' of cables 20 associated .

[00113] It will be noted that the position of the third ends 223 of the secondary strands 22 linked to the fixed structure 30, in particular to the associated drum 41, and configured to be stretched on this drum 41, is caused to vary substantially around a position medium. Each of the drums 41 has side flanges delimiting on either side axially along a winding axis A and a generally cylindrical winding portion of a predetermined length interposed between the two side flanges (see Figure 10 ([Fig .10]) and Figure 12 ([Fig.12])). This variation is due to the winding of the cable 20 moving on the winding portion of the associated drum 41 between two extreme positions delimited by the flanges. The average distance D40 measured between the two drums 41 of the same winding assembly 40 is taken between the centers of each of the two drums, that is to say at an average position taken between the two flanges and central at the level of its axis of rotation. [00114] An average distance D40 measured between the two drums 41 of the same winding assembly 40 equal to the distance D2 separating the links 32 from the second ends 212 of the strands 21 of cables 20 of the associated pair 20 of cables 20, allows to facilitate the passage of the associated cable 20 in the return pulley32. For this reason, the drums 41 can be moved along the motor transmission axis A to refine the position of the drums 41 and allow fine adjustment of the average distance D40 as well as their position substantially plumb with the corresponding connection 32.

Of course, in alternative configurations, such a parallel robot with cables 1 can be used with strands 21, 22 which are not parallel, for a given pair 20' of cables 20.

[00116] In this case, values of D1, D2, d1′, d2′, d1″ and d2″ will preferably be chosen so that: the vertical offset d2″ of the second ends 212 of the strands 21 of cables 20 of a given pair20' of cables 20 and the vertical offset d1" of the first ends of the strands 21 of cables 20 of the associated pair 20' of cables 20 vary with respect to each other by a value less than or equal to 10%; and/or the horizontal offset d2' of the second ends212 of the strands 21 of cables 20 of a given pair 20' of cables 20 and the horizontal offset d1' of the first ends of the strands 21 of cables 20 of the associated pair 20' of cables 20 vary relative to each other by a value less than or equal to 10%; and/or the distance D1 separating the first ends of the strands 21 of cables 20 of a given pair 20' of cables 20 and the distance D2 between the links 32 of the second ends 212 of the strands 21 of cables 20 of the pair 20 of associated cables 20 vary relative to each other by a value less than or equal to 10%;

[00117] Furthermore, the parallel cable robot 1 comprises a control assembly (not shown) for controlling the winding assemblies 40 of the mobile platform 10 and control the movement of the mobile platform 10 in an operational mode of operation.

[00118] Note that the parallel cable robot 1 can be controlled manually. In such a situation, an operator can control the cable parallel robot 1 through a control interface of the control assembly. In this configuration, two operators may be necessary: a first operator ensuring the displacement of the platform 10 and a second operator ensuring the displacement of the steerable mechanism 50 to move the inspection tool 60 with respect to the platform 10. In this case , the location of the maps produced by the inspection sensor 60 on the digital model of the inspected part 200 can be used for the removal of doubt.

[00119] The parallel cable robot 1 can be controlled automatically. In such a configuration, the piloting of the parallel robot with cables 1 does not require the intervention of an operator, neither for the displacement of the platform 10 nor for the sensor positioning. 60. In this configuration, the movement of the measurement platform 10 is autonomous. The trajectory of the platform 10 and the displacements of the sensors 60 will have been generated beforehand by knowing the CAD of the part/structure to be inspected. This movement may also take into account the location of the maps produced by the inspection sensor 60 on the digital model of the part 200 inspected. Thus, the parallel cable robot 1 can be controlled by comparing, then adjusting, the real position of the part 200 with respect to the theoretical position of the digital model. The triggering of sensors, macroscopic positioning means configured to locate the macroscopic position of the platform relative to the inspected part, such as inspection sensors, is programmed in the inspection scenario.

[00120] Of course, the parallel cable robot 1 can be controlled semi-automatically. In such a configuration, the displacement of the platform can be controlled autonomously and the sensors are controlled manually. In another configuration, the platform can be piloted manually by an operator and the sensors automatically acquire measurements and images. Alternatively, the movement of the platform can be controlled manually and include assistance by the control means to limit vibration of the platform, avoid any collision and/or ensure that all areas of interest have been controlled.

Naturally, the invention is described in the foregoing by way of example. It is understood that the person skilled in the art is able to produce different variant embodiments of the invention without departing from the scope of the invention.

[00122] For example, anti-collision radars can be carried by the platform 10 to provide additional safety.

[00123] In particular, the description concentrates on describing the characteristics for a given pair of cables. Of course, an advantageous configuration is that the configurations of the first and second ends, such as their vertical and horizontal offsets, are similar for each of the cable pairs.

[00124] It is emphasized that all the characteristics, as they emerge for a person skilled in the art from the present description, the drawings and the attached claims, even if concretely they have only been described in relation to other specified features, both individually and in arbitrary combinations, can be combined with other features or groups of features disclosed here, provided this has not been expressly excluded or technical circumstances make such combinations impossible or meaningless.

Claims

1 . Parallel cable robot (1) for inspecting a part (200), the parallel cable robot (1) comprising: cables (20); a mobile platform (10) intended to be suspended by the cables (20), each of the cables (20) having a cable strand (21) configured to be stretched between a first end (211) of the strand (21) linked to the mobile platform (10), and a second end (212) of strand (21) linked to a fixed structure (30) in space; winding assemblies (40), each winding assembly (40) being linked to at least one associated cable (20) among the cables (20) to effect winding or unwinding of the associated cable (20); and a control assembly for controlling the winding assemblies (40) of the mobile platform (10) and controlling the movement of the mobile platform (10), the cable parallel robot (1) being characterized in that the platform ( 10) comprises at least one inspection tool (60) and at least one steerable mechanism (50) carrying the inspection tool (60), the steerable mechanism (50) being configured to move the inspection tool ( 60) with respect to the platform (10), the inspection tool (60) comprising at least one inspection sensor configured to map inspected areas of the part (200), the parallel cable robot (1) comprising location means configured to locate maps made by the inspection sensor on a digital model of the part (200) inspected.

2. Cable parallel robot (1) according to claim 1, characterized in that the location means locate the maps as a function of one or more of the following data: a measured macroscopic position data of the platform (10) relative to the part (200) inspected; a measured orientation datum of the steerable mechanism (50); recognition in the cartography of an identifiable mark of the part (200) inspected.

3. Parallel cable robot (1) according to claim 2, characterized in that it embeds at least partly macroscopic positioning means configured to locate a macroscopic position of the platform (10) relative to the part (200) inspected, preferably as a function of a macroscopic position of the platform (10) relative to the fixed structure (30) and of a macroscopic position of the part (200) inspected relative to the fixed structure (30).

4. Cable parallel robot (1) according to claim 1 to 3, characterized in that the inspection sensor comprises at least: an infrared thermography sensor, for example an infrared camera optionally associated with a thermal excitation source such a lamp, a laser, an inductor and/or microwave device; and/or at least one three-dimensional scanner, in particular of the active or passive contactless type and/or at least one camera.

5. Parallel cable robot (1) according to any one of the preceding claims, characterized in that the steerable mechanism (50) comprises at least one motor, the steerable mechanism (50) being configured to move the inspection tool (60) with respect to the platform (10) according to at least one degree of freedom, preferably according to three to six degrees of freedom.

6. Cable parallel robot (1) according to any one of the preceding claims, characterized in that the platform (10) and/or the steerable mechanism (50) support(s) at least one lighting tool, the tool lighting comprising for example LEDs.

7. Cable parallel robot (1) according to any one of the preceding claims, characterized in that each winding assembly (40) is linked to a pair (20') of associated cables (20) among the cables (20) and configured to synchronously wind the pair (20') of associated cables (20).

8. Cable parallel robot (1) according to any one of the preceding claims, characterized in that the mobile platform is intended to be suspended by four cables (20) or groups (20') of cables (20).

9. Installation (100) comprising a parallel cable robot (1) according to any one of the preceding claims, and a fixed structure (30) from which the platform (10) is suspended.

10. Installation (100) according to the preceding claim, characterized in that the fixed structure (30) at least partially supports macroscopic positioning means configured to locate the macroscopic position of the platform (10) relative to the part (200 ) inspected, preferably according to a macroscopic position of the platform (10) relative to the fixed structure (30) and a macroscopic position of the part (200) inspected relative to the fixed structure (30), the macroscopic positioning means comprising for example at least one tracking laser system and/or a system of cameras allowing tracking by photogrammetry, at least one system for detecting and estimating the distance by light.

11 . Method for inspecting a part (200) by a parallel robot with cables (1) of an installation (100) according to one of Claims 9 or 10, characterized in that it comprises a step for locating the maps performed by the inspection sensor on the digital model of the part (200) inspected.

12. Inspection method according to claim 11, characterized in that the step of locating the maps produced by the inspection sensor on the digital model of the inspected part comprises: d) a step of measuring macroscopic position data of the platform (10) relative to the part (200) inspected; e) a step of recognition in the map of at least one identifiable mark of the part (200) inspected; f) locating maps of the inspection sensor on the digital model of the inspected part according to the results of steps a) and b).