Tool Module for Carrier Robot and Machining Method Implemented by the Tool Module
OwnerMarc SEMBLAT, Elodie MULLERinventors
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Abstract
The present invention relates to a tool module (700) for a carrier robot (100) inserted into a first duct (1), the tool module (700) comprising a rotary body (701) extending along an extension axis (C), a centering device (60) and a tool (70) protruding from the rotary body (701), the centering device (60) comprising: two reference rollers (71) movable between: a folded position; a deployed position in which each reference roller (71) protrudes from the rotary body (701) so as to bear against a wall of the first duct (1); a push block (80) movable so as bear against a wall of the first duct (1) when the push block (80) and the reference rollers (71) are in their deployed position.
Claims15
A tool module for a carrier robot inserted into a first duct, the tool module comprising a rotary body extending along an extension axis, a centering device and a tool protruding from the rotary body, the centering device comprising:
- two reference rollers placed on the rotary body, each reference roller extending along a rotation axis parallel to the extension axis of the rotary body, the reference rollers being movable between:
- a folded position in which each reference roller is housed within the rotary body;
- a deployed position in which each reference roller protrudes from the rotary body so as to bear against a wall of the first duct;
- a push block placed opposite to the reference rollers on the rotary body and comprising at least one bearing roller extending on a rotation axis parallel to the extension axis, the push block being movable perpendicularly to the extension axis between a folded position and a deployed position, such that the bearing roller bears against a wall of the first duct when the push block and the reference rollers are in their deployed position.
A machining method implemented by a tool module for a carrier robot inserted into a first duct, the tool module comprising a rotary body extending along an extension axis, a centering device and a tool protruding from the rotary body, the centering device comprising:
- two reference rollers placed on the rotary body, each reference roller extending along a rotation axis parallel to the extension axis of the rotary body, the reference rollers being movable between:
- a folded position in which each reference roller is housed within the rotary body;
- a deployed position in which each reference roller protrudes from the rotary body so as to bear against a wall of the first duct;
- a push block placed opposite to the reference rollers on the rotary body and comprising at least one bearing roller extending on a rotation axis parallel to the extension axis, the push block being movable perpendicularly to the extension axis between a folded position and a deployed position, such that the bearing roller bears against a wall of the first duct when the push block and the reference rollers are in their deployed position.
- , the method comprising the following steps:
- step F31:
- switching the reference rollers into a deployed position;
- step F32:
- switching the push block into the deployed position;
- step F53a:
- rotating the bearing rollers and the tool in opposite directions of rotation so as to perform a predetermined number of roughing passes.
Dependencies are inferred from the claim text.