公开(公告)号：US20200324311A1

公开(公告)日：2020-10-15

申请号：US16914848

申请日：2020-06-29

Applicant: Safran Nacelles

Inventor： Didier BARBARIT ,  Erwan JANTY ,  Bertrand SOUFFLET

IPC: B05C5/02 ,  B25J15/00 ,  B25J13/08 ,  B25J9/16 ,  B25J19/02 ,  B25J9/12 ,  B05D1/26 ,  B05C11/10

Abstract: A device for depositing a bead of a plastic substance on a profile includes a robotic arm, a deposition effector including an extrusion nozzle that is linked to a supply of plastic substance and that extends axially along an extrusion axis (A), and a force feedback sensor for measuring the force applied by the nozzle to the profile during the deposition of the bead. The device further includes an electronic computer implementing a computer program that is designed to control the robotic arm in space along a predetermined theoretical trajectory, and correct the theoretical trajectory according to the measurements made by the force feedback sensor, such that the bearing force (F) of the nozzle on the profile, measured by the force feedback sensor, tends towards a predefined value, in order to allow the nozzle to remain in contact on the profile.