CA1154958A - Triaxial programmable module - Google Patents
Triaxial programmable moduleInfo
- Publication number
- CA1154958A CA1154958A CA000331985A CA331985A CA1154958A CA 1154958 A CA1154958 A CA 1154958A CA 000331985 A CA000331985 A CA 000331985A CA 331985 A CA331985 A CA 331985A CA 1154958 A CA1154958 A CA 1154958A
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- module
- guides
- guide
- programming
- kinematics
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Abstract
ABSTRACT.
This invention relates to a triaxial programmable module, appliable to the assembly and testing of machine tools and their control ele-ments, as well as of another power systems based on mechanical, hy-draulic, pneumatic or electrical energy, which enables fixed struc-tures assembly, practically made in a variable stiff shape, distin-guished by having, paralel to each of the axis X, Y, Z of a carte-sian coordinates system, at least one piercing guide, which cross spacialy all other perpendicular guides without intersect them, as well as a variable number of kinematics programming devices acting over the movements of one or more guides.
This invention relates to a triaxial programmable module, appliable to the assembly and testing of machine tools and their control ele-ments, as well as of another power systems based on mechanical, hy-draulic, pneumatic or electrical energy, which enables fixed struc-tures assembly, practically made in a variable stiff shape, distin-guished by having, paralel to each of the axis X, Y, Z of a carte-sian coordinates system, at least one piercing guide, which cross spacialy all other perpendicular guides without intersect them, as well as a variable number of kinematics programming devices acting over the movements of one or more guides.
Description
This invention relates to a triaxial programmable module.
One of the biggest problems in mechanical engineering is the lack of a modular element for in-terconnecting mobile machine elements, which is also able to provide a fast, accuratet powerful, easy and economic way, the different types of movements and stresses in a mechanical system.
This problem arises from the extreme complexity of systems. For example, in the relative motion between two bod~es, there can be 64 variations, as shown by considering, by means of the Boolean laws, the existance or not of freedom in each of the six parameters which define the speed of the centre of gravity and the rotation of the mobile body relative to the fixed one. Not considerlng from the former variations those obtained by circular permutakions, the number of independent possibilities for the mobile body decreases to 20. For example, in a cylindrical friction bearing mounting of an axle there are only two allowed parameters: the rotation around the cylinder axis and the translation in the ax~s direction. No other freedom or parameter is allowed. As a further example, an internally threaded socket allows a screwed rod to move inside it, the rod rotating and translatin~ at the same time. This case r however, differs from the former one by the existence of a relation between both the parameters determined by t~e thread. In other words, among the 20 mentioned apparent possibilities, many others with great practical interest are not included~ For example, a thrust bearing can have different forms depending on whether external forces are acting in one or both senses, and also whether torques appear. The former 64 mentioned variations must be com-bined with another 64 cominy from the consideration as per the Boolean algebra of the existence or not of three .
possi~le force components and three torque components. Even the combinations provided b~ special relations are not included.
, .
One of the biggest problems in mechanical engineering is the lack of a modular element for in-terconnecting mobile machine elements, which is also able to provide a fast, accuratet powerful, easy and economic way, the different types of movements and stresses in a mechanical system.
This problem arises from the extreme complexity of systems. For example, in the relative motion between two bod~es, there can be 64 variations, as shown by considering, by means of the Boolean laws, the existance or not of freedom in each of the six parameters which define the speed of the centre of gravity and the rotation of the mobile body relative to the fixed one. Not considerlng from the former variations those obtained by circular permutakions, the number of independent possibilities for the mobile body decreases to 20. For example, in a cylindrical friction bearing mounting of an axle there are only two allowed parameters: the rotation around the cylinder axis and the translation in the ax~s direction. No other freedom or parameter is allowed. As a further example, an internally threaded socket allows a screwed rod to move inside it, the rod rotating and translatin~ at the same time. This case r however, differs from the former one by the existence of a relation between both the parameters determined by t~e thread. In other words, among the 20 mentioned apparent possibilities, many others with great practical interest are not included~ For example, a thrust bearing can have different forms depending on whether external forces are acting in one or both senses, and also whether torques appear. The former 64 mentioned variations must be com-bined with another 64 cominy from the consideration as per the Boolean algebra of the existence or not of three .
possi~le force components and three torque components. Even the combinations provided b~ special relations are not included.
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The machine tool work movements must be accurate, allowing only small deviations when applying big work stresses, which calls Eor a high strength. Current machine tools are built includ~ng a bed in which the necessary mobile elements are supported and having a complex casting or welded building method, with a difficult design and long manufacturiny time due to the necessity of using special techniqu~s and machines. All this contrlbutes to a high final cost. Another problem with those machines is their dif~icult transport and the inability to be reconverted if required. As there are a large number of machine tool makers, the great variety of different parts and spares that are required must be added to the costs already mentioned.
Another type of workshop machinery is, for instance, coordinate measuring machines, provided to measure the workpiece dimensions. They have a main inconvenience:
although there are no working stresses, it is usual to put heavy workpieces on the machine, which therefore needs a high strength. Due to that, they are not an economical price for small companies.
Robots and manipulators are among the more complex motion systems, including a high number of degrees of free-dom. Their actual cost is also very high despite the use of low cost microprocessors. ~ consideration of existing systems reveals that their mechanical ~omplexity derives from the use of a great variety of different elements with high manufacturing costs.
~ It is already known to provide a two axis module, for use on machine tools which have slide guides in two directions X, Y alIowing only linear displacements, with only one fixed f~eedom degxee~ The rest of motion types such as rotations, helicQidal movement, independent rotation and translation, total blocking, etc., are not attainable~ ~ny motion guidance possibility, perpendicular to the XY plane is not allowed, ,
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The machine tool work movements must be accurate, allowing only small deviations when applying big work stresses, which calls Eor a high strength. Current machine tools are built includ~ng a bed in which the necessary mobile elements are supported and having a complex casting or welded building method, with a difficult design and long manufacturiny time due to the necessity of using special techniqu~s and machines. All this contrlbutes to a high final cost. Another problem with those machines is their dif~icult transport and the inability to be reconverted if required. As there are a large number of machine tool makers, the great variety of different parts and spares that are required must be added to the costs already mentioned.
Another type of workshop machinery is, for instance, coordinate measuring machines, provided to measure the workpiece dimensions. They have a main inconvenience:
although there are no working stresses, it is usual to put heavy workpieces on the machine, which therefore needs a high strength. Due to that, they are not an economical price for small companies.
Robots and manipulators are among the more complex motion systems, including a high number of degrees of free-dom. Their actual cost is also very high despite the use of low cost microprocessors. ~ consideration of existing systems reveals that their mechanical ~omplexity derives from the use of a great variety of different elements with high manufacturing costs.
~ It is already known to provide a two axis module, for use on machine tools which have slide guides in two directions X, Y alIowing only linear displacements, with only one fixed f~eedom degxee~ The rest of motion types such as rotations, helicQidal movement, independent rotation and translation, total blocking, etc., are not attainable~ ~ny motion guidance possibility, perpendicular to the XY plane is not allowed, ,
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Another known solution used in optics has neither possibility for programming the ~uided movement, having only translational degrees of freedom.
-- The present invention provides a triaxial programmable S module, applicable to the assembly and testing of machine tools and their control elemen~s, as well to power systems based on mechanical, hydraulic, pneumatic or electrical energy, which enables fixed structures assembly, practically made in a variable stiff shape, wherein parallel to each of the X, Y, Z axes of a cartesian coordinates system, there is provided at least one guide which traverses the module from one external surface to another and crosses spacially other perpendicular guides without intersecting them, and at least one kinematic programming device as herein defined for regulating movement of elements guided by the guides.
A guide, as understood in machine tool structures, is made by a cylindrical or prismatic hole or groove, able to allow ~he displacement or rotation of an external elongated member.
A kinematics programming dev;ce is hereby defined as a system which operates to constrain the type of movements of an elongated element relative to a guide. For example, the device may constrain the relative movement to pure rotation, pure translation, independent translation and rotation, helicoidal movement, etc.
The term kinematics programming device within this context means all type of device belonging to the module, which with or withouk the help of other auxiliary elements, allows the builder or operatox to select between two or more different states of movement within a guide.
This invention provides a module which at least to some extent eliminates the former incon~eniences at the same time as offering new adv~ntages~ For the building of the mentioned machine tools and systems, the present module, combined with unidimensIonal elements, such as xods, shapes, etct, as well as two-dimens~onal elements, like sheets and th~ck plates, or trldimensional ones, -like compact blocks, 4_ .
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should solve any kind of structural problem, such as, for example, parallelizing, perpendicularity, crosslng, line and plane intersecting, rotation, translation, positioning and directioning of solids at any space point. It can originate movements following cartesian, cylindrical or spherical coordinates. A single type of module can be used for connecting one~, two- or tridimensional elements as mentioned. This module, as well as its auxiliary elements can be prefabricated and standardized, allowing the direct building of machine tools without making any new holes. Each desired movement programming between a guide and the elements attached to it should be made in any easy way without requiriny unusual pieces. It should be also capable of processing other energy types than mechanical, like hydraulic, pneumatlc or even electrical.
Being accurately built, it allows machine tool assembly without additional stresses. ~he module allows low weight building, and easy disassembling and disposal of fixed and mobile systems. Its costs should be low, maintaining the strength of existing structures.
Other modules and auxiliary elements can be attachable or added, in order to strengthen the original structure if necessary, and easy to handle and useful for teaching of mechanical machines theory, as well as a good help in quick testing of new systems, specially automatic control ones, being also applicable to the simulation of systems with the help of electronic equipment, mainly using micropro-cessors. It can also provide for the support of auxiliary parts such as sensors, longitudina-l measuring slides or simple covering elements such as sheets. It also allows for connection with screwed rods, ball or roller bearings and other parts. Machine tools made with the module would be light, easy to transport and to assemble even near another fixed machine tool in order to make measure-ments without moving the measured workpiece out of thework machine.
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The module can have diverse exte~nal shapes, Eor example cubic, parallelepiped~c, cylindr~cal, spherical, etc., compact or hollowed inside, with some guides, each having one or more kinematics programming devices, which allows the elements inside the guides to move with different types of movements.
The guides can be holes or grooves, in different shapes and sizes crossing o~er all the module length on each X, Y, Z direction. They can be smooth or threaded in the whole or in a part of their length, and can also have diverse circular grooves. Equally, small channels can be disposed permitting the creation of an hydraulic or pneumatic supporting pressure or a better lubrication. The guiaes in one module can be different. No case will be allowed to show interference between the guides, although, as a limit, they can be tangential. The number of guides on each direction X, Y, ~ can be also different, and the planes defined by each couple of parallel guide axes, if any, can be oriented in di~ferent directions. On the one hand, one of the guides may be of bigger cross-seciton, or on the other hand a symmetrical module version may be provided i~ desired.
In a practical form, external planar surfaces can be achieved so enabling the broad contact with other planar surfaces, or the coverin~ of a formed structure by means of plates or plane pieces, which also can improve the strength in the corresponding direction. Another version of the module can have a cylindrical external surface, then enabling its use as an hydraulic piston. Another form can have, parallel to one axis, specially if the surface has planar sides, longitudinal protruding profiles, allowing the module to be assembled to a surface with corresponding grooves.
It is to be understood that a kinematics programming device according to this invention, ma~ be any system which allows one to modify or program the selected relative motion or even to block the element inside the guide in relation to the guide itself by means of auxiliary pieces having .~
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physical contact with said element, The relative movements or degrees o freedom can be; pure rotation, pure transla-tion, independent translat~on and rotation, helicoidal movement, etc. Wlth this k~nematics proyramming device, the obtained bindings can support diverse forces or tor~ues, for example, forces in one or two senses, axial clearance control forces, radial clearance control, etc. This kine-matics programming can be obtained by means of programming holes or grooves, oriented perpendicularly to the corres ponding guide and having diverse shapes and sizes, crossing over or not, smooth or threaded in the who]e or in a part of their length, and can also have diverse grooves of part circular section. Their number can be one or more for each guide. The intersection between two programming holes or grooves is a possibility which does not disturb their function, although in this case, the auxiliary programming elements used for each guide could not be retracted across one end of the intersecting hole.
The auxiliary programminy elements housed in the corres-pondent programming holes or groo~es can be different, forexample, pins, threaded rods, screws, clips, etc. There can also be some auxiliary elements inside the guides, for instance, inside threaded sockets, ball or roll bearings, shielded end rings, fastening rings, cams, plugs, grooved rods, etc.
One helpful interchangeability effect among different modules can be obtained if ternary symmetry between perpen-dicular guides exists, being then the distances between each pair of such guides equal~ Assembling will then be easier.
It is known the ability of pneumatic or hydraulic pressure to produce large ~orces when actin~ on a broad surface, allowing also displacements without resistance.
This effect can be obtained, for instance, by eeding of a hydraulic pressure through the programming or connecting holes or guides, The module can be made with different materials, being of special in-terest the use of electrically insulating ones, :
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which allow the making of different electrical circuits by combining the programming holes and different guides.
According to another aspect of the invention there is provided a three dimensional structure comprising a plural-ity of elongate members interconnected by triaxial pro-grammable modules, each module being as defined above wherein guides of the modules engage with the elongate members and the kinematic programming devices regulate movement between the interengaging modules and elongate members.
In the drawings which illustrate embodiments of the invention:
Fig. 1 shows an example of a module with two guides and four programming holes in each direction.
Fig. 2 is a detailed section along A-A of the module of Fig. 1 including hydraulic or pneumatic support elements both on the guides and external surface.
Fig. 3 shows an example of a module with groove type guides and programming holes.
Fig. 4 is a partial view of a practical possibility of how programming holes can interact on the guides.
Fig. 5 shows examples of auxiliary kinematics pro-gramming elements.
Fig. 6 shows an example o~ a hydraulic programming method using a grooved cylindr~¢al rod.
Fig. 7 is a partial section along B-B of the module of Fig. 3, showing the hydraulic or pneumatic support forces.
Fig. 8 is an example of a mac~ine tool structure built by means of a cubic type of module~
Fig. 1 shows a cubic ~ersion of a module 1 with the same nurnbex of guides 2 on each direction, as well as four kinematics programming holes 3. Section A-A belonging to one Ve~sion is seen in Fi~. 2~ Guides 7, 9, 2, 8 here shown, ha~e hydraulic or pneumatic support channels 5 connected to its programming hol~ 4. The guides have a smooth part and a threaded part 9a. On the module sides 10, cavities 10a have been made, giving hydraulic or pneumatic ..
:., . .. .... . ., -support over a planar external surface 26 in a similar way to that shown in Fig. 7. In Fig n 3 another cubic version 11 of this module appears, similar to the former one, with grooves ~2 having a part circular cross-section and traverse the module. This figure show~ that the holes 23 do not intersect with other programming holes 24. Fig. 4 shows a simple variety of module 1 which can perform equally the desired function giving intersections between programming holes 30a and the corresponding guides. Various programming techni~ues are shown in Fig. 5. Here is shown, for example, how to block a tube 12 inside the guide 6 by means of a pin inserted through the hole 12a~ If a pure rotational move-ment of the rod 15, having a groove 16, is desired, this can be achie,ved by inserting through the hole 12a a pin 18 whose loosening is avoided by a threaded bolt 19. Rod 15 would become blocked if it were strongly engaged by pin 18 engaged by the threaded bolt 19. Those last two pieces can also be used to allow a single type of movement of rod 2~ or its complete blocking. For the hydraulic or pneumatic energy control, it is also possible to use this module advantageously~ So the version 1 has six independent circuits each one having two exits or guide ends 30. Fig. 6 shows schematically a way of controlling a fluid flow 35 fed at pressure 34 to an inlet 30a, the ou~let flow 35 being from the hole 31a depending upon the rotation 36 or translation 37 of the control grooved rod 33. Fig 7 shows the flexi-bility of this module in achieving hydraulic or pneumatic support 28 equalized by pressure 29 due to the flow 27 and 27a when passing across hole 24. The module 11 is placed ' 30 on a planar surface 26 having a protruding profile 25.
This can be also achie~ed by module 1, inside its guide 9 ; or in the surface 1~ Fig. 8 shows a sample of a boring - machine structure arrangement, in which module 39 can support the tool ha~ing three di$placement degrees of freedom 50 as per X, Y, Zr made of nine modules 39, all which can be ~denical but individually programmed with necessary guides for housing diverse tubes 43, _9_.
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Another known solution used in optics has neither possibility for programming the ~uided movement, having only translational degrees of freedom.
-- The present invention provides a triaxial programmable S module, applicable to the assembly and testing of machine tools and their control elemen~s, as well to power systems based on mechanical, hydraulic, pneumatic or electrical energy, which enables fixed structures assembly, practically made in a variable stiff shape, wherein parallel to each of the X, Y, Z axes of a cartesian coordinates system, there is provided at least one guide which traverses the module from one external surface to another and crosses spacially other perpendicular guides without intersecting them, and at least one kinematic programming device as herein defined for regulating movement of elements guided by the guides.
A guide, as understood in machine tool structures, is made by a cylindrical or prismatic hole or groove, able to allow ~he displacement or rotation of an external elongated member.
A kinematics programming dev;ce is hereby defined as a system which operates to constrain the type of movements of an elongated element relative to a guide. For example, the device may constrain the relative movement to pure rotation, pure translation, independent translation and rotation, helicoidal movement, etc.
The term kinematics programming device within this context means all type of device belonging to the module, which with or withouk the help of other auxiliary elements, allows the builder or operatox to select between two or more different states of movement within a guide.
This invention provides a module which at least to some extent eliminates the former incon~eniences at the same time as offering new adv~ntages~ For the building of the mentioned machine tools and systems, the present module, combined with unidimensIonal elements, such as xods, shapes, etct, as well as two-dimens~onal elements, like sheets and th~ck plates, or trldimensional ones, -like compact blocks, 4_ .
.
~ - ~
should solve any kind of structural problem, such as, for example, parallelizing, perpendicularity, crosslng, line and plane intersecting, rotation, translation, positioning and directioning of solids at any space point. It can originate movements following cartesian, cylindrical or spherical coordinates. A single type of module can be used for connecting one~, two- or tridimensional elements as mentioned. This module, as well as its auxiliary elements can be prefabricated and standardized, allowing the direct building of machine tools without making any new holes. Each desired movement programming between a guide and the elements attached to it should be made in any easy way without requiriny unusual pieces. It should be also capable of processing other energy types than mechanical, like hydraulic, pneumatlc or even electrical.
Being accurately built, it allows machine tool assembly without additional stresses. ~he module allows low weight building, and easy disassembling and disposal of fixed and mobile systems. Its costs should be low, maintaining the strength of existing structures.
Other modules and auxiliary elements can be attachable or added, in order to strengthen the original structure if necessary, and easy to handle and useful for teaching of mechanical machines theory, as well as a good help in quick testing of new systems, specially automatic control ones, being also applicable to the simulation of systems with the help of electronic equipment, mainly using micropro-cessors. It can also provide for the support of auxiliary parts such as sensors, longitudina-l measuring slides or simple covering elements such as sheets. It also allows for connection with screwed rods, ball or roller bearings and other parts. Machine tools made with the module would be light, easy to transport and to assemble even near another fixed machine tool in order to make measure-ments without moving the measured workpiece out of thework machine.
.
~Le~t~
The module can have diverse exte~nal shapes, Eor example cubic, parallelepiped~c, cylindr~cal, spherical, etc., compact or hollowed inside, with some guides, each having one or more kinematics programming devices, which allows the elements inside the guides to move with different types of movements.
The guides can be holes or grooves, in different shapes and sizes crossing o~er all the module length on each X, Y, Z direction. They can be smooth or threaded in the whole or in a part of their length, and can also have diverse circular grooves. Equally, small channels can be disposed permitting the creation of an hydraulic or pneumatic supporting pressure or a better lubrication. The guiaes in one module can be different. No case will be allowed to show interference between the guides, although, as a limit, they can be tangential. The number of guides on each direction X, Y, ~ can be also different, and the planes defined by each couple of parallel guide axes, if any, can be oriented in di~ferent directions. On the one hand, one of the guides may be of bigger cross-seciton, or on the other hand a symmetrical module version may be provided i~ desired.
In a practical form, external planar surfaces can be achieved so enabling the broad contact with other planar surfaces, or the coverin~ of a formed structure by means of plates or plane pieces, which also can improve the strength in the corresponding direction. Another version of the module can have a cylindrical external surface, then enabling its use as an hydraulic piston. Another form can have, parallel to one axis, specially if the surface has planar sides, longitudinal protruding profiles, allowing the module to be assembled to a surface with corresponding grooves.
It is to be understood that a kinematics programming device according to this invention, ma~ be any system which allows one to modify or program the selected relative motion or even to block the element inside the guide in relation to the guide itself by means of auxiliary pieces having .~
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physical contact with said element, The relative movements or degrees o freedom can be; pure rotation, pure transla-tion, independent translat~on and rotation, helicoidal movement, etc. Wlth this k~nematics proyramming device, the obtained bindings can support diverse forces or tor~ues, for example, forces in one or two senses, axial clearance control forces, radial clearance control, etc. This kine-matics programming can be obtained by means of programming holes or grooves, oriented perpendicularly to the corres ponding guide and having diverse shapes and sizes, crossing over or not, smooth or threaded in the who]e or in a part of their length, and can also have diverse grooves of part circular section. Their number can be one or more for each guide. The intersection between two programming holes or grooves is a possibility which does not disturb their function, although in this case, the auxiliary programming elements used for each guide could not be retracted across one end of the intersecting hole.
The auxiliary programminy elements housed in the corres-pondent programming holes or groo~es can be different, forexample, pins, threaded rods, screws, clips, etc. There can also be some auxiliary elements inside the guides, for instance, inside threaded sockets, ball or roll bearings, shielded end rings, fastening rings, cams, plugs, grooved rods, etc.
One helpful interchangeability effect among different modules can be obtained if ternary symmetry between perpen-dicular guides exists, being then the distances between each pair of such guides equal~ Assembling will then be easier.
It is known the ability of pneumatic or hydraulic pressure to produce large ~orces when actin~ on a broad surface, allowing also displacements without resistance.
This effect can be obtained, for instance, by eeding of a hydraulic pressure through the programming or connecting holes or guides, The module can be made with different materials, being of special in-terest the use of electrically insulating ones, :
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.
.
. .
which allow the making of different electrical circuits by combining the programming holes and different guides.
According to another aspect of the invention there is provided a three dimensional structure comprising a plural-ity of elongate members interconnected by triaxial pro-grammable modules, each module being as defined above wherein guides of the modules engage with the elongate members and the kinematic programming devices regulate movement between the interengaging modules and elongate members.
In the drawings which illustrate embodiments of the invention:
Fig. 1 shows an example of a module with two guides and four programming holes in each direction.
Fig. 2 is a detailed section along A-A of the module of Fig. 1 including hydraulic or pneumatic support elements both on the guides and external surface.
Fig. 3 shows an example of a module with groove type guides and programming holes.
Fig. 4 is a partial view of a practical possibility of how programming holes can interact on the guides.
Fig. 5 shows examples of auxiliary kinematics pro-gramming elements.
Fig. 6 shows an example o~ a hydraulic programming method using a grooved cylindr~¢al rod.
Fig. 7 is a partial section along B-B of the module of Fig. 3, showing the hydraulic or pneumatic support forces.
Fig. 8 is an example of a mac~ine tool structure built by means of a cubic type of module~
Fig. 1 shows a cubic ~ersion of a module 1 with the same nurnbex of guides 2 on each direction, as well as four kinematics programming holes 3. Section A-A belonging to one Ve~sion is seen in Fi~. 2~ Guides 7, 9, 2, 8 here shown, ha~e hydraulic or pneumatic support channels 5 connected to its programming hol~ 4. The guides have a smooth part and a threaded part 9a. On the module sides 10, cavities 10a have been made, giving hydraulic or pneumatic ..
:., . .. .... . ., -support over a planar external surface 26 in a similar way to that shown in Fig. 7. In Fig n 3 another cubic version 11 of this module appears, similar to the former one, with grooves ~2 having a part circular cross-section and traverse the module. This figure show~ that the holes 23 do not intersect with other programming holes 24. Fig. 4 shows a simple variety of module 1 which can perform equally the desired function giving intersections between programming holes 30a and the corresponding guides. Various programming techni~ues are shown in Fig. 5. Here is shown, for example, how to block a tube 12 inside the guide 6 by means of a pin inserted through the hole 12a~ If a pure rotational move-ment of the rod 15, having a groove 16, is desired, this can be achie,ved by inserting through the hole 12a a pin 18 whose loosening is avoided by a threaded bolt 19. Rod 15 would become blocked if it were strongly engaged by pin 18 engaged by the threaded bolt 19. Those last two pieces can also be used to allow a single type of movement of rod 2~ or its complete blocking. For the hydraulic or pneumatic energy control, it is also possible to use this module advantageously~ So the version 1 has six independent circuits each one having two exits or guide ends 30. Fig. 6 shows schematically a way of controlling a fluid flow 35 fed at pressure 34 to an inlet 30a, the ou~let flow 35 being from the hole 31a depending upon the rotation 36 or translation 37 of the control grooved rod 33. Fig 7 shows the flexi-bility of this module in achieving hydraulic or pneumatic support 28 equalized by pressure 29 due to the flow 27 and 27a when passing across hole 24. The module 11 is placed ' 30 on a planar surface 26 having a protruding profile 25.
This can be also achie~ed by module 1, inside its guide 9 ; or in the surface 1~ Fig. 8 shows a sample of a boring - machine structure arrangement, in which module 39 can support the tool ha~ing three di$placement degrees of freedom 50 as per X, Y, Zr made of nine modules 39, all which can be ~denical but individually programmed with necessary guides for housing diverse tubes 43, _9_.
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4~, ~5 screwed rods 41 and engines 47, 51, 52, being each coupled to screwed rods 41, 41a, and for instance, chain synchronized, Most diverse machine types can so be achieved or simulated.
s Fig. 1 and 2 show guide 6 traversing the module parallel to the X axis , crossing other perpendicular guides 7,8 parallel to the directions Y, Z, without intersecting these guides. In the same way, guide 7, parallel to direction Y traverses the module crossing the guides 8, 6 without intersecting them. Guide 8 traverses the module also from one external surface to another crossing perpendicular guides 6, 7 without intersecting them.
The programming elements ~4, 18 and 19 shown in Fig, 5 are con-tainedin a programming in a plane perpendicular to the guide 6, which contains the parts 12~ 15 or 20.
Special interest for educational applications presents a version of the module whose guides are symmetrically arranged around a line which crosses the module. The guides of the module of Fig. 1 appear symmetrically arranged in respect to the main diagonals of the cube, being the minimum distance segments between perpendicular guides equal and symmetrically arranged.
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s Fig. 1 and 2 show guide 6 traversing the module parallel to the X axis , crossing other perpendicular guides 7,8 parallel to the directions Y, Z, without intersecting these guides. In the same way, guide 7, parallel to direction Y traverses the module crossing the guides 8, 6 without intersecting them. Guide 8 traverses the module also from one external surface to another crossing perpendicular guides 6, 7 without intersecting them.
The programming elements ~4, 18 and 19 shown in Fig, 5 are con-tainedin a programming in a plane perpendicular to the guide 6, which contains the parts 12~ 15 or 20.
Special interest for educational applications presents a version of the module whose guides are symmetrically arranged around a line which crosses the module. The guides of the module of Fig. 1 appear symmetrically arranged in respect to the main diagonals of the cube, being the minimum distance segments between perpendicular guides equal and symmetrically arranged.
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Claims (11)
1. A triaxial programmable module, applicable to the assembly and testing of machine tools and their control elements, as well as to power systems based on mechanical, hydraulic, pneumatic or electrical energy, which enables fixed structures assembly, made of a stiff material in a variable external shape, wherein parallel to each of the X, Y, Z axes of a cartesian coordinates system, there is provided at least one guide which traverses the module from one external surface to another and which crosses spacially other perpendicular guides whithout intersecting them, and at least one kinematics programming device as herein defined for regulating movement of elements guided by the guides.
2. A module as claimed in claim 1, in which the kinematics pro-gramming is made by means of a variable number of programming ho-les or grooves which intersect at least one guide following a di-rection contained in a plane perpendicular to the guide.
3. A module as claimed in claim 1, in which the number of guides in all directions X, Y, Z are equal.
4. A module as claimed in claims 1 to 3, in which the minimum dis-tance segments between perpendicular guides are equal and symme-trically arranged in respect to a line crossing the module.
5. A module as claimed in claims 1 to 3, in which all the guides have the same cross-section.
6. A module as claimed in claims 2 or 3, in which each kinematics programming device affects only one guide.
7. A module as claimed in claims 1 to 3, in which there are exter nal plane surfaces perpendicular to the guides.
8. A module as claimed in claims 1 to 3, in which hydraulic or pneumatic support devices are provided.
9. A module as claimed in claims 1 to 3, in which the module is made of electrically insulating material.
10. A module as claimed in claims 1 to 3, in which there are protruding profiles parallel to one or more guides outside of the main geometrical module shape.
11. A three dimensional structure comprising a plurality of elongated members interconnected by triaxial programm-able modules, each module being as claimed in claims 1 or 2, wherein the guides of the module engage with the elongated members and the kinematics programming devices regulate movement between the interengaging modules and elongated members.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000331985A CA1154958A (en) | 1979-07-17 | 1979-07-17 | Triaxial programmable module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000331985A CA1154958A (en) | 1979-07-17 | 1979-07-17 | Triaxial programmable module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1154958A true CA1154958A (en) | 1983-10-11 |
Family
ID=4114705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000331985A Expired CA1154958A (en) | 1979-07-17 | 1979-07-17 | Triaxial programmable module |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA1154958A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118288015A (en) * | 2024-06-06 | 2024-07-05 | 福建合盈机械有限公司 | Bearing clearance test adjusting device |
-
1979
- 1979-07-17 CA CA000331985A patent/CA1154958A/en not_active Expired
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118288015A (en) * | 2024-06-06 | 2024-07-05 | 福建合盈机械有限公司 | Bearing clearance test adjusting device |
| CN118288015B (en) * | 2024-06-06 | 2024-08-20 | 福建合盈机械有限公司 | Bearing clearance test adjusting device |
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