Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
  • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
  • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
  • B23Q17/2233—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
  • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
  • B23Q1/25—Movable or adjustable work or tool supports
  • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
  • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
  • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
  • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
  • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/16—Programme controls
  • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
  • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/16—Programme controls
  • B25J9/1679—Programme controls characterised by the tasks executed
  • B25J9/1692—Calibration of manipulator
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/39—Robotics, robotics to robotics hand
  • G05B2219/39026—Calibration of manipulator while tool is mounted
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/39—Robotics, robotics to robotics hand
  • G05B2219/39041—Calibrate only for end position
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/50—Machine tool, machine tool null till machine tool work handling
  • G05B2219/50162—Stewart platform, hexapod construction
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T29/00—Metal working
  • Y10T29/49—Method of mechanical manufacture
  • Y10T29/49764—Method of mechanical manufacture with testing or indicating
  • Y10T29/49771—Quantitative measuring or gauging

Definitions

• the present invention relates to a novel method of working a room with a parallel architecture machine.
• the work of a part is for example and not limited to machining, milling, polishing, welding, hammering etc.
• a parallel architecture machine is for example a hexapod subject to several patents of the plaintiff.
• Such a machine mainly comprises a fixed plate and a movable plate that supports the tool or tools used to perform the work or work listed above.
• the fixed plate of the machine is connected to the movable plate by a set of legs (or arms) for example six in the case of a hexapod, and the movable plate is moved relative to the fixed plate to perform, in its work volume , the work planned or to perform certain measurements on the part.
• the object of the present invention is to machine or work on site large parts with a parallel architecture machine.
• the problem is solved by the invention which consists of a working method of a workpiece with a machine called parallel architecture machine, of the type comprising a movable tool-holder plate connected to a fixed plate by a plurality of legs, the machine being programmed to carry out theoretical toolpaths, characterized in that: the fixed plate of the machine is fixed with respect to a zone of the workpiece, - measurements are made of the relative position between a first entity specific to the machine, which is either the machine itself or the support of the machine, and a second entity specific to the part which is either the part or a tooling possibly fixed on the part, one deduces from the measurements acquired previously the exact position in coordinates and in inclination, of the first entity in a repository, the preprogrammed theoretical paths of the tool or tools are modified according to the relative positioning xact of the two entities calculated in the previous step.
• the solution of directly or indirectly fixing the machine on the part (1) is not known from the prior art.
• FIGS. 1 and 2 show in plan view and in side view a machine with parallel architecture fixed on a support positioned in the vicinity of a piece to work, here a large tank.
• FIGS. 3, 4 and 5 show in front view, viewed from the side and seen from above, a machine with parallel architecture fixed on a support, itself approximately fixed on a workpiece, here for example a tank of large dimensions.
• Figures 6, 7 and 8 show in front view, side view and top view, a parallel architecture machine fixed on a table that can be animated own movements.
• machine (1) designates a machine with parallel architecture as defined above, for example a hexapod and comprising a fixed plate (4), a movable plate (5), joined by a plurality of legs (6).
• the first step of the method consists in fixing approximately the fixed plate (4) of the machine (1), or on a support (2) (for example a square in FIGS. 1 and 2) placed near the workpiece (3) to work, either directly or indirectly on the piece (3).
• a support (2) for example a square in FIGS. 1 and 2 placed near the workpiece (3) to work, either directly or indirectly on the piece (3).
• FIGS. 3 to 5 show a machine (1) fixed on a support (2) itself fixed or attached approximately to the workpiece by means of a fastening system (7). ).
• the tool (8) (or tools) carried by the machine is therefore positioned approximately in relation to the zone (9) of the part to be worked.
• the following steps of the process will have to correct this relative positioning machine / piece or there is a problem to solve related to two incompatible constraints: the first being that one can neither move the fixed plate (4) nor move the piece (3) which is for example a large tank, an airplane wing etc.; and the second is that it is mandatory to work on site and it becomes mandatory to move the machine.
• the method according to the invention consists in solving this problem and in correcting this positioning while moving the machine towards or on the part.
• the second step of the method consists in making measurements of the relative position between two entities, a first entity being the machine (1) or the support (2) of the machine, the second entity being the part (3) or a tooling possibly fixed on the piece.
• a first entity being the machine (1) or the support (2) of the machine
• the second entity being the part (3) or a tooling possibly fixed on the piece.
• a next step of the method computer software deduces from the measurements previously acquired by one or the other measurement method, the exact position taking into account the tolerances, in coordinates and inclination, of the first entity and preferably the plateau.
• a repository for example a three-axis reference Ox, Oy, Oz, predetermined, which is either a repository of the part or a reference linked to it.
• the preprogrammed theoretical paths for the tool or tools are modified, as a function of the relative positioning of the two entities which has been calculated in the preceding step and in particular of the exact positioning of the fixed plate, taking into account the imposed tolerances. or required by the work to be performed.
• the software calculates the actual position of the fixed plate relative to the workpiece and establishes a transfer matrix for modifying the theoretical paths of the tools accordingly.
• the method according to the invention is equally applicable to a machine carrying a single tool, or carrying several tools, these being able to be fixed with respect to the plate which carries them, or animated with a clean movement
• the tray is equipped with a movement unit that can for example and not be limited to an electro-spindle for milling, a jack system allowing reciprocating movement of the tool to hammer, to any other type of unit of motion of a tool.
• the support (2) can be fixed or movable from one workplace to another, it can also be animated by a clean and autonomous movement.
• FIGS. 6 to 8 show a machine (1) fixed by its support (2) on a table (10) equipped with means of crossed movements and / or rotation means.
• the machine can be equipped with various tools. It becomes a robot of great precision and very high rigidity. Indeed, the rigidity in the Oz axis can be greater than 700 Newton per micron. possibility of high speed machining (UGV)
• a small diameter tool is enough. So with a tool diameter of 20 mm chip flow can be very important. It is equivalent to that of a large diameter consuming 40 kW. very simple control of the machine. The programs are written very simply from any CAM, without the need for a specific post processor.
• Layout, temperature corrections, tool correction, ... are simple functions that require no training.
• a leveling module can be integrated into the machine control software, it recalculates all the toolpaths and performs all corrections in inclinations (roll, pitch, yaw) and all corrections in coordinates (x, y, z). . autonomy, lightness, small size of the machine allowing its movement. use of simple supports, external or internal or use without support which is interesting for large parts. It is specified here that in the description the terms "approximate" or

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• 2007
  • 2007-06-15 FR FR0755773A patent/FR2917316B1/fr not_active Expired - Fee Related
• 2008
  • 2008-06-13 JP JP2010511710A patent/JP2010530104A/ja active Pending
  • 2008-06-13 EP EP08805995A patent/EP2155432A2/de not_active Withdrawn
  • 2008-06-13 WO PCT/FR2008/051060 patent/WO2009004228A2/fr active Application Filing
  • 2008-06-13 US US12/664,825 patent/US20100186210A1/en not_active Abandoned

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