Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B39/00—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines
  • B23B39/14—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines with special provision to enable the machine or the drilling or boring head to be moved into any desired position, e.g. with respect to immovable work
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B47/00—Constructional features of components specially designed for boring or drilling machines; Accessories therefor
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B49/00—Measuring or gauging equipment on boring machines for positioning or guiding the drill; Devices for indicating failure of drills during boring; Centering devices for holes to be bored
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/16—Program controls
  • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
  • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
• • 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
  • G05B19/00—Program-control systems
  • G05B19/02—Program-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
  • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
• • 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
  • G05B19/00—Program-control systems
  • G05B19/02—Program-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
  • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B2260/00—Details of constructional elements
  • B23B2260/062—Electric motors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B2260/00—Details of constructional elements
  • B23B2260/062—Electric motors
  • B23B2260/0625—Linear motors
• • 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
  • G05B2219/49—Nc machine tool, till multiple
  • G05B2219/49231—Keep tool, probe at constant distance from workpiece surface

Definitions

• the machine comprises a first motor and a second motor.
• the first motor includes a rotor coupled to a ball screw engaged with a helical ring on the drive shaft so as to convert rotational motion of the rotor into linear motion which is imparted to the drive shaft.
• Document US2012020756A describes a drilling/milling unit adapted to be supported by an industrial robot.
• the unit includes a spindle that can rotate around an axis.
• An electric servomotor drives a hollow shaft axially through a belt.
• An electric servo motor drives the spindle through an associated belt.
• the aim of the present invention is to propose a new machine tool and a corresponding working process making it possible to overcome all or part of the problems set out above.
• the subject of the invention is a system for working a part, the system comprising a machine tool which comprises:
• a drive shaft having a longitudinal axis, said drive shaft being provided with a tool holder to which a tool, such as a drilling spindle, can be coupled;
• advance motor configured to axially move said drive shaft, and preferably being a linear motor;
• the system also comprises a distance measuring device configured to measure a distance representative of the distance between the part and the frame of the machine tool;
• control unit configured for:
• control the second motor so as to axially move said drive shaft to compensate for said relative axial movement between the part and the frame of the machine, and in that the rotation drive motor and the feed motor are configured so that the axial movement of said at least part of the drive shaft which is provided with the tool holder is controllable independently of the rotation of said at least part of the drive shaft which is provided with the tool holder.
• the relative axial movement between the tool and the part to be worked may be due to a movement of the part as a whole (for example a recoil of the part) or even to a deformation of the part to be worked during the work she undergoes.
• a movement of the part as a whole for example a recoil of the part
• a deformation of the part to be worked during the work she undergoes may be due to a movement of the part as a whole (for example a recoil of the part) or even to a deformation of the part to be worked during the work she undergoes.
• Taking into account the variation in relative position between the machine tool and the work piece makes it possible to ensure a work process for the part which is precise and reliable.
• document GB2593501 A of the state of the art the mobility of the drill is simply used to perform a back and forth movement for drilling, but document GB2593501 A does not provide for adjusting the axial position of the drill relative to the frame of the machine tool, to obtain a new reference position of the drill relative to the frame of the machine tool, in order to compensate for a bias measured between the frame of the machine tool and the workpiece .
• the design of the system according to the invention makes it possible to correct by the movement of a single motor, namely the feed motor, the position of the tool coupled to the tool holder carried by the drive shaft , and thus maintain the relative position of the tool holder and therefore of the tool relative to the workpiece, even in the event of relative axial movement between the workpiece and the frame of the machine tool, and this precise and reliable manner and in real time.
• the drive shaft comprises a first section and a second section connected together by a connecting device, one of the sections being engaged with the advance motor , the other section being engaged with the rotating drive motor.
• the drive shaft comprises a first section and a second section connected together by a connecting device configured to make the first section and the second section integral in axial movement l one from the other, while maintaining freedom of rotation of the first section relative to the second section.
• the first section to which the tool holder is fixed can be driven in rotation by the rotation drive motor, and the second section can be driven in axial movement by the motor. advance.
• the feed motor is a linear motor having a primary part mounted fixed relative to the chassis of the machine tool, and a secondary part, mounted movable in a direction parallel to the axis of the drive shaft, which is fixed to a section of the drive shaft, or formed in one piece with said section of the drive shaft.
• the support system comprises a main base (or frame) and an arm, the machine tool being mounted articulated on the arm, said arm comprising one or more sections which can be articulated together, said arm being preferably itself mounted articulated on the base.
• control unit is configured to allow the drive shaft to be moved in order to move the tool axially in a movement at variable speed to fragment the chip resulting from the work of the tool on the workpiece.
• compensation distance a distance corresponding to the difference between the new value and the initial value so as to define a new position axial reference of the drive shaft
• a driving element and a driven element are considered to be in direct engagement when the speed of movement of the driving element is the same as that of the driven element. There is no relative sliding between elements.
• An intermediate part may be present but without relative movement between the driving part and the driven part.
• Figure 2 illustrates a sectional view of a machine tool equipped with a tool which is in contact with a workpiece, according to one embodiment of the invention
• Figure 2A illustrates a sectional view of the machine tool of Figure 2 with a relative axial displacement of the workpiece relative to the machine tool, which results in a relative axial displacement of the workpiece. work in relation to the tool;
• the motor system 2, 3 is configured to allow not only to rotate at least one part 4001 of the drive shaft 400 to which the tool holder 600 is fixed so as to be able to rotate the tool 900 fixed to the tool holder 600 in a removable manner, but also to axially move said part 4001 of the drive shaft 400 (preferably by axial movement of another part 4002 of the drive shaft as explained below) to allow the tool holder 600 and therefore the tool 900 coupled to the tool holder to be moved axially.
• the fact of having the axis (direction) of thrust, which corresponds to the axis of movement of the drive shaft (also called axis of advance), collinear with the axis of the tool allows precise and reliable work on the part.
• the support system R1 is itself mounted on a carriage system configured to move in several directions relative to the work piece P1.
• the support system and/or the carriage system makes it possible to position the machine tool and therefore the tool according to the desired position and orientation in relation to the workpiece.
• the support system R1 can be moved independently of the part P1.
• the support system R1 can be positioned so that the machine tool M1 has a position and orientation as illustrated in Figure 1 in short broken lines.
• Tool 900 is for example a drilling spindle.
• the tool 900 has a longitudinal axis A900 coaxial with the axis A400 of the drive shaft 400.
• the tool holder 600 also has an axis A600 which is coaxial with the axis A400 of the drive shaft 400 .
• the machine tool M1 comprises an electric motor system which includes a first motor 2, called rotation drive motor, configured to rotate at least one part 4001 of the shaft 400 training.
• the motor system also includes a second motor 3, called an advance motor, which makes it possible to move said drive shaft 400 axially, preferably in direct engagement with a section 4002 which is independent in rotation of the section. 4001 which carries the tool 900 via the tool holder 600.
• the feed motor 3 makes it possible to control the translation of the drive shaft along its longitudinal axis A400 without impact on the rotation of said shaft .
• the rotation drive motor 2 is mounted integral in rotation with the section 4001 of the drive shaft 400 provided with the tool holder 600 for its rotation drive, while being in sliding connection with said section 4001, to authorize axial movement of said section 4001 controlled by the feed motor 3.
• the rotation drive motor 2 and the advance motor 3 are able to be controlled independently of each other.
• each motor can, under the control of the control unit 8, act on the drive shaft 400 independently of the action of the other motor on said shaft:
• One of the motors controls only the rotation of the shaft and the other only its axial movement.
• the two motors act respectively on two collinear sections of the drive shaft, which makes it possible not to generate a geometric defect at the end of the tool 900 fixed to the tool holder during the rotation of this one.
• the axis of rotation of the rotation drive motor 2 is coaxial with the axis of the feed motor 3.
• the drive shaft 400 comprises a first section 4001 which can be driven in rotation by the motor 2 and at one end of which the tool holder 600, and a second section 4002 which can be driven in axial movement by the motor 3 in advance, so as to be able to push or pull axially on the first section 4001 to axially move the tool 900 associated with the first section 4001 by the holder -tool.
• the connection 4003 between the first section 4001 and the second section 4002 is configured so that the first section 4001 and the second section 4002 are integral in axial movement with each other, while maintaining freedom of rotation of the second section 4002 relative to the first section 4001.
• connection 4003 can thus be produced in the form of a pivot connection, with a pivot axis coaxial with the axis A400 of the shaft of the drive shaft 400.
• connection 4003 can be made in the form of a ball joint.
• the connecting device 4003 between the two sections 4001, 4002, is devoid of axial play, and allows the second section 4002 to be left free to rotate relative to the first section 4001.
• This compact architecture makes it possible to provide a thrust on the tool 900 in the axis of the drive shaft (spindle axis), as well as decoupling the control of the two motors.
• Such a design facilitates the production of control loops such as for example drilling cycles with discontinuous cutting allowing the fragmentation of the chip which thus facilitates its evacuation during the operation.
• the section 4002' which is provided with the tool holder is engaged with the feed motor 3, and the other section 4001' is in engagement with the rotation drive motor 2.
• the section 4002' which can be controlled in axial movement by the feed motor 3, thus extends between the tool 900 and the section 4001' which can be controlled in rotation by the motor 2.
• the connection 4003 is a rigid connection so that that the sections 4001 ', 4002' are integral in axial movement and in rotation.
• the section of the drive shaft 400 which is engaged with the feed motor 3 is distinct from the section of the drive shaft 400 which is engaged with the rotation drive motor 2 .
• the two sections of the shaft of the machine tool M1 are drilled, preferably axially in their center, in order to allow a refrigerant liquid to pass for the drilling operations.
• the rotary motor 2 corresponds to a spindle motor which rotates the first section 4001 of the drive shaft 400 which carries the tool 900.
• the rotary motor 2 comprises a stator 200 fixed relative to the chassis 100 of the machine M1 and a rotor 210 whose rotation speed can be controlled by a control module 810 of the control unit 8 as explained below.
• the first section 4001 of the drive shaft 400 is a splined section coupled in rotation with the rotor 210 of the motor 2 by a meshing system integral with the rotor 210 which cooperates with the section fluted.
• the meshing system comprises a main meshing member 220 and a secondary meshing member 230 spaced apart axially in order to distribute the driving torque, and increase the stiffness of the assembly and improve the precision of the rotation of the first section 4001 thanks to a longer guidance of said first section.
• the stator of the rotation motor comprises a winding system and the rotor comprises a magnet system so that the electrical supply of the winding system generates a magnetic field which interacts with the magnet system.
• the rotary motor thus generates a radial electromotive force (electromagnetic torque) which rotates at least the part of the drive shaft with which the rotor is engaged.
• the advance motor 3 is a linear motor configured to control the axial movement of the second section 4002.
• a linear motor makes it possible to move the second section 4002 axially and thus the first section 4001 linked axially to the first section, without rotating or adding rotational movement to the second section 4002.
• the feed motor 3 comprises a primary 300 and a secondary 310.
• the primary 300 is fixed relative to the chassis 100 of the machine M1 and the secondary 310, which is fixed or integrated into the drive shaft 400, is movable in translation relative to the primary 300 in a direction parallel to the axis of the drive shaft 400.
• the primary 300 and the secondary 310 of the advance module respectively comprise several primaries and several secondaries.
• the feed motor generates an axial electromotive force (with an axis parallel to the axis of the drive shaft) which translates the drive shaft with which the secondary of the feed motor is engaged.
• the winding system of the advance motor can be supplied so as to move the magnetic field created along the axis of the drive shaft at a given speed.
• a control unit makes it possible to control the speed of movement of the magnetic field generated according to the desired movement speed to control the axial movement speed of the drive shaft.
• the axial movement of the secondary 310 of the motor 3 causes the axial movement of the second section 4002 of the drive shaft.
• the secondary 310 of motor 3 and the second section 4002 can be made in one and the same part.
• Such a design of the machine thus makes it possible to control the rotation of the tool 900 using the rotary motor 2 independently of the axial movement of the tool which can be controlled using the feed motor 3.
• the axial movement of the drive shaft is carried out while keeping the chassis of the machine tool which carries the motors, stationary in the terrestrial reference frame. It is therefore the drive shaft which moves, preferably along and inside the frame of the machine tool, and not the frame which would be moved in the terrestrial frame of reference.
• the module 830 determines that the distance D1 between the frame 100 of the machine tool and the part P1 to be worked has been modified into a distance D1 ', for example when the distance difference D1 - D1' is greater than a threshold value, then the module 840 controls the axial movement of the drive shaft 400 for a modification of the axial reference position P4ref of the shaft 400 to compensate for this relative modification of distance between the part P1 and the chassis 100 of the machine.
• the axial reference position of the drive shaft is memorized by the control unit 8 to enable the work instructions of the part to be executed, which include commands for axial movement (and rotation) of the shaft 400 and therefore of the tool 900, as a function of said axial reference position of the drive shaft.
• the advance control module 820 is configured to make it possible to control an axial movement at constant speed of the second section 4002.
• the advance control module 820 can also be configured to control a main axial movement of the second section 4002 with oscillations superimposed on the main axial movement.
• the control unit makes it possible to control the rotation drive motor 2 and the feed motor 3 independently of each other, while allowing them to be controlled simultaneously.
• the control unit 8 comprises a control module 840 which is configured to, following a modification of the distance determined by the module 830 between the chassis 100 of the machine tool M1 and the part P1 to be worked , control the advance motor 3 to axially move said drive shaft by a distance equal to the determined distance modification.
• the drive shaft then presents a new axial reference position P4ref according to which the work instructions of the part P1 can continue to be executed, which makes it possible to compensate for the relative axial displacement of the part P1 relative to the chassis of the M1 machine.
• the machine tool includes an interface making it possible to select one or more oscillation parameters (frequency and/or amplitude) and/or the shape of the signal (sine, triangle, trapezoid, etc.).
• the working system comprises a device for measuring the orthogonality of the tool (or the axis of the drive shaft 400) of the machine M1 with the part P1.
• the compensation module 840 of the control unit 8 controls the axial movement of the drive shaft, here to advance it, by a distance equal to D1 - D1 'to compensate for the recoil of the part by relative to the chassis, so that the reference position P4ref (original position) of the shaft 400, defined for example as being the position of the free end of the section 4002 relative to the chassis 100 is modified into a position P4ref , with a distance between said reference positions P4ref' and P4ref equal to the distance D1 - D1'.
• the module 830 of the control unit 8 analyzes in real time the data from the two control modules 810 and 820, in order to deduce the relative position of the cutting tool 900 in relation to to a change of material in the workpiece P1 and thus adapt the cutting parameters in real time to the material to be machined according to the strategy adopted.
• the module 830 of the control unit 8 analyzes in real time the data from the two control modules 810 and 820, to determine the wear rate of the tool 900.
• step 1010 the machine tool M1 is positioned relative to the part P1 in order to be able to work on the part P1 using the tool 900 (by rotation and/or axial movement of the tool 900 compared to part P1).
• step 1030 during work on part P1, the control unit determines whether the distance between part P1 and the frame of the machine has changed.
• the machine tool thus makes it possible to determine a possible relative axial movement between the chassis 100 of the machine tool M1 and the manufacturing part P1, and to correct, in real time, this relative axial movement during the workpiece operation.
• the tool holder is fixed on the first section of the drive shaft by screwing said tool holder onto the first section of the drive shaft.
• the blocker can be used for the assembly or disassembly of the tool holder in relation to the drive shaft by blocking the tool holder on this blocker by cooperation of male and female shape to carry out the screwing or unscrewing of said tool holder relative to the drive shaft.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Manufacturing & Machinery (AREA)
• Automation & Control Theory (AREA)
• General Physics & Mathematics (AREA)
• Physics & Mathematics (AREA)
• Human Computer Interaction (AREA)
• Robotics (AREA)
• Health & Medical Sciences (AREA)
• Orthopedic Medicine & Surgery (AREA)
• General Health & Medical Sciences (AREA)
• Automatic Control Of Machine Tools (AREA)
• Numerical Control (AREA)
• Machine Tool Sensing Apparatuses (AREA)
• Drilling And Boring (AREA)
• Manipulator (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=85036794

Family Applications (1)

Country Status (7)

Family Cites Families (5)

• 2022
  • 2022-10-07 FR FR2210312A patent/FR3140568B1/fr active Active
• 2023
  • 2023-10-06 EP EP23793444.3A patent/EP4598702A2/de active Pending
  • 2023-10-06 JP JP2025519019A patent/JP2025533059A/ja active Pending
  • 2023-10-06 KR KR1020257011146A patent/KR20250078931A/ko active Pending
  • 2023-10-06 US US19/117,668 patent/US20260108956A1/en active Pending
  • 2023-10-06 WO PCT/FR2023/051565 patent/WO2024074798A2/fr not_active Ceased
  • 2023-10-06 CN CN202380071107.2A patent/CN120018925A/zh active Pending

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