WO2009004228A3 - Procede de travail sur site d'une piece de grande dimension avec une machine a architecture parallele - Google Patents

Procede de travail sur site d'une piece de grande dimension avec une machine a architecture parallele Download PDF

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Publication number
WO2009004228A3
WO2009004228A3 PCT/FR2008/051060 FR2008051060W WO2009004228A3 WO 2009004228 A3 WO2009004228 A3 WO 2009004228A3 FR 2008051060 W FR2008051060 W FR 2008051060W WO 2009004228 A3 WO2009004228 A3 WO 2009004228A3
Authority
WO
WIPO (PCT)
Prior art keywords
machine
large dimension
parallel architecture
dimension part
strokes
Prior art date
Application number
PCT/FR2008/051060
Other languages
English (en)
Other versions
WO2009004228A2 (fr
Inventor
Francois Wildenberg
Original Assignee
Cmw Construction Mecaniques De
Francois Wildenberg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cmw Construction Mecaniques De, Francois Wildenberg filed Critical Cmw Construction Mecaniques De
Priority to EP08805995A priority Critical patent/EP2155432A2/fr
Priority to JP2010511710A priority patent/JP2010530104A/ja
Priority to US12/664,825 priority patent/US20100186210A1/en
Publication of WO2009004228A2 publication Critical patent/WO2009004228A2/fr
Publication of WO2009004228A3 publication Critical patent/WO2009004228A3/fr

Links

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Numerical Control (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

La présente invention concerne un procédé de travail d'une pièce avec une machine dite machine à architecture parallèle, du type comportant un plateau porte-outil mobile relié à un plateau fixe par une pluralité de jambes, la machine étant programmée pour effectuer des parcours théoriques des outils, caractérisé en ce que : on fixe le plateau fixe (4) de la machine (1) par rapport à une zone de la pièce à travailler; on effectue des mesures de la position relative entre une première entité propre à la machine et une deuxième entité propre à la pièce; on déduit des mesures acquises précédemment la position exacte en coordonnées et en inclinaison, de la première entité dans un référentiel; on modifie les parcours théoriques préprogrammés du ou des outils en fonction du positionnement relatif exact des deux entités calculé à l'étape précédente.
PCT/FR2008/051060 2007-06-15 2008-06-13 Procede de travail sur site d'une piece de grande dimension avec une machine a architecture parallele WO2009004228A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08805995A EP2155432A2 (fr) 2007-06-15 2008-06-13 Procede de travail sur site d'une piece de grande dimension avec une machine a architecture parallele
JP2010511710A JP2010530104A (ja) 2007-06-15 2008-06-13 並列アーキテクチャマシンを用いた大型部品の現場加工の方法
US12/664,825 US20100186210A1 (en) 2007-06-15 2008-06-13 Method for in situ machining of a large dimension part with a parallel architecture machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0755773A FR2917316B1 (fr) 2007-06-15 2007-06-15 Procede de travail sur site d'une piece de grande dimension avec une machine a architecture parallele
FR0755773 2007-06-15

Publications (2)

Publication Number Publication Date
WO2009004228A2 WO2009004228A2 (fr) 2009-01-08
WO2009004228A3 true WO2009004228A3 (fr) 2009-03-05

Family

ID=38920591

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2008/051060 WO2009004228A2 (fr) 2007-06-15 2008-06-13 Procede de travail sur site d'une piece de grande dimension avec une machine a architecture parallele

Country Status (5)

Country Link
US (1) US20100186210A1 (fr)
EP (1) EP2155432A2 (fr)
JP (1) JP2010530104A (fr)
FR (1) FR2917316B1 (fr)
WO (1) WO2009004228A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2952841B1 (fr) * 2009-11-26 2011-12-02 Airbus Operations Sas Dispositif pour le percage d'un panneau complexe
DE102013224174B3 (de) * 2013-11-26 2015-01-08 Gottfried Wilhelm Leibniz Universität Hannover Werkzeugmaschine
CN113369552B (zh) * 2021-06-18 2022-09-30 重庆水泵厂有限责任公司 内相贯线圆角加工方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002006003A1 (fr) * 2000-07-19 2002-01-24 Bae Systems Plc Systeme de positionnement d'outil
EP1308239A2 (fr) * 2001-10-31 2003-05-07 GROB-Werke Burkhart Grob e.K. Machine-outil et procédé d'ajustement de la position de la broche de cette machine outil
US20030120377A1 (en) * 2001-12-26 2003-06-26 Lockheed Martin Corporation Machine for performing machining operations on a workpiece and method of controlling same
US20030208302A1 (en) * 2002-05-01 2003-11-06 Lemelson Jerome H. Robotic manufacturing and assembly with relative radio positioning using radio based location determination
EP1563950A1 (fr) * 2001-12-10 2005-08-17 The Boeing Company Perceuse avec rails de guidage flexibles
EP1775077A2 (fr) * 2005-10-17 2007-04-18 Shin Nippon Koki Co., Ltd. Machine à cinématique parallèle, méthode de calibration d'une machine à cinématique parallèle et programme de calibration

Family Cites Families (13)

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Publication number Priority date Publication date Assignee Title
US4536690A (en) * 1982-10-19 1985-08-20 Calspan Corporation Tool-supporting self-propelled robot platform
JP3019262B2 (ja) * 1990-01-26 2000-03-13 株式会社日立製作所 工作機械における数値制御加工方法およびその装置
JPH05228790A (ja) * 1992-02-19 1993-09-07 Kobe Steel Ltd 工作機械の機械パラメータの補正方法及びその装置
US5813287A (en) * 1994-03-02 1998-09-29 Renishaw Plc Coordinate positioning machine
FR2779086B1 (fr) * 1998-04-27 2000-06-30 Const Mecaniques Des Vosges Ma Systeme compensateur pour hexapode
US6629354B1 (en) * 2000-11-13 2003-10-07 Utica Enterprises, Inc. Apparatus for immobilizing a frame structure in its free state to establish a net datum position thereof
US6546616B2 (en) * 2000-12-15 2003-04-15 Bell Helicopter Textron Inc. Six-axis alignment and installation tool
JP4198334B2 (ja) * 2001-06-01 2008-12-17 富士通マイクロエレクトロニクス株式会社 Ｘｙステージを用いた処理方法及び装置
JP2004192152A (ja) * 2002-12-09 2004-07-08 Fuji Heavy Ind Ltd 数値制御装置
US6808344B2 (en) * 2002-12-27 2004-10-26 Jeng-Shyong Chen Multi-axis cartesian guided parallel kinematic machine
JP2004246498A (ja) * 2003-02-12 2004-09-02 Fanuc Ltd 位置制御装置
US20060241810A1 (en) * 2005-04-20 2006-10-26 Dan Zhang High stiffness, high accuracy, parallel kinematic, three degree of freedom motion platform
JP4464318B2 (ja) * 2005-05-16 2010-05-19 オークマ株式会社 パラレルメカニズム機械のキャリブレーション方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002006003A1 (fr) * 2000-07-19 2002-01-24 Bae Systems Plc Systeme de positionnement d'outil
EP1308239A2 (fr) * 2001-10-31 2003-05-07 GROB-Werke Burkhart Grob e.K. Machine-outil et procédé d'ajustement de la position de la broche de cette machine outil
EP1563950A1 (fr) * 2001-12-10 2005-08-17 The Boeing Company Perceuse avec rails de guidage flexibles
US20030120377A1 (en) * 2001-12-26 2003-06-26 Lockheed Martin Corporation Machine for performing machining operations on a workpiece and method of controlling same
US20030208302A1 (en) * 2002-05-01 2003-11-06 Lemelson Jerome H. Robotic manufacturing and assembly with relative radio positioning using radio based location determination
EP1775077A2 (fr) * 2005-10-17 2007-04-18 Shin Nippon Koki Co., Ltd. Machine à cinématique parallèle, méthode de calibration d'une machine à cinématique parallèle et programme de calibration

Also Published As

Publication number Publication date
WO2009004228A2 (fr) 2009-01-08
FR2917316B1 (fr) 2010-02-12
FR2917316A1 (fr) 2008-12-19
JP2010530104A (ja) 2010-09-02
US20100186210A1 (en) 2010-07-29
EP2155432A2 (fr) 2010-02-24

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