WO2018069750A1 - Device for the movement and positioning of at least two end-effectors in space - Google Patents

Device for the movement and positioning of at least two end-effectors in space Download PDF

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Publication number
WO2018069750A1
WO2018069750A1 PCT/IB2016/056135 IB2016056135W WO2018069750A1 WO 2018069750 A1 WO2018069750 A1 WO 2018069750A1 IB 2016056135 W IB2016056135 W IB 2016056135W WO 2018069750 A1 WO2018069750 A1 WO 2018069750A1
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WO
WIPO (PCT)
Prior art keywords
delta
positioning
robots
robot
object model
Prior art date
Application number
PCT/IB2016/056135
Other languages
French (fr)
Inventor
Juris Klava
Original Assignee
Juris Klava
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 Juris Klava filed Critical Juris Klava
Priority to PCT/IB2016/056135 priority Critical patent/WO2018069750A1/en
Publication of WO2018069750A1 publication Critical patent/WO2018069750A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/205—Means for applying layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/227—Driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00—Processes of additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor

Definitions

  • the present invention relates to a device for the movement and positioning of at least two end-effectors in space for their simultaneous work in common working area.
  • the robots can be Cartesian type robots or linear or parallel manipulators such as parallel simulators or delta robots.
  • the productivity of manufacturing processes is restricted by possibilities of machines to perform given task. In order to increase the productivity a new device should be designed.
  • the aim of the present invention is to propose a device for simultaneous or synchronized movement and positioning of elements in space, wherein said element are in close proximity to each other.
  • the present invention is concerned with a device for the movement and positioning of at least two end-effectors in space comprising at least two delta robots comprising at least one base member, at least three linkages, where each linkage comprises an actuator and an arm connecting to each other forming said linkage, and an end-effector.
  • An area reachable by the end-effector defines a working area but an area reachable by at least two end effectors defines common working area.
  • At least two delta robots are configured to be able to be positioned in such a way that at least one linkage of a one delta robot can be positioned within a space of the two linkages of an adjacent delta robot in result of which the end effector of delta robot can enter a working area of adjacent delta robot without collision into said adjacent delta robot.
  • the device further comprises an X-Y-Z positioning assembly, which comprises Z-axis guide for positioning the device along a Z-axis, an X-axis guide for positioning the device along an X-axis, and Y-axis guide for positioning the device along an Y-axis.
  • the device further comprises a C-axis motor attached to the base member of the delta robot and configured to rotate said delta robot around its vertical axis or Z-axis.
  • the X-Y-Z positioning assembly can be a serial manipulator or Cartesian coordinate robot or even additional delta robot on which end-effector the device is attached.
  • the end-effector can be selected from the group comprising a printing head, a measurement probe, a milling spindle, a laser nozzle, a plasma-cutting nozzle, a cement injection nozzle, a painting nozzle, a soldering or welding nozzle or any other apparatus used in the manufacturing processes.
  • the present invention further comprises a method for the movement and positioning of at least two delta robots in a device for the movement and positioning of at least two end- effectors in space.
  • the method comprises a step of movement or positioning of at least two delta robots closer or together to such a way, that one linkage of at least one delta robot is positioned in a space between the two linkages of adjacent delta robot.
  • One embodiment of the device is a three dimensional (3D) printing device or printer, which includes a method for the movement and positioning of at least two delta robots of the device or printer.
  • the delta robots with its end-effectors in the following environment are as delta printers with its printing heads.
  • the method for printing an object comprises the steps of providing an object model to be printed; determining a size of the object model and amount of delta robots or printers with printing heads to be needed for printing said object model; slicing the object model in predetermined layers; splitting each sliced layer into separate sub-layers,; and printing the object model using a number of the delta robots or printers to whom said sublayers are assigned. Each sub-layer is assigned to the delta robot or printer, which is able to print said sub-layer.
  • the step of providing the object model is a step of providing a G-code, which defines the object model to be printed.
  • Fig. 1 is a perspective view of a device comprising two delta robots 20 with end-effectors 25.
  • Fig. 2 is a perspective view of a device comprising two delta robots 20 with end-effectors 25 wherein one linkage 22 of delta robot 20 is positioned within a space of two linkages 22 of adjacent delta robot 20.
  • Fig. 3 is a perspective view of a device mounted on a Cartesian manipulator.
  • Fig. 4 is a perspective view of the device comprising four delta robots 20 with end-effectors
  • FIG. 5 is a perspective view of one embodiment of the device comprising multiple delta robots
  • Fig. 6 is a schematic view of one embodiment of positioning adjacent delta robots 20, illustrating working areas 30 of two adjacent delta robots 20, wherein two working areas 30 forming overlapping or common working area 31.
  • Fig. 7 is a schematic view of another embodiment of positioning adjacent delta robots 20.
  • Fig. 8 is a schematic view illustrating a positioning configuration of multiple delta robots 20 into a cluster.
  • a device 1 comprises two delta robots 20 with end-effectors 25 for the movement and positioning of said two end-effectors 25 of said two delta robots 20 in space (see Figs. 1 and 2).
  • Said delta robots 20 are attached to a X-Y-Z positioning assembly 11, which is a serial manipulator.
  • the delta robots 20 are attached to a Cartesian manipulator (see Fig. 3).
  • Each delta robot 20 (see Figs. 1 to 3) comprises one base member 21, three linkages 22, where each linkage 22 comprises an actuator 23 and an arm 24.
  • the actuator 23 and the arm 24 are pivotally connected to each other forming said linkage 22.
  • An area reachable by the end-effector 25 defines a working area or volume 30.
  • the two delta robots 20 are configured to be able to be positioned in such a way that one linkage 22 of a one delta robot 20 is positioned within a space of the two linkages 22 of an adjacent delta robot 20 in result of which the end effector 25 of one delta robot 20 can enter a working area 30 of adjacent delta robot 20 without collision into said adjacent delta robot 20 (see Fig. 2 and 3).
  • the two delta robots 20 positioned together with its working areas 30 define a common working area 31.
  • the X-Y-Z positioning assembly 11 is Cartesian manipulator (Figs. 3 to 5), wherein the X-Y-Z positioning assembly 11 comprises Z-axis guide 3 for positioning the delta robots 20 along a Z-axis Z, an X-axis guide 5 for positioning the delta robots 20 along an X-axis X, and Y-axis guide 7 for positioning the delta robots 20 along an Y-axis Y.
  • the device 1 further comprises a C-axis motor 4 attached to the base member 21 of the delta robot 20 and configured to rotate said delta robot 20 around its vertical axis Z.
  • the device 1 comprises four delta robots 20 where each pair of delta robots 20 is attached to separate frame comprising the Z-axis guide 3 and the X-axis guide 5 which is also a horizontal beam 10. During assigned work all four delta robots 20 can move together as shown in Fig. 4 and form a common working area 31.
  • One linkage 22 of each delta robot 20 is positioned within a space of the two linkages 22 of an adjacent delta robot 20 in result of which the end effector 25 of one delta robot 20 can enter a working area 30 of adjacent delta robot 20 without collision into said adjacent delta robot 20.
  • There is two possible configurations of positioning said linkages 22 of the delta robots 20 (Figs. 6 and 7).
  • the device 1 comprises multiple X-Y-Z positioning assemblies 11 (see Fig. 5) where each delta robot 20 or cluster of delta robots 20 can be position in user predetermined manner depending on a work to be done. While the inventions have been described with reference to certain embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may ⁇ be substituted without departing from the scope of the invention. Therefore, it is intended that the inventions not be limited to the particular embodiments disclosed herein.

Abstract

The present invention relates to a device for the movement and positioning of at least two end-effectors in space for their simultaneous work in common working area. The device (1) comprises at least two delta robots (20) wherein at least two delta robots (20) are configured to be able to be positioned in such a way that at least one linkage (22) of a one delta robot (20) can be positioned within a space of the two linkages (22) of an adjacent delta robot (20) in result of which the end effector (25) of delta robot (20) can enter a working area (30) of adjacent delta robot (20) without collision into said adjacent delta robot (20).

Description

DEVICE FOR THE MOVEMENT AND POSITIONING OF AT LEAST TWO END- EFFECTORS IN SPACE
Technical Field
The present invention relates to a device for the movement and positioning of at least two end-effectors in space for their simultaneous work in common working area.
Background Art
Nowadays, manufacturing request more productive machines and processes. Most of the processes in the manufacturing are performed by machines, especially by robots. The robots can be Cartesian type robots or linear or parallel manipulators such as parallel simulators or delta robots. The productivity of manufacturing processes is restricted by possibilities of machines to perform given task. In order to increase the productivity a new device should be designed.
The aim of the present invention is to propose a device for simultaneous or synchronized movement and positioning of elements in space, wherein said element are in close proximity to each other.
For this purpose the present invention is concerned with a device for the movement and positioning of at least two end-effectors in space comprising at least two delta robots comprising at least one base member, at least three linkages, where each linkage comprises an actuator and an arm connecting to each other forming said linkage, and an end-effector. An area reachable by the end-effector defines a working area but an area reachable by at least two end effectors defines common working area. At least two delta robots are configured to be able to be positioned in such a way that at least one linkage of a one delta robot can be positioned within a space of the two linkages of an adjacent delta robot in result of which the end effector of delta robot can enter a working area of adjacent delta robot without collision into said adjacent delta robot. The device further comprises an X-Y-Z positioning assembly, which comprises Z-axis guide for positioning the device along a Z-axis, an X-axis guide for positioning the device along an X-axis, and Y-axis guide for positioning the device along an Y-axis. The device further comprises a C-axis motor attached to the base member of the delta robot and configured to rotate said delta robot around its vertical axis or Z-axis.
The X-Y-Z positioning assembly can be a serial manipulator or Cartesian coordinate robot or even additional delta robot on which end-effector the device is attached.
The end-effector can be selected from the group comprising a printing head, a measurement probe, a milling spindle, a laser nozzle, a plasma-cutting nozzle, a cement injection nozzle, a painting nozzle, a soldering or welding nozzle or any other apparatus used in the manufacturing processes.
The present invention further comprises a method for the movement and positioning of at least two delta robots in a device for the movement and positioning of at least two end- effectors in space. The method comprises a step of movement or positioning of at least two delta robots closer or together to such a way, that one linkage of at least one delta robot is positioned in a space between the two linkages of adjacent delta robot. In result of which a working areas or volumes of at least two end-effectors of at least two delta robots interlap creating common working area or volume, therefore allowing simultaneous and/or sequential work of at least two end-effectors within common working area or volume. One embodiment of the device is a three dimensional (3D) printing device or printer, which includes a method for the movement and positioning of at least two delta robots of the device or printer. The delta robots with its end-effectors in the following environment are as delta printers with its printing heads. The method for printing an object comprises the steps of providing an object model to be printed; determining a size of the object model and amount of delta robots or printers with printing heads to be needed for printing said object model; slicing the object model in predetermined layers; splitting each sliced layer into separate sub-layers,; and printing the object model using a number of the delta robots or printers to whom said sublayers are assigned. Each sub-layer is assigned to the delta robot or printer, which is able to print said sub-layer. The step of providing the object model is a step of providing a G-code, which defines the object model to be printed.
Further objects, features and advantages of the invention will be apparent from the following detailed description when taken in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is a perspective view of a device comprising two delta robots 20 with end-effectors 25. Fig. 2 is a perspective view of a device comprising two delta robots 20 with end-effectors 25 wherein one linkage 22 of delta robot 20 is positioned within a space of two linkages 22 of adjacent delta robot 20.
Fig. 3 is a perspective view of a device mounted on a Cartesian manipulator.
Fig. 4 is a perspective view of the device comprising four delta robots 20 with end-effectors
25 positioned together and with indicated working areas 30 of each end-effector 25. Fig. 5 is a perspective view of one embodiment of the device comprising multiple delta robots
20.
Fig. 6 is a schematic view of one embodiment of positioning adjacent delta robots 20, illustrating working areas 30 of two adjacent delta robots 20, wherein two working areas 30 forming overlapping or common working area 31.
Fig. 7 is a schematic view of another embodiment of positioning adjacent delta robots 20.
Fig. 8 is a schematic view illustrating a positioning configuration of multiple delta robots 20 into a cluster.
A device 1 comprises two delta robots 20 with end-effectors 25 for the movement and positioning of said two end-effectors 25 of said two delta robots 20 in space (see Figs. 1 and 2). Said delta robots 20 are attached to a X-Y-Z positioning assembly 11, which is a serial manipulator. In another embodiment, the delta robots 20 are attached to a Cartesian manipulator (see Fig. 3).
Each delta robot 20 (see Figs. 1 to 3) comprises one base member 21, three linkages 22, where each linkage 22 comprises an actuator 23 and an arm 24. The actuator 23 and the arm 24 are pivotally connected to each other forming said linkage 22. At the one end of all three linkages an end-effector 25 is attached. An area reachable by the end-effector 25 defines a working area or volume 30.
The two delta robots 20 (see Figs. 1 to 3) are configured to be able to be positioned in such a way that one linkage 22 of a one delta robot 20 is positioned within a space of the two linkages 22 of an adjacent delta robot 20 in result of which the end effector 25 of one delta robot 20 can enter a working area 30 of adjacent delta robot 20 without collision into said adjacent delta robot 20 (see Fig. 2 and 3). Hence, the two delta robots 20 positioned together with its working areas 30 define a common working area 31.
In the embodiment where the X-Y-Z positioning assembly 11 is Cartesian manipulator (Figs. 3 to 5), wherein the X-Y-Z positioning assembly 11 comprises Z-axis guide 3 for positioning the delta robots 20 along a Z-axis Z, an X-axis guide 5 for positioning the delta robots 20 along an X-axis X, and Y-axis guide 7 for positioning the delta robots 20 along an Y-axis Y. The device 1 further comprises a C-axis motor 4 attached to the base member 21 of the delta robot 20 and configured to rotate said delta robot 20 around its vertical axis Z.
In another embodiment the device 1 comprises four delta robots 20 where each pair of delta robots 20 is attached to separate frame comprising the Z-axis guide 3 and the X-axis guide 5 which is also a horizontal beam 10. During assigned work all four delta robots 20 can move together as shown in Fig. 4 and form a common working area 31. One linkage 22 of each delta robot 20 is positioned within a space of the two linkages 22 of an adjacent delta robot 20 in result of which the end effector 25 of one delta robot 20 can enter a working area 30 of adjacent delta robot 20 without collision into said adjacent delta robot 20. There is two possible configurations of positioning said linkages 22 of the delta robots 20 (Figs. 6 and 7). One configuration resembles a positioning of Ys in a row where each adjacent Y is turned upside down (see Fig. 6). Another configuration resemble a positioning of Ys onto each other (see Fig. 7). Combining aforementioned two configurations a large-scale device with a cluster of delta robots can be designed (see Fig. 8) without any scaling restrictions.
In another embodiment the device 1 comprises multiple X-Y-Z positioning assemblies 11 (see Fig. 5) where each delta robot 20 or cluster of delta robots 20 can be position in user predetermined manner depending on a work to be done. While the inventions have been described with reference to certain embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may¬ be substituted without departing from the scope of the invention. Therefore, it is intended that the inventions not be limited to the particular embodiments disclosed herein.

Claims

A device (1) for the movement and positioning of at least two end-effectors (25) in space comprising at least two delta robots (20) comprising at least one base member (21), at least three linkages (22), where each linkage (22) comprises an actuator (23) and an arm (24) connecting to each other forming said linkage (22), and an end-effector (25), wherein an area reachable by the end-effector (25) defines a working area (30), and
wherein at least two delta robots (20) are configured to be able to be positioned in such a way that at least one linkage (22) of a one delta robot (20) can be positioned within a space of the two linkages (22) of an adjacent delta robot (20) in result of which the end effector (25) of delta robot (20) can enter a working area (30) of adjacent delta robot (20) without collision into said adjacent delta robot (20).
The device (1) according to claim 1, wherein the device (1) further comprises an X-Y-Z positioning assembly (1 1) which comprises Z-axis guide (3) for positioning the delta robots (20) along a Z-axis (Z), an X-axis guide (5) for positioning the delta robots (20) along an X-axis (X), and Y-axis guide (7) for positioning the delta robots (20) along an Y-axis (Y).
The device (1) according to claim 1 or 2, wherein the device (1) further comprises a C- axis motor (4) attached to the base member (21) of the delta robot (20) and configured to rotate said delta robot (20) around its vertical axis (Z).
The device (1) according to any one of the proceeding Claims, wherein the X-Y-Z positioning assembly (11) is serial manipulator.
The device (1) according to any one of the proceeding Claims, wherein the X-Y-Z positioning assembly (11) is Cartesian coordinate robot (1 1).
The device (1) according to any one of proceeding Claims, wherein the end-effector (25) is selected from the group comprising a printing head, a measurement probe, a milling spindle, a laser nozzle, a plasma cutting nozzle, a cement injection nozzle or a painting nozzle.
A method for the movement and positioning of at least two delta robots (20) in a device (1) according to any one of Claims 1-6, characterized in that the method comprises a step of movement of at least two delta robots (20) together in a such a way that one linkage (22) of at least one delta robot (20) is positioned in a space between the two linkages (22) of adjacent delta robot (20), in result of which a working areas (30) of at least two end-effectors (25) of at least two delta robots (20) interlap creating common working area (31) and allowing simultaneous and/or sequential work of at least two end-effectors (25) within common working area (31).
A method for three dimensional (3D) printing using a device (1) according to any one of Claims 1-6 and a method for the movement and positioning of at least two delta robots (20) of the device (1) according to Claim 7, characterized in that the method comprises the steps of:
- providing an object model to be printed;
- determining a size of the object model and amount of delta robots (20) with printing heads (25) to be needed for printing said object model;
- slicing the object model in predetermined layers;
- splitting each sliced layer into separate sub-layers, wherein each sub-layer is assigned to the delta robot (20) which is able to print said sub-layer;
- printing the object model using a number of the delta robots (20) to whom said sub-layers are assigned.
9. The method for 3D printing according to Claim 8, characterized in that the step of providing the object model is a step of providing a G-code, which defines the object model to be printed.
PCT/IB2016/056135 2016-10-13 2016-10-13 Device for the movement and positioning of at least two end-effectors in space WO2018069750A1 (en)

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PCT/IB2016/056135 WO2018069750A1 (en) 2016-10-13 2016-10-13 Device for the movement and positioning of at least two end-effectors in space

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EP3539726A1 (en) * 2018-03-12 2019-09-18 Kabushiki Kaisha Yaskawa Denki Parallel link robot and parallel link robot system
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CN109571939B (en) * 2019-01-29 2020-07-17 浙江大学 Multi-robot cooperative three-dimensional printing method
CN110355756A (en) * 2019-06-11 2019-10-22 西安电子科技大学 A kind of control system and method for a wide range of 3 D-printing of multi-robot Cooperation
WO2021108936A1 (en) * 2019-12-05 2021-06-10 Universidad Técnica Federico Santa María A walking robotic cell for the manufacture of buildings printed on site by means of a multi-axis 3d printing system; and method of operation
US11760015B2 (en) 2021-07-23 2023-09-19 Stratasys, Inc. Local Z print head positioning system in a 3D printer
US11919242B2 (en) 2021-12-27 2024-03-05 Stratasys, Inc. Tip calibration in an additive manufacturing system

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