WO2019113615A1 - Dispositif de manipulation - Google Patents

Dispositif de manipulation Download PDF

Info

Publication number
WO2019113615A1
WO2019113615A1 PCT/ZA2018/050065 ZA2018050065W WO2019113615A1 WO 2019113615 A1 WO2019113615 A1 WO 2019113615A1 ZA 2018050065 W ZA2018050065 W ZA 2018050065W WO 2019113615 A1 WO2019113615 A1 WO 2019113615A1
Authority
WO
WIPO (PCT)
Prior art keywords
members
support
manipulating device
displacement
actuators
Prior art date
Application number
PCT/ZA2018/050065
Other languages
English (en)
Inventor
Lukas Johannes DU PLESSIS
Original Assignee
Gift Of Light Family Trust, It 677/12
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 Gift Of Light Family Trust, It 677/12 filed Critical Gift Of Light Family Trust, It 677/12
Publication of WO2019113615A1 publication Critical patent/WO2019113615A1/fr
Priority to ZA2020/03313A priority Critical patent/ZA202003313B/en
Priority to ZA2020/03976A priority patent/ZA202003976B/en

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
    • 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
    • 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
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/28—Means for securing sliding members in any desired position
    • 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
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at 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
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table

Definitions

  • This invention relates to a manipulating device.
  • this invention relates to a manipulating device for manipulating a tool used to machine, add material to or weld onto a workpiece.
  • a manipulating device for manipulating a tool used to machine a workpiece
  • the manipulating device including: - a tool portion which includes: - a support member for supporting a tool receiving member; and a plurality of connecting members for allowing pivotal interconnection between the support member and a plurality of elongate members; a tool manipulating portion for manipulating the tool portion, the tool manipulating portion including: - a support arrangement for supporting a plurality of displacement members for displacing the elongate members; a plurality of pivot members for allowing pivotal displacement of the displacement members relative the support arrangement; and a retaining means for releasably retaining the support arrangement in position relative a support structure.
  • the support member may be of any suitable shape or form including that of a conventional beam which may have a cross-section of any suitable shape for improving a structural strength and/or stiffness thereof.
  • the support member may be in the form of an I-beam.
  • the I-beam may have a length, width and height which may correspond to a size, shape and/or configuration of the workpiece and/or the tool manipulating portion.
  • the support member may be in the form of a pair of tool portion support rods.
  • the tool receiving member may be configured to receive any suitable tool capable of being used on a workpiece to perform any one or more of the actions of the group including machining, cutting, milling, turning or drilling.
  • the workpiece may be in the form of a piece of any one or more raw materials of the group including metal, wood or plastic.
  • the tool receiving member may be configured to receive any suitable tool capable of being used for adding material to or welding on a workpiece.
  • the tool receiving member may include a spindle-and-chuck mechanism for holding the tool in the receiving member.
  • the spindle-and-chuck mechanism may be configured to hold and allow rotation of the tool relative the tool receiving member.
  • the receiving member may be displaceably mounted on the support member.
  • the tool receiving member may be mounted on the support member via a track-like mechanism for allowing substantially linear displacement of the tool relative the support member. Further, the tool receiving member may be mounted pivotally relative the support member for allowing pivotal displacement of the tool relative the support member.
  • a connecting member may include a pair of connectors which may be secured to the support member and an elongate mounting member extending between the pair of connectors.
  • the elongate members may be pivotally connected to the elongate mounting member.
  • two connecting members are mounted to the support member, preferably being mounted alongside each other.
  • the connecting members may be orientated relative the support member such that the elongate mounting members are generally parallel each other for allowing pivotal displacement of the elongate members about axes which may be substantially parallel to each other.
  • a first connecting member may be configured to allow pivotal interconnection between the support member and a first elongate member and a second connecting member may be configured to allow pivotal interconnection between the support member and second and third elongate members.
  • a tool portion retaining means may be provided for retaining, preferably releasably, the support member in position relative the support structure.
  • the support arrangement may have a generally planar shape.
  • the generally planar support member may include rib formations for improving a structural and/or flexural strength thereof.
  • the support means may be in the form of a pair of support rods which may be located toward either side region of the displacement members.
  • the displacement members may be configured to displace the elongate members in a generally axial direction.
  • three displacement members may be provided for displacing each of the three elongate members.
  • the displacement members may be in the form of piston and cylinder arrangements which may be hydraulically or pneumatically operated. . Pistons may be formed integrally the elongate members.
  • the displacement members may be in the form of a motor, typically a linear motor, which may be electrically driven.
  • the displacement members may be in the form of motor and worm gear arrangements wherein a worm gear thereof may be configured to engage threaded portions of the elongate members such that displacement of the worm gear causes axial displacement of the elongate member engaged therewith.
  • the displacement members may be in the form of motor and drive arrangements.
  • the motor and drive arrangement may include a pair of timing pulleys which may be connected via keys to a shaft of the motor and the nut, respectively.
  • a timing belt may be wrapped around the pair of timing pulleys.
  • a belt tensioning means may be provided for allowing adjustment of the tension of the belt in use.
  • the nut may be supported between bearing arrangements which may be mounted inside two separable housings.
  • the bearing arrangements may be preloaded in the axial direction of the elongate member via a set of spacers, preload nut and a lock nut. The preload nut may threadingly engage with the housing.
  • the plurality of pivot members may comprise three pivot members for allowing pivotal displacement of the three displacement members relative the support arrangement.
  • the pivot members may include bearing assemblies which may be secured to the support arrangement.
  • a pivot member may include a pair of bearing assemblies having a cylindrical member or rod extending therebetween, the cylindrical member or rod preferably being capable of pivotally displacing relative the pair of bearing assemblies.
  • Each displacement member may be mounted on the cylindrical member or rod, the displacement member preferably being located generally centrally relative the pair of bearing assemblies.
  • the support structure may be configured to support the support arrangement and/or support member clear of the workpiece to be machined.
  • the support structure may include a framework and a pair of planar support plates mounted on the framework in a substantially parallel configuration.
  • the support structure may be configured to withstand heavy loads with minimal deflection.
  • the planar support plates may be spaced apart a distance such that the support arrangement and/or support member may be received therebetween.
  • the planar support plates may be manufactured from any suitable material capable of carrying heavy loads and withstanding severe reaction forces, preferably being granite.
  • One of the support plates may serve as a reference plane from which the displacement of the tool receiving member is measured.
  • the support plate serving as a reference may be manufactured to be substantially flat, typically being as close to flat as possible.
  • the retaining means and/or tool portion retaining means may be in the form of a plurality of actuators which may be operated via any mechanism of the group including hydraulic, pneumatic, magnetic, suction or mechanical-spring.
  • the actuators may include a support structure engaging member which may be configured to releasably engage with the support structure, preferably via releasable friction fit engagement.
  • the support structure engaging member may be in the form of a friction pad, air bearing or sliding bearing.
  • the actuators may be displaceable between an engaged retaining condition wherein the support member and/or support arrangement is retained in position relative the support structure, a partially disengaged condition wherein the support structure engaging members of the actuators may be allowed to slide along surfaces of the support plates and a disengaged release condition wherein displacement between the actuators and the support plates is permitted.
  • the plurality of actuators may comprise a plurality of pairs of actuators which may be mounted on the support member and/or support arrangement.
  • the pairs of actuators may be configured to extend away from opposing sides of the support member and/or support arrangement, respectively, for allowing the support member and/or support arrangement to be releasably retained between the opposing planar support plates of the support structure.
  • a first plurality of actuators may be mounted on the support member and a second plurality of actuators may be mounted on the support arrangement.
  • the first plurality of actuators may comprise two pairs of actuators, each pair preferably corresponding with and being mounted in the vicinity of the one of the two connecting members.
  • each pair of actuators may be mounted on the elongate mounting members extending between the pairs of connectors and actuators of a pair preferably being arranged on opposite ends of an elongate mounting member.
  • the second plurality of actuators may comprise three pairs of actuators, each pair preferably corresponding with and being mounted in the vicinity of one of the three pivot members.
  • each pair of actuators may be mounted on the rods extending between the pairs of bearing assemblies of each pivot member and actuators of a pair preferably being arranged on opposite ends of a rod.
  • the first and second plurality of actuators may be displaceably mounted on the support member and support arrangement, respectively, for allowing a distance between the pairs of actuators to be adjusted thereby allowing a distance between the connecting members and/or between the pivot members to be adjusted. It is to be appreciated that the adjustment of the distance between the second plurality of actuators may adjust a distance between the pivot members and with them, the displacement members.
  • the actuators may include extensions having apertures defined therethrough.
  • the apertures may include a threaded profile for allowing threaded interconnection with a rod having a corresponding complementary thread.
  • the rod may include oppositely threaded portions on which the extensions of the actuators may be mounted for allowing the actuators to be displaced either toward or away from each other when the rod is pivoted or rotated.
  • Figure 1 is a diagram depicting six degrees of freedom of motion
  • Figure 2 is a three-dimensional schematic showing an example of a machining centre having a series configuration
  • Figure 3 is a three-dimensional schematic showing an example of a machining centre having a parallel configuration
  • Figure 4 is a three-dimensional schematic showing an example of a hybrid machining centre having both series and parallel configurations
  • Figure 5 is a three-dimensional schematic showing a part of the manipulating device in accordance with the invention.
  • Figures 6 and 7 are three-dimensional schematics showing a manipulating device in accordance with the invention co-operating with various workpiece manipulating devices;
  • Figure 8 is a three-dimensional schematic showing an enlarged view of the manipulating device
  • Figures 9 and 10 are three-dimensional schematics showing enlarged views of a part of the manipulating device;
  • Figure 11 is a three-dimensional schematic showing a further embodiment of the manipulating device in accordance with the invention.
  • Figure 12 is a three-dimensional schematic showing yet a further embodiment of the manipulating device in accordance with the invention.
  • Figure 13 is a section view of a displacement member.
  • reference numeral 10 refers generally to a manipulating device for manipulating a tool 12 used to machine a workpiece 14 in a machining centre 18.
  • a machining centre The function of a machining centre is to manipulate and control the relative motion between a workpiece and a tool such that a prescribed task is executed on the workpiece.
  • the prescribed task can be, but is not limited to: - ⁇ material removal, also known as cutting, machining, milling, turning;
  • Relative motion between a workpiece and a tool is typically controlled along four, five or six of the six independent axes as shown in Figure 1. This is typically achieved via a manipulating device 10 for manipulating a tool 12 and a workpiece manipulating device 16 for manipulating and controlling a position of the workpiece 14 relative the tool 12 held by the manipulating device 10.
  • Figure 4 shows an example of a machining centre having a 3-axis hybrid layout consisting of a 2-axis parallel manipulating device for manipulating a tool along the Y- and Z-axes and a 1 -axis workpiece manipulating device for manipulating a workpiece along the X-axis.
  • the workpiece manipulating device is typically arranged in a configuration commonly known as a series configuration, an example of which is shown in Figure 2, and a six degree-of-freedom parallel layout device typically being arranged in a configuration commonly known as a parallel configuration, an example of which is shown in Figure 3. It is to be appreciated that the term “hybrid” refers to a combination of series and parallel configurations.
  • the shape and design of the workpiece manipulating device can take various forms.
  • this version of the hybrid multi-axis machining centre 18 controls the relative motion between the tool 12 and the workpiece 14 along four independent axes making the device a hybrid 4-axis machining centre.
  • the tool 12 is controlled by a manipulating device 10 or a 3-axis planar parallel layout device along the X-, Z- and B-axes as shown in Figure 1 , while the workpiece 14 is supported by a workpiece manipulating device 16 which controls the rotation of the workpiece 14 around an A-axis shown in Figure 1.
  • the workpiece manipulating device 16 can be designed to control the displacement of the workpiece along the Y- axis and control the rotation of the workpiece about A-axis as shown in Figure 1.
  • the tool 12 is controlled by the manipulating device or 3-axis planar parallel layout device 10 allowing translation along the X- and Z-axes and to pivot about the B-axis shown in Figure 1.
  • the design of the machining centre 18 as shown in Figure 7 allows relative motion between the workpiece 14 and the tool 12 along five independent axes, making it a hybrid 5-axis machining centre.
  • the workpiece manipulating device 16 can be designed to control the displacement of the workpiece 14 along any of the X-, Y- or Z-axes shown in Figure 1 individually or in any combination, and the orientation of the workpiece 14 about any of the A-, B- or C-axes as shown in Figure 1 individually or in any combination.
  • the manipulating device 10 includes a tool portion 20 which includes a support member in the form of an I-beam 22 for supporting a tool receiving member 24 and a plurality of connecting members 26 for allowing pivotal interconnection between the support member 22 and a plurality of elongate members 28, a tool manipulating portion 30 for manipulating the tool portion 20, the tool manipulating portion 30 including a support arrangement 32 for supporting a plurality of displacement members 34 for displacing the elongate members 28, a plurality of pivot members 36 for allowing pivotal displacement of the displacement members 34 relative the support arrangement 32 and a retaining means in the form of a plurality of actuators 38 for retaining the support arrangement 32 in position relative a support structure 40.
  • the I-beam typically has a length, width and height which correspond to a size, shape and configuration of the workpiece or tool manipulating portion.
  • the support member is in the form of a pair of tool portion support rods 42.
  • the tool receiving member 24 is configured to receive any suitable tool 12 capable of being used for machining, cutting, milling, turning or drilling a workpiece 14 which is in the form of a piece of raw material such as metal, wood or plastic. Although not shown, the tool receiving member 24 can be configured to receive any suitable tool capable of being used for adding material to or welding on a workpiece 14.
  • the tool receiving member 24 includes a spindle-and-chuck mechanism (not shown) for holding the tool 12 in the receiving member 24.
  • the spindle-and-chuck mechanism typically holds and allows rotation of the tool relative the tool receiving member 24 As shown in Figures 9 and 10, the receiving member 24 is displaceably mounted on the beam 22.
  • the tool receiving member 24 is mounted on the beam 22 via a track-like mechanism 44, as most clearly shown in Figure 9, for allowing substantially linear displacement of the tool 12 relative the beam 22. Further, the tool receiving member 24 is mounted pivotally relative the beam 22, as most clearly shown in Figure 10, for allowing pivotal displacement of the tool 12 relative the support member.
  • the tool receiving member 24 that controls the tool 12 can be designed and connected to the tool portion 20 to control the displacement of the tool 12 along any of the X-, Y- or Z axes of Figure 1 individually or in any combination, and the orientation of the tool 12 about any of the A-, B- or C axes shown in Figure 1 individually or in any combination.
  • a connecting member 26 includes a pair of connectors 46 which are secured to the beam 22 and an elongate mounting member 48 extending between the pair of connectors 46.
  • the elongate members 28 are pivotally connected to the elongate mounting member 48.
  • two connecting members 26 are mounted to the beam 22, typically being mounted alongside each other.
  • the connecting members 26 are orientated relative the support member 22 such that the elongate mounting members 48 are generally parallel each other for allowing pivotal displacement of the elongate members 28 about axes which are substantially parallel to each other.
  • a first connecting member 26.1 is configured to allow pivotal interconnection between the beam 22 and a first elongate member 28.1 and a second connecting member 26.2 is configured to allow pivotal interconnection between the beam 22 and second and third elongate members 28.2 and 28.3, respectively.
  • a tool portion retaining means is provided for retaining, typically releasably, the beam 22 in position relative the support structure 40.
  • the support arrangement 32 has a generally planar shape. As shown in Figure 8, the generally planar support arrangement 32 includes rib formations 50 for improving a structural or flexural strength thereof. Alternatively, the support arrangement 32 is in the form of a pair of support rods 52 which are located toward either side region of the displacement members 34.
  • the displacement members 34 are configured to displace the elongate members 28 in a generally axial direction.
  • three displacement members 34 are provided for displacing each of the three elongate members 28.
  • the displacement members 34 can be in the form of piston and cylinder arrangements which can be hydraulically or pneumatically operated.
  • the displacement members are in the form of a linear motor which is electrically driven.
  • the displacement members 34 can be in the form of motor and worm gear arrangements 54 wherein a worm gear (not shown) thereof is configured to engage threaded portions (not shown) of the elongate members 28 such that displacement of the worm gear (not shown) causes axial displacement of the elongate member 28 engaged therewith.
  • the displacement member 34 is in the form of motor 80 and drive arrangement 90.
  • the drive arrangement 90 includes a pair of timing pulleys 94.1 and 94.2, with timing pulley 94.1 connected via a key 95.1 to a shaft 81 of the motor 80 and timing pulley 94.2 connected via a key 95.2 to a nut 91.
  • a timing belt 96 is wrapped around the pair of timing pulleys 94.1 and 94.2.
  • a belt tensioning means (not shown) is typically provided for allowing adjustment of the tension of the belt 96 in use.
  • the nut 91 is supported between bearing arrangements 92.1 and 92.2 which are mounted inside two separable housings 97.1 and 97.2.
  • the bearing arrangements 92.1 and 92.2 are preloaded in an axial direction of the elongate members 28 by a series of spacers 100 and 101 , preload nut 98 and lock nut 99.
  • the preload nut 98 engages though screw thread with the housing 97.2.
  • This configuration allows the motor 80 to pivot or rotate the nut 91 which is configured to engage threaded portions 93 of the elongate members 28 such that pivoting or rotation of the nut 91 causes axial displacement of the elongate member 28.
  • the connecting members 26 between the elongate members 28 and the tool portion 20 allow the elongate members to pivot relative to the tool portion 20.
  • the pivot members 36 between the elongate members 28 and the support arrangement 32 allow the elongate members 28 to pivot relative to the support arrangement 32.
  • the plurality of pivot members comprises three pivot members 36 for allowing pivotal displacement of the three displacement members 34 relative the support arrangement 32.
  • the pivot members 36 include bearing assemblies 56 which are secured to the support arrangement 32.
  • a pivot member 36 includes a pair of bearing assemblies 56.1 having a cylindrical member or rod 58 extending therebetween, the rod 58 typically being capable of pivotally displacing relative the pair of bearing assemblies 56.1.
  • Each displacement member 34 is mounted on the rod 58, the displacement member 34 typically being located generally centrally relative the pair of bearing assemblies 56.1.
  • the support structure 40 is configured to support the support arrangement 32 and support member 22 clear of the workpiece 14 to be machined.
  • the support structure 40 includes a framework 60 and a pair of planar support plates 62 mounted on the framework in a substantially parallel configuration.
  • the planar support plates 62 are spaced apart a distance such that the support arrangement 32 and support member 22 are capable of being received therebetween.
  • the support structure 40 is configured to withstand heavy loads with minimal deflection.
  • the planar support plates 62 are manufactured from any suitable material capable of carrying heavy loads and withstanding severe reaction forces, typically being granite.
  • One of the support plates 62 serve as a reference plane from which the Y displacement (see Figure 1 ) of the tool receiving member 24 (see Figure 9) is measured.
  • the reference support plate 62 is manufactured to be as close to flat as possible.
  • the retaining means and tool portion retaining means are in the form of a plurality of actuators 38 which can be operated via any mechanism of the group including hydraulic, pneumatic, magnetic or mechanical-spring. Alternatively, the retaining means and/or tool portion retaining means can be in the form of a plurality of suction devices (not shown).
  • the actuators 38 include a support structure engaging member 39 which are configured to releasably engage with the support structure 40, typically via releasable friction fit engagement.
  • the support structure engaging member 39 can be in the form of a friction pad (not shown), air bearing (not shown) or sliding bearing.
  • the actuators 38 are displaceable between an engaged retaining condition wherein the support member 22 or support arrangement 32 is retained in position relative the support structure 40, a partially disengaged condition wherein the support structure engaging members 39 of the actuators 38 are allowed to slide along surfaces of the support plates 62 and a disengaged release condition wherein displacement between the actuators 38 and the support plates 62 is permitted.
  • the plurality of actuators 38 comprise a plurality of pairs of actuators 64 which are mounted on the support member 22 and support arrangement 32.
  • the pairs of actuators 64 are configured to extend away from opposing sides of the support member 22 and support arrangement 32, respectively, for allowing the support member 22 and support arrangement 32 to be releasably retained between the opposing planar support plates 62 of the support structure 40.
  • a first plurality of actuators 38.1 are mounted on the support member 22 and a second plurality of actuators 38.2 are mounted on the support arrangement 32.
  • the first plurality of actuators 38.1 comprise two pairs of actuators 64.1 , each pair typically corresponding with and being mounted in the vicinity of the one of the two connecting members 26.
  • each pair of actuators 64.1 is mounted on the elongate mounting members 48 extending between the pairs of connectors 46 and actuators 38.1 of a pair 64.1 typically being arranged on opposite ends of an elongate mounting member 48.
  • the second plurality of actuators 38.2 comprise three pairs of actuators 64.2, each pair typically corresponding with and being mounted in the vicinity of one of the three pivot members 36.
  • each pair of actuators 64.2 is mounted on the rods 58 extending between the pairs of bearing assemblies 56 of each pivot member 36 and actuators 38.2 of a pair typically being arranged on opposite ends of the rod 58.
  • the tool manipulating portion 30 can be adjusted relative to the workpiece 14.
  • the adjustment of the tool manipulating portion 30 is achieved as follows: the actuators 38.1 of the tool portion 20 are displaced towards the engaged retaining condition so as to retain or lock the tool portion 20 in position relative the support structure 40, while the actuators 38.2 of the tool manipulating portion 30 are displaced towards the partially engaged condition allowing displacement of the tool manipulating portion 30 relative the tool portion 20 and the workpiece 14.
  • the tool manipulating portion 30 is therefore capable of being controlled along the X-, Z- and B-axes shown in Figure 1 by displacement of the elongate members 28 by the displacement members 34 in use.
  • the first and second plurality of actuators 38.1 and 38.2 are displaceably mounted on the support member 22 and support arrangement 32, respectively, for allowing a distance between the pairs of actuators 64 to be adjusted thereby allowing a distance between the connecting members 26 or a distance between the pivot members 36 to be adjusted.
  • the adjustment of the distance between the second plurality of actuators can adjust a distance between the pivot members 36 and with them, the displacement members 34.
  • the actuators 38 include extensions 66 having apertures 68 defined therethrough.
  • the apertures 68 include threaded profiles (not shown) for allowing threaded interconnection with a rod, typically the tool portion support rods 42 and the support rods 52 which have corresponding complementary thread (not shown).
  • the tool portion support rods 42 and the support rods 52 include oppositely threaded portions (not shown) on which the extensions 66 of the actuators 38 are mounted for allowing the pairs of actuators 64 to be displaced either toward or away from each other when the rods 42 and 52 are pivoted or rotated.
  • Figure 12 shows an example of a hybrid multi-axis machining centre where the relative distances between the pivot members 36 on the tool manipulating portion 30 can be adjusted.
  • the tool manipulating portion 30 is connected to the planar support plates 62 via a track-like mechanism 70 which is mounted on the support plates 62.
  • the adjustment of the configuration of the adjustable hybrid multi-axis machining centre 18 is therefore capable of being achieved by combining the adjustment of the relative distances between the pivot members 36 on the tool manipulating portion 30 or the adjustment of the relative distance between the connecting members 26 on the tool portion 20 along with the adjustment of the position and orientation of the tool manipulating portion 30 relative to the workpiece 14.
  • the configuration adjustment of the hybrid multi-axis machining centre 18 is optimised so that the machining centre 18 utilises the minimum possible actuator forces to execute the prescribed task and therefore avoids singular configurations associated with infinitely large actuator forces as the prescribed task is executed.
  • Other optimization criteria such as, but not limited to the shortest possible cycle time can also be formulated and implemented. Constraints that are considered in the optimization are the physical limitations of the device such as minimum and maximum elongate member 28 lengths and the physical dimensions of the support plates 62. Other constraints are the prevention of mechanical interference. There can also be other constraints not mentioned here that can be formulated and implemented.
  • the optimization is typically carried out using a computer simulation of the hybrid multi-axis machining centre. Any one of various available optimization techniques can be implemented to find the optimum configuration of the device.
  • the necessary adjustments are made to adjust the device into its optimum configuration that was determined for the prescribed task.
  • the adjusted distances between the connecting members 26 and pivot members 36 or a position and orientation of the tool portion 20 or tool manipulating portion 30 are calibrated to accurately determine the actual distance(s) and / or position and orientation.
  • the calibration can be done in various ways. With the calibration completed, the multi-axis Computer Numerically Controlled (CNC) configurable machining centre is controlled so that the tool 12 performs the prescribed task on the workpiece 14.
  • CNC Computer Numerically Controlled

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Machine Tool Units (AREA)

Abstract

L'invention concerne un dispositif de manipulation (10), comprenant une partie d'outil (20) qui comprend un élément de support sous la forme d'un poutrelle en H (22) destinée à soutenir un élément de réception d'outil (24) et une pluralité d'éléments de liaison (26) destinés à permettre une liaison pivotante entre l'élément de support (22) et une pluralité d'éléments allongés (28), une partie de manipulation d'outil (30) destinée à manipuler la partie d'outil (20), la partie de manipulation d'outil (30) comprenant un agencement de support (32) destiné à soutenir une pluralité d'éléments de déplacement (34) destinés à déplacer les éléments allongés (28), une pluralité d'éléments de pivot (36) destinés à permettre un déplacement pivotant des éléments de déplacement (34) par rapport à l'agencement de support (32) et un moyen de retenue sous la forme d'une pluralité d'actionneurs (38) destiné à retenir l'agencement de support (32) en position par rapport à une structure de support (40).
PCT/ZA2018/050065 2017-12-06 2018-12-06 Dispositif de manipulation WO2019113615A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
ZA2020/03313A ZA202003313B (en) 2017-12-06 2020-06-03 A manipulating device
ZA2020/03976A ZA202003976B (en) 2017-12-06 2020-06-30 A manipulating device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201762595157P 2017-12-06 2017-12-06
US62/595,157 2017-12-06

Publications (1)

Publication Number Publication Date
WO2019113615A1 true WO2019113615A1 (fr) 2019-06-13

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10138090A (ja) * 1996-11-11 1998-05-26 Kitamura Mach Co Ltd マシニングセンタ
EP1419851A1 (fr) * 2002-11-13 2004-05-19 DECKEL MAHO Pfronten GmbH Machine-outil avec broche montée sur une unité tripode
EP2239088A1 (fr) * 2009-04-06 2010-10-13 The Boeing Company Génération automatique de trous

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10138090A (ja) * 1996-11-11 1998-05-26 Kitamura Mach Co Ltd マシニングセンタ
EP1419851A1 (fr) * 2002-11-13 2004-05-19 DECKEL MAHO Pfronten GmbH Machine-outil avec broche montée sur une unité tripode
EP2239088A1 (fr) * 2009-04-06 2010-10-13 The Boeing Company Génération automatique de trous

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