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FR3138337B1 - MACHINE TOOL - Google Patents

MACHINE TOOL Download PDF

Info

Publication number
FR3138337B1
FR3138337B1 FR2207851A FR2207851A FR3138337B1 FR 3138337 B1 FR3138337 B1 FR 3138337B1 FR 2207851 A FR2207851 A FR 2207851A FR 2207851 A FR2207851 A FR 2207851A FR 3138337 B1 FR3138337 B1 FR 3138337B1
Authority
FR
France
Prior art keywords
machine tool
connections
pivot connections
positioning module
work spindle
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Fee Related
Application number
FR2207851A
Other languages
French (fr)
Other versions
FR3138337A1 (en
Inventor
Vincent Baselga
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Comau France SAS
Original Assignee
Comau France SAS
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 Comau France SAS filed Critical Comau France SAS
Priority to FR2207851A priority Critical patent/FR3138337B1/en
Priority to PCT/FR2023/051198 priority patent/WO2024023463A1/en
Publication of FR3138337A1 publication Critical patent/FR3138337A1/en
Application granted granted Critical
Publication of FR3138337B1 publication Critical patent/FR3138337B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4876—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed parallelly by a single rotating pair
    • B23Q1/4885—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed parallelly by a single rotating pair followed parallelly by a single rotating 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
    • B23Q1/44—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
    • B23Q1/5406—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 a single rotating pair followed perpendicularly by a single rotating pair
    • B23Q1/5412—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 a single rotating pair followed perpendicularly by a single rotating pair followed perpendicularly by a single rotating 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
    • B23Q1/44—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
    • B23Q1/5468—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 a single rotating pair followed parallelly by a single rotating pair
    • B23Q1/5475—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 a single rotating pair followed parallelly by a single rotating pair followed perpendicularly by a single rotating 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
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/02—Driving main working members
    • B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
    • B23Q5/10—Driving main working members rotary shafts, e.g. working-spindles driven essentially by electrical means
    • 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
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/02—Driving main working members
    • B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
    • B23Q5/20—Adjusting or stopping working-spindles in a predetermined position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type

Landscapes

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

Abstract

MACHINE-OUTIL L’invention concerne une machine-outil (M) comprenant un bâti (100) et au moins un module de positionnement (P) d’une broche de travail tournante (200), ledit module de positionnement (P) assurant la mise en mouvement de la broche de travail tournante (200) par rapport au bâti fixe (100) en mettant en œuvre une pluralité de liaisons. La machine-outil est remarquable en ce que les liaisons pivots sur plusieurs axes sont mises en œuvre par deux paliers chacune. La disposition des axes des différentes liaisons et des éléments les mettant en œuvre est particulièrement étudiée, les masses des différents composants étant notamment définies et réparties de sorte que du fait du porte-à-faux formé, les réducteurs des motorisations des première et deuxième liaisons pivots soient en précharge. Chaque axe des liaisons pivots comprenant deux systèmes de mesure et dont le retour de mesure de position de la boucle fermée de l’asservissement de positions est assuré par un codeur de position disposé après le réducteur. Figure pour l’abrégé : Fig. 2MACHINE TOOL The invention relates to a machine tool (M) comprising a frame (100) and at least one positioning module (P) for a rotating work spindle (200), said positioning module (P) ensuring the movement of the rotating work spindle (200) relative to the fixed frame (100) by implementing a plurality of connections. The machine tool is remarkable in that the pivot connections on several axes are each implemented by two bearings. The arrangement of the axes of the different connections and of the elements implementing them is particularly studied, the masses of the different components being in particular defined and distributed so that due to the overhang formed, the reducers of the motorizations of the first and second pivot connections are preloaded. Each axis of the pivot connections comprising two measurement systems and whose position measurement feedback of the closed loop of the position control is provided by a position encoder arranged after the reducer. Figure for abstract: Fig. 2

FR2207851A 2022-07-29 2022-07-29 MACHINE TOOL Expired - Fee Related FR3138337B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2207851A FR3138337B1 (en) 2022-07-29 2022-07-29 MACHINE TOOL
PCT/FR2023/051198 WO2024023463A1 (en) 2022-07-29 2023-07-27 Machine tool

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2207851A FR3138337B1 (en) 2022-07-29 2022-07-29 MACHINE TOOL
FR2207851 2022-07-29

Publications (2)

Publication Number Publication Date
FR3138337A1 FR3138337A1 (en) 2024-02-02
FR3138337B1 true FR3138337B1 (en) 2024-08-30

Family

ID=83594292

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2207851A Expired - Fee Related FR3138337B1 (en) 2022-07-29 2022-07-29 MACHINE TOOL

Country Status (2)

Country Link
FR (1) FR3138337B1 (en)
WO (1) WO2024023463A1 (en)

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE582789A (en) * 1958-09-19
US4507043A (en) * 1982-09-14 1985-03-26 Textron, Inc. Counterbalance robot arm
JPS61121882A (en) * 1984-11-20 1986-06-09 松下電器産業株式会社 Industrial joint robot
JPH05237789A (en) * 1992-02-26 1993-09-17 Toshiba Corp Articulation device
JP2001169529A (en) * 1999-12-06 2001-06-22 Shinko Electric Co Ltd Mobile body and mobile body system
JP2005014100A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist mechanism of industrial robot
JP2005144610A (en) * 2003-11-17 2005-06-09 Fanuc Ltd Sensor cable wiring processing structure
US7909551B2 (en) * 2007-11-15 2011-03-22 Southern Cross Cooperage Pty Ltd Apparatus and method for shaving the inside of barrels
US8473103B2 (en) * 2009-01-27 2013-06-25 Fanuc Robotics America, Inc. Secondary position feedback control of a robot
US9845850B2 (en) * 2015-01-30 2017-12-19 Irobot Corporation Robotic arm and wrist mechanisms
DE102015211496A1 (en) 2015-06-22 2016-12-22 Deckel Maho Pfronten Gmbh Machine tool for machining a workpiece
FR3054158B1 (en) 2016-07-21 2019-06-28 Comau France MACHINE-TOOL MACHINING
DE102016216902A1 (en) 2016-09-06 2018-03-08 Deckel Maho Pfronten Gmbh Machine tool for machining a workpiece and spindle carrier assembly for use on such a machine tool
JP2018075689A (en) * 2016-11-11 2018-05-17 Ntn株式会社 Operation device and double arm type operation device
CN110802465A (en) * 2019-11-25 2020-02-18 铜车马动力科技(宁波)有限公司 Automatic deburring equipment

Also Published As

Publication number Publication date
FR3138337A1 (en) 2024-02-02
WO2024023463A1 (en) 2024-02-01

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Year of fee payment: 2

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Effective date: 20240306

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