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WO1997047428A1 - Ameliorations concernant des manipulateurs mecaniques - Google Patents

Ameliorations concernant des manipulateurs mecaniques Download PDF

Info

Publication number
WO1997047428A1
WO1997047428A1 PCT/GB1997/001562 GB9701562W WO9747428A1 WO 1997047428 A1 WO1997047428 A1 WO 1997047428A1 GB 9701562 W GB9701562 W GB 9701562W WO 9747428 A1 WO9747428 A1 WO 9747428A1
Authority
WO
WIPO (PCT)
Prior art keywords
legs
mechanical manipulator
leg
platform
universal joint
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.)
Ceased
Application number
PCT/GB1997/001562
Other languages
English (en)
Inventor
Colin Alfred Hawes
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.)
Geodetic Tech International Holdings NV
Original Assignee
Geodetic Tech International Holdings NV
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
Priority to AU30418/97A priority Critical patent/AU3041897A/en
Application filed by Geodetic Tech International Holdings NV filed Critical Geodetic Tech International Holdings NV
Publication of WO1997047428A1 publication Critical patent/WO1997047428A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • 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
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/015—Frames, beds, pillars
    • 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
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal

Definitions

  • This invention concerns improvements relating to mechanical manipulators of the kind which comprise a platform connected by first universal joints at three positions triangularly disposed thereon to six legs which are longitudinally movably supported in hexagonally-disposed bearings carried by second universal joints that the position and attitude of the platform in space relative to the bearings is fully defined by the lengths of the legs between the respective joints and bearings.
  • a mechanical manipulator of the abovementioned kind is disclosed in WO 92/17313 and promises to revolutionize the machine tool industry.
  • a platform is suspended by three pairs of supportive legs which are coupled to the platform at triangularly spaced-apart locations by means of three universal joints each of which couples to one end of each of the two legs of a respective pair, the two legs of each pair extending from their respective universal joint in divergent directions to spaced-apart locations in an overhead mounting whereat each leg is drivingly engaged by a respective universal joint mounted electric motor arranged to move the leg in its own longitudinal direction.
  • the platform position and orientation can thus be precisely controlled by appropriate operation of the six leg drive motors.
  • the platform can serve for the mounting of a power tool such as a powered gripper mechanism or a rotary cutting tool, for example.
  • a rotary indexing stage is mounted on the platform for rotation in the plane of the platform, and this indexing stage serves as a mounting for a pivotal stage providing for pivotal movement in a plane perpendicular to the plane of rotation of the indexing stage.
  • Mounted on the pivotal stage is a rotary tool holder.
  • a tool held in the tool holder can be arranged to access a workpiece from substantially any direction and to move in substantially any direction for machining the workpiece. Configured thus as a machine tool, the machine of WO 92/17313 is free from all of the movement constraints and limitations which afflict conventional 3-axis machine tools.
  • the object of the present invention is to improve the mechanical manipulator that is described in WO 92/17313.
  • the mounting whereat the legs are drivingly engaged by respective universal joint mounted leg drive motors is domed for enhanced rigidity.
  • Figure 1 is a perspective view from one aspect of an exemplary embodiment of the present invention
  • Figure 2 is a perspective view of the embodiment of Figure 1 from a different aspect and with the machine partly cut away to show its internal configuration.
  • the machine illustrated has overall dimensions of the order of 2.80m length, 2.10m width and 3.0m height and has a worktable which is 960ram square.
  • the machine provides for the design of a component on a CAD system and the automatic machining of the component in accordance with the CAD data.
  • the machine has a rigid triangulated framework 1 formed of welded rectangular steel tubing and, secured with a rectangular opening in the upper surface of this framework, there is a domed mounting plate 2 which supports universal joint mounted leg drive motors 3 generally as described in WO 92/17313 with reference to Figs. 26A-D thereof.
  • Each leg drive motor 3 incorporates a motor driven ball screw which interacts with a respective one of the six legs 4 of the machine to determine the longitudinal position of the leg with respect to the mounting plate 2.
  • the six legs 4 connect in pairs to respective ones of three ball-and-socket universal joints 5 secured in an equilateral triangular array on a platform 6.
  • a spindle motor 7 is mounted on the other side of the platform 6 and serves to mount a rotary cutting tool.
  • a workpiece 8 is shown affixed to the worktable
  • a swarf collection system is incorporated into the machine and a removable swarf tray 10 is shown in Fig 2.
  • the machine advantageously incorporates its own computer 11 with display and keyboard/touch-screen facilities.
  • An umbilical to a separate computer work-station may, if desired, be provided, though it is preferred that the machine be fully self-contained. Controls for the leg drive motors and for other parts of the machine are conveniently housed in a compartment 12 at the rear of the machine.
  • the domed mounting plate 2 preferably has a part-spherical configuration and may be formed of cast metal, cast iron or cast steel for example, and may incorporate channels for the supply of coolant for example to the leg drive motors 3.
  • leg drive means need not be of the preferred ball-and-socket type.
  • the leg drive means need not be mounted at the universal joints coupling the legs to the domed mounting, and could alternatively be mounted on the legs themselves which might for example be telescopic.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur mécanique qui présente une utilité comme machine-outil. Ce manipulateur comprend une plate-forme (6) suspendue à trois paires de pieds de support (4) qui sont couplés à la plate-forme, en des endroits espacés disposés de manière triangulaire, à l'aide de trois joints universels (5). Chacun de ces joints est couplé à une extrémité d'un des pieds de support qui s'étendent à partir de leur joint universel correspondant dans une direction divergente vers des emplacements séparés dans un support supérieur (2). Chaque pied est mis en prise, de manière à assurer un entraînement, avec un moteur électrique (3) fixé sur un joint universel et prévu pour déplacer le pied dans sa propre direction longitudinale. L'orientation et la position de la plate-forme peuvent ainsi être commandées avec précision par le fonctionnement des six moteurs d'entraînement des pieds. Le support supérieur (2) a la forme d'un dôme afin de présenter une plus grande rigidité.
PCT/GB1997/001562 1996-06-11 1997-06-11 Ameliorations concernant des manipulateurs mecaniques Ceased WO1997047428A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU30418/97A AU3041897A (en) 1996-06-11 1997-06-10 Improvements relating to mechanical manipulators

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9612179A GB9612179D0 (en) 1996-06-11 1996-06-11 Improvements relating to mechanical manipulators
GB9612179.3 1996-06-11

Publications (1)

Publication Number Publication Date
WO1997047428A1 true WO1997047428A1 (fr) 1997-12-18

Family

ID=10795101

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1997/001562 Ceased WO1997047428A1 (fr) 1996-06-11 1997-06-11 Ameliorations concernant des manipulateurs mecaniques

Country Status (3)

Country Link
AU (1) AU3041897A (fr)
GB (1) GB9612179D0 (fr)
WO (1) WO1997047428A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0978349A3 (fr) * 1998-08-03 2001-02-07 Ernst Krause & Co. Poste de travail
WO2001032355A1 (fr) * 1999-10-30 2001-05-10 HüLLER HILLE GMBH Machine d'usinage pour le deplacement dans plusieurs axes d'un outil ou d'une piece
US7506847B2 (en) 2000-10-27 2009-03-24 Makex Limited Parallel link machine design

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0589565A2 (fr) * 1992-09-18 1994-03-30 The Ingersoll Milling Machine Company Machine ayant le forme d'un octohèdre avec une partie en triangle comprenant six entretoises servocommandées

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0589565A2 (fr) * 1992-09-18 1994-03-30 The Ingersoll Milling Machine Company Machine ayant le forme d'un octohèdre avec une partie en triangle comprenant six entretoises servocommandées

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0978349A3 (fr) * 1998-08-03 2001-02-07 Ernst Krause & Co. Poste de travail
WO2001032355A1 (fr) * 1999-10-30 2001-05-10 HüLLER HILLE GMBH Machine d'usinage pour le deplacement dans plusieurs axes d'un outil ou d'une piece
US7506847B2 (en) 2000-10-27 2009-03-24 Makex Limited Parallel link machine design

Also Published As

Publication number Publication date
AU3041897A (en) 1998-01-07
GB9612179D0 (en) 1996-08-14

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