FR3065386B1 - DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS - Google Patents
DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS Download PDFInfo
- Publication number
- FR3065386B1 FR3065386B1 FR1753369A FR1753369A FR3065386B1 FR 3065386 B1 FR3065386 B1 FR 3065386B1 FR 1753369 A FR1753369 A FR 1753369A FR 1753369 A FR1753369 A FR 1753369A FR 3065386 B1 FR3065386 B1 FR 3065386B1
- Authority
- FR
- France
- Prior art keywords
- linear
- nacelle
- arms
- slide
- slides
- 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.)
- Active
Links
- 238000010146 3D printing Methods 0.000 abstract 2
- 230000005672 electromagnetic field Effects 0.000 abstract 1
- 238000004804 winding Methods 0.000 abstract 1
Classifications
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- 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
- B25J9/0039—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-spherical-spherical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- 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
- 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
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Optics & Photonics (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Linear Motors (AREA)
Abstract
L'invention concerne un robot linéaire (1) comprenant un bâti muni de trois montants (21, 22, 23), trois coulisseaux (51, 52, 53) montés respectivement en liaison glissière sur les montants, une nacelle (4) et trois paires de bras (61, 62, 63) agencées entre les trois coulisseaux respectifs et la nacelle en formant chacune un parallélogramme variable, les premières extrémités des bras étant montées en liaison rotule (7) sur les coulisseaux et les secondes extrémités desdits bras étant montées en liaison rotule (7) sur la nacelle. Le robot linéaire comprend trois moteurs linéaires agencés chacun entre un montant et un coulisseau, chaque moteur comprenant des aimants fixés avec un pas régulier sur le montant et un bobinage enroulé autour d'un paquet de tôles d'entrefer supporté par le coulisseau de sorte à créer un champ électromagnétique de déplacement du coulisseau. L'invention concerne également une machine d'impression en trois dimensions qui comprend un robot linéaire (1) et un système d'impression en trois dimensions, monté sur la nacelle (4).The invention relates to a linear robot (1) comprising a frame provided with three uprights (21, 22, 23), three slides (51, 52, 53) mounted respectively in sliding connection on the uprights, a nacelle (4) and three pairs of arms (61, 62, 63) arranged between the three respective slides and the nacelle each forming a variable parallelogram, the first ends of the arms being mounted in ball joint (7) on the slides and the second ends of said arms being mounted in ball joint connection (7) on the nacelle. The linear robot comprises three linear motors each arranged between an upright and a slide, each motor comprising magnets fixed with a regular pitch on the upright and a winding wound around a packet of air gap plates supported by the slide so as to create an electromagnetic field moving the slide. The invention also relates to a three-dimensional printing machine comprising a linear robot (1) and a three-dimensional printing system mounted on the nacelle (4).
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1753369A FR3065386B1 (en) | 2017-04-19 | 2017-04-19 | DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS |
PCT/FR2018/050979 WO2018193215A1 (en) | 2017-04-19 | 2018-04-18 | Delta-type linear robot equipped with linear motors |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1753369A FR3065386B1 (en) | 2017-04-19 | 2017-04-19 | DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS |
FR1753369 | 2017-04-19 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3065386A1 FR3065386A1 (en) | 2018-10-26 |
FR3065386B1 true FR3065386B1 (en) | 2019-04-19 |
Family
ID=59381428
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1753369A Active FR3065386B1 (en) | 2017-04-19 | 2017-04-19 | DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS |
Country Status (2)
Country | Link |
---|---|
FR (1) | FR3065386B1 (en) |
WO (1) | WO2018193215A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114043465A (en) * | 2021-12-09 | 2022-02-15 | 山东建筑大学 | Dynamic building real-time simulation and verification system |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CH672089A5 (en) | 1985-12-16 | 1989-10-31 | Sogeva Sa | |
DE112008002447T5 (en) * | 2007-09-14 | 2010-07-22 | Thk Co., Ltd. | Linear motor and method for reducing screen phenomena |
CN204263548U (en) * | 2014-11-21 | 2015-04-15 | 潘祥生 | Parallel 3D printer |
CN104859147A (en) * | 2015-04-24 | 2015-08-26 | 常州大学 | Four-degree-of-freedom 3D printing equipment based on parallel mechanism |
US9566708B2 (en) * | 2015-05-14 | 2017-02-14 | Daniel Kurnianto | Control mechanism for end-effector maneuver |
KR101664988B1 (en) * | 2015-07-16 | 2016-10-11 | 주식회사 티피씨애니웍스 | Rod assembly of the 3D printer |
-
2017
- 2017-04-19 FR FR1753369A patent/FR3065386B1/en active Active
-
2018
- 2018-04-18 WO PCT/FR2018/050979 patent/WO2018193215A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2018193215A1 (en) | 2018-10-25 |
FR3065386A1 (en) | 2018-10-26 |
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Legal Events
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PLFP | Fee payment |
Year of fee payment: 2 |
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PLSC | Publication of the preliminary search report |
Effective date: 20181026 |
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PLFP | Fee payment |
Year of fee payment: 8 |