FR3065386B1 - DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS - Google Patents

DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS Download PDF

Info

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
Application number
FR1753369A
Other languages
French (fr)
Other versions
FR3065386A1 (en
Inventor
Marc Dubois
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.)
Lemoine Lmy
Original Assignee
Lemoine Lmy
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 Lemoine Lmy filed Critical Lemoine Lmy
Priority to FR1753369A priority Critical patent/FR3065386B1/en
Priority to PCT/FR2018/050979 priority patent/WO2018193215A1/en
Publication of FR3065386A1 publication Critical patent/FR3065386A1/en
Application granted granted Critical
Publication of FR3065386B1 publication Critical patent/FR3065386B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • 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
    • 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).

FR1753369A 2017-04-19 2017-04-19 DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS Active FR3065386B1 (en)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
WO2018193215A1 (en) 2018-10-25
FR3065386A1 (en) 2018-10-26

Similar Documents

Publication Publication Date Title
US8909035B2 (en) Photography stand
US8348590B2 (en) Device for treating and/or handling articles
ITMI20102370A1 (en) EQUIPMENT FOR DEPOSITION IN SLICED FOOD CONTAINERS
FR3065386B1 (en) DELTA TYPE LINEAR ROBOT EQUIPPED WITH LINEAR MOTORS
EP1518675B1 (en) Printing press
CN110505801A (en) More scale chips mounting devices
WO2019158612A3 (en) Device comprising components that can be moved relative to each other, and method
CN112984340A (en) Remote teaching device based on Internet and use method
CN103839477B (en) Mechanical drive teaching aid
CN204397901U (en) A kind of pseudo-four-freedom-degree parallel-connection robot
CN203712081U (en) Equipment for laser welding of cellphone camera lens module
CN209533623U (en) A kind of mobile platform of engraving machine
CN108869996A (en) robot projection device and its educational robot
SE9103575D0 (en) TRANSPORT CIRCUIT FOR SHARED DRIVES
KR101091704B1 (en) Wrapping machine of contraction film for bottle
CN107465318A (en) Motor stator automatic shell-assembling machine
CN106585159A (en) Digital case making machine with non-stop fast template changing function
AU2015100372A4 (en) Automatically pairing unit for magnet group
CN211209757U (en) Automatic page-turning book scanner
CN209681661U (en) Compound angle turnover device
CN106956294B (en) A kind of Three-degree-of-freedom bionic eye
CN202433660U (en) Electrically controlled camera shooting track car
CN205240037U (en) Six packagine machine of winding membrane go out membrane device
CN106624782B (en) For driving the power output system of cam drive
CN219843641U (en) Mobile phone stabilizer suitable for mobile phone video fortune mirror

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20181026

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7

PLFP Fee payment

Year of fee payment: 8