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FR3065386B1 - Robot lineaire de type delta equipe de moteurs lineaires - Google Patents

Robot lineaire de type delta equipe de moteurs lineaires Download PDF

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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
English (en)
Other versions
FR3065386A1 (fr
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/fr
Priority to PCT/FR2018/050979 priority patent/WO2018193215A1/fr
Publication of FR3065386A1 publication Critical patent/FR3065386A1/fr
Application granted granted Critical
Publication of FR3065386B1 publication Critical patent/FR3065386B1/fr
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)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (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).
FR1753369A 2017-04-19 2017-04-19 Robot lineaire de type delta equipe de moteurs lineaires Active FR3065386B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1753369A FR3065386B1 (fr) 2017-04-19 2017-04-19 Robot lineaire de type delta equipe de moteurs lineaires
PCT/FR2018/050979 WO2018193215A1 (fr) 2017-04-19 2018-04-18 Robot lineaire de type delta equipe de moteurs lineaires

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1753369 2017-04-19
FR1753369A FR3065386B1 (fr) 2017-04-19 2017-04-19 Robot lineaire de type delta equipe de moteurs lineaires

Publications (2)

Publication Number Publication Date
FR3065386A1 FR3065386A1 (fr) 2018-10-26
FR3065386B1 true FR3065386B1 (fr) 2019-04-19

Family

ID=59381428

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1753369A Active FR3065386B1 (fr) 2017-04-19 2017-04-19 Robot lineaire de type delta equipe de moteurs lineaires

Country Status (2)

Country Link
FR (1) FR3065386B1 (fr)
WO (1) WO2018193215A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114043465A (zh) * 2021-12-09 2022-02-15 山东建筑大学 动态建筑实时模拟与验证系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH672089A5 (fr) 1985-12-16 1989-10-31 Sogeva Sa
JPWO2009035050A1 (ja) * 2007-09-14 2010-12-24 Thk株式会社 リニアモータ及びリニアモータのコギング低減方法
CN204263548U (zh) * 2014-11-21 2015-04-15 潘祥生 并联式3d打印机
CN104859147A (zh) * 2015-04-24 2015-08-26 常州大学 一种基于并联机构的四自由度3d打印设备
US9566708B2 (en) * 2015-05-14 2017-02-14 Daniel Kurnianto Control mechanism for end-effector maneuver
KR101664988B1 (ko) * 2015-07-16 2016-10-11 주식회사 티피씨애니웍스 3d 프린터의 로드 어셈블리

Also Published As

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

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