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WO2013160392A1 - Dispositif d'orientation et/ou de positionnement multiaxiaux d'un outil et outil adapté audit dispositif - Google Patents

Dispositif d'orientation et/ou de positionnement multiaxiaux d'un outil et outil adapté audit dispositif Download PDF

Info

Publication number
WO2013160392A1
WO2013160392A1 PCT/EP2013/058598 EP2013058598W WO2013160392A1 WO 2013160392 A1 WO2013160392 A1 WO 2013160392A1 EP 2013058598 W EP2013058598 W EP 2013058598W WO 2013160392 A1 WO2013160392 A1 WO 2013160392A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
axis
displacement
struts
guide system
Prior art date
Application number
PCT/EP2013/058598
Other languages
German (de)
English (en)
Inventor
Ingo Goeller
Karl Eck
Original Assignee
Messer Cutting Systems Gmbh
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 Messer Cutting Systems Gmbh filed Critical Messer Cutting Systems Gmbh
Publication of WO2013160392A1 publication Critical patent/WO2013160392A1/fr

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
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/012—Portals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0235—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member forming part of a portal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K5/00—Gas flame welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K7/00—Cutting, scarfing, or desurfacing by applying flames
    • B23K7/10—Auxiliary devices, e.g. for guiding or supporting the torch
    • 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
    • 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
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B23Q39/021—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like
    • B23Q39/025—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with different working directions of toolheads on same workholder
    • B23Q39/026—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with different working directions of toolheads on same workholder simultaneous working of toolheads

Definitions

  • the present invention relates to a device for multiaxial orientation and / or positioning of a tool, comprising a bearing assembly for holding a machining unit, which comprises the tool, as well as a plurality of movably arranged members for supporting and positioning the tool in space, wherein the members a support structure connected via a universal joint with the tool in a first point and two struts acting in two other points of the tool, and the struts are each movably mounted along a sliding axis. Furthermore, the present invention relates to a tool for thermal processing for use in the device with a tool head which is fixed to a shaft.
  • Typical fields of application of such orientation and positioning devices are the welding, cutting, joining or marking of workpieces.
  • tools for example, laser, welding or cutting torch to call.
  • Pivoting unit, chamfering unit, swivel head or wrist are in the German-speaking countries typical names for such facilities. - -
  • the type of arrangement of these axes of motion relative to the tool axis distinguishes two basic principles, which are referred to as polar and gimbal or in the English-speaking world as a roll pitch and pitch yaw.
  • the two axes of movement with the burner axis of symmetry form a right angle in the basic or middle position; At such of the principle roll pitch is in this position, a rotation axis with the burner axis of symmetry identical.
  • the burner head can be swiveled around its burner tip, the so-called TCP (Tool Center Point). To change the orientation of the burner head no further machine movements are required. It is also proposed to spatially separate the drive and the guide gear with the aim of keeping the moving mass low and increasing the dynamics of the burner movement.
  • the burner is located in front of the mechanism and pivots about its burner tip. Naturally, the collision space of the burner forms a cone and the mechanism must be arranged so that it is outside this cone.
  • the movement range of the solution, starting from its zero position, is not the same in all directions and is particularly limited in the case of a movement of the burner in the direction of the mechanism.
  • the swivel unit must be located very close to the component, which increases the risk of collision.
  • An extremely large number of joints > 20 is required for the function of the solution described, which at the same time implies that a large number of kinematic dimensions (lengths, angles) must be maintained very precisely in order to ensure the required positioning accuracy.
  • Hexapods of the STEWART or GOUGH type are - measured in all directions - limited in their achievable tilt angle to about +/- 30 degrees.
  • a typical example of a hexapod-based machine is the F200iB robot from FANUC. Easier to handle and equipped with the ability to achieve a greater swing angle are pentapods, ie machines with parallel structure, which have five legs or struts between frame and platform, four of which are identical and each have a ball and a universal joint and a leg is connected on both sides with a universal joint with the frame and with the platform.
  • pentapod for constructing a five-axis milling machine is described in EP 1 439 934 B1.
  • the struts move and orient a slide in space.
  • the struts are preferably designed as spindles, ie, the length of the individual platform legs is variable. However, a version with movable articulation points is also shown.
  • the joints of the struts are described both as such with intersecting axes and as intersecting axes. The dimensioning is made so that in a preferred direction, a very large tilt angle is reached, at the expense of other directions.
  • a closed, frame-shaped frame based on an icosahedron is expected to give the solution a very high rigidity, which is also required for the solution to be used for the purpose - -
  • the limited swing angle in all other than the preferred direction is compensated by a turntable on which the part to be machined is clamped.
  • EP 1 863 734 B1 describes a tripod, ie the guidance of a point in space with three drives.
  • the output member is fixed in a universal joint by a parallel guide and is moved by three drive arms, which are designed as rockers in space. All drives are fixed to the frame, which is why only small masses have to be moved and a very high dynamic range can be achieved.
  • the tool head is fixed in its relative position to the frame by various solutions, which ultimately can all be attributed to a parallel crank.
  • Working member manufactures.
  • the axes of the pins intersect at right angles.
  • the holding members in cooperation with the slides, form a movable structure supporting the spindle head.
  • the succession arrangement of the holding members, in cooperation with the pins, describes a universal joint movable along the push axes.
  • the writing describes coupling rods, which with three sliders on the
  • Shear axes are moved, also gimbal connected to the frame thrust cylinders or cranks.
  • the advantage of this solution is a stiff, compact construction, well suited for comparatively small tools and small ones
  • a processing machine for multi-axis movement of a tool in which three linear actuators are connected to the tool via a respective joint with three rotational degrees of freedom.
  • the linear actuators are each moved by a drive without intermediate links.
  • the processing machine is also attached to a stationary frame in such a way that it can be adjusted via slides in two spatial directions.
  • DE 102 16 571 A1 discloses a device for moving a working head in space; It comprises a platform movable in two spatial directions in the manner of a gantry robot, and a multipod connected to the platform via a rotary element.
  • the working head is attached to the multipod.
  • a movement of the worktop in two spatial directions is ensured by the platform.
  • the Mulitpod allows movement of the working head in the direction perpendicular to both directions of movement of the platform.
  • the invention has for its object to provide a device that is simple and inexpensive to manufacture and at the same time allows precise movement, positioning and / or orientation of a tool in the room in high quality of motion, high dynamics and the largest possible collision distance to Workpiece and is capable of doing small Cartesian movements.
  • a further object of the invention is to provide a tool which is designed for optimum use in the device for multi-axis orientation and / or positioning.
  • the bearing assembly is designed as a portal-like, along two orthogonal successive linear axes movable movement unit, and the support structure is designed as a linear guide system with at least biaxial serial displacement kinematics allows a displacement of the universal joint in at least two mutually perpendicular displacement directions, wherein the universal joint has a characteristic point, which on the - -
  • Linear guide system is positioned and the struts determine the orientation of the tool in space, and the sliding axes of the struts are arranged so that they enclose an angle of 45 ° to 60 ° with each other, and the plane spanned by the sliding axes plane by an angle of 30 ° 40 ° tilted to one of the displacement directions of the linear guide system runs.
  • the device according to the invention comprises a processing unit and a bearing arrangement. It is preferably suitable for multiaxial orientation and / or positioning of a rotationally symmetrical tool.
  • the bearing assembly is designed like a portal and is used to connect the processing unit. This includes the machining tool and a plurality of movably arranged members for storage and positioning of the tool in space.
  • a bearing arrangement in the form of a portal-like movement unit allows a quick and easy positioning of the processing unit and thus also of the tool in the room.
  • the portal-like movement unit is movable in two spatial directions along two orthogonal linear axes. The movement is done with serial kinematics.
  • the portal-like movement unit is particularly suitable for virtually unlimited translational movements of the processing unit.
  • the members of the processing unit engage the tool directly or indirectly via intermediate elements, such as on a tool carrier, on or in which the tool is held.
  • a tool carrier facilitates assembly and allows easy replacement of the tool.
  • the tool is fastened to the tool carrier in such a way that the movement of the tool carrier is transmitted to the tool and a movement of the tool carrier thus consecutively effects a movement of the tool.
  • both the direct and indirect action of the links on the tool shall be included in the following explanations, even if a tool carrier is not expressly mentioned.
  • the invention provides that the support structure connected via a universal joint to the tool at a first point is designed as a linear guide system with at least biaxial serial displacement kinematics.
  • a linear guide system allows a movement of the universal joint and thus of the tool in at least two spatial directions.
  • Each universal joint has a so-called "characteristic point” which defines its position in space and which is defined, for example, by the intersection of the two axes of rotation of the universal joint.
  • the displacement kinematics connected to the tool via the universal joint allow positioning of the characteristic point of the universal joint
  • the movable struts acting on at least two other points of the tool determine the position of the tool body in space and are thus essentially intended for adjusting the orientation of the tool in the space By way of example, only the struts determine the orientation of the tool in space.
  • the tool is initially arranged to be movable about the two axes of the universal joint. This mobility is prevented on the one hand by the struts acting in two other points of the tool, on the other hand it determines the orientation of the tool in space.
  • the struts are parallel kinematic connected to the processing unit.
  • the sliding axes of the struts are arranged such that they enclose an angle of 45 ° to 60 ° with each other. Such an arrangement of the sliding axes allows a - -
  • the elastic deformation of the device remains approximately constant and it is a precise guidance of the tool supported even with pivoted tool. This results in a simple design and high dynamics of the processing device precise movement, positioning and / or orientation of the tool.
  • the linear guide system for displacement in one of the displacement directions a lifting axis
  • the universal joint has a proximal and a distal pivot axis, wherein a rotatable about the distal hinge axis and acting on the tool U-shaped yoke is provided, on which the tool is rotatably mounted around the proximal joint axis of rotation, and wherein a connecting web of the yoke between a tool axis of symmetry and the lifting axis is arranged.
  • the tool includes a tool head and a tool shank.
  • the "tool symmetry axis" is the longitudinal axis running through a tool tip of the tool head and the tool shank. - -
  • the lifting axis refers to an axis along which the processing unit can be raised or lowered by means of the linear guide system and which enables a height adjustment for the tool. It corresponds to a displacement direction of the linear guide system.
  • a yoke comprises at least two interconnected via a connecting web, free leg.
  • the universal joint has a proximal and a distal joint axis of rotation.
  • a U-shaped yoke is provided on the linear guide system, which is rotatably mounted about the distal pivot axis.
  • the yoke further has a proximal joint pivot axis on which the tool is rotatably mounted.
  • the connecting web of the yoke between the tool axis of symmetry and the lifting axis is arranged.
  • Such an arrangement of the connecting web in addition to a simple assembly of the tool, also a quick tool change and short set-up times possible.
  • the distal joint rotational axis runs between the tool axis of symmetry and the lifting axis, wherein the distal joint axis does not intersect the tool axis of symmetry.
  • the distal joint rotational axis of the universal joint extends between the tool axis of symmetry and the lifting axis. The fact that the distal joint axis does not intersect the tool axis of symmetry increases the quality of movement.
  • the struts are attached to the linear guide system, they are moved in a movement of the linear guide system. They are therefore dimensioned correspondingly smaller and have a lower mass, so that allows a more compact design of the device according to the invention - - becomes. Since adjustment of the orientation means that less masses have to be moved, a higher guidance accuracy and a higher dynamics of the device are also ensured.
  • the tool has a tool head, and the tool head against a vertical position by at least 40 °, preferably at least 45 °, more preferably at least 50 °, in all directions is pivotally, with the proviso that the Struts are each connected via a ball joint with the tool and in each case with a slide driving them, wherein the range of motion of the ball joints compared to the zero position is at most ⁇ 30 °.
  • a ball joint comprises two joint elements, a ball head and a ball socket; it allows a rotational movement about all three axes, but is translationally fixed.
  • a strut which is connected to a ball joint, is thus linked translationally and suitable for determining the orientation of the tool.
  • the ball joint also allows a rotational movement of the strut about the three axes of rotation of the ball joint, wherein a coupling rod along its longitudinal axis has an isolated freedom.
  • the working angle is limited by the ball socket.
  • the inventive arrangement of the links makes it possible to pivot the tool head by at least 40 °, preferably by at least 45 °, particularly preferably by at least 50 °, the ball joints being deflected at most ⁇ 30 ° relative to the zero position.
  • the tool has a tool center point whose position in the space is variable, with the proviso that when changing the orientation of the tool in space the tool center point is spatially fixed with the help of the linear guide system.
  • the tool center point of the tool is a calculated, freely selectable reference point, for example, the machining point on the workpiece, such as the focus on a laser tool.
  • the location of the tool center point is variable in space so that, for example, when positioning the tool, That is, for example, during a displacement by means of the Linear Operationsssys- system or the portal-like movement unit is moved.
  • the tool center point is characterized in that it remains fixed in space when the orientation of the tool changes with the assistance of the linear guidance system. This allows easier control of the tool as the position and orientation of the tool can be considered separately in the control.
  • a separate consideration of the position and orientation of the tool is also kinematically advantageous, since only relatively small masses have to be moved during orientation changes. As a result, quick orientation changes of the tool are possible.
  • the tool center point is spaced from the characteristic point of the universal joint.
  • the bearing mounted on the bearing assembly linear guide system has a biaxial-serial displacement kinematics, which allows a displacement of the universal joint in a first displacement direction and in a direction perpendicular to the first direction of displacement, second displacement direction, wherein the first displacement direction of the linear guide system runs perpendicular to the two linear axes of the movement unit and the second displacement direction of the linear guide system is redundant to a linear axis of the movement unit.
  • the displacement directions of the biaxial-serial displacement kinematics are perpendicular to each other; they span a plane of movement.
  • the linear guide system is connected to the portal-like movement unit such that the first displacement direction of the linear guide system is perpendicular to the two linear axes of the movement unit.
  • the second displacement direction of the linear guide system is redundant to a frame-proximal linear axis of the movement unit. Due to the redundancy of these two axes, movements along the redundant axis can take place both via the portal-like movement unit and via the linear guidance system. With only small movements in the direction of the redundant axis, it is advisable to carry out this movement by means of the linear guide system. For in a movement of the linear guide system must be compared to a movement of the portal-like movement unit lower masses move. A movement in the direction of the redundant axis by the linear guide system therefore leads compared to a movement on the portal-like movement unit to a higher dynamics of the device and has the consequence that with small movements high accuracy of the tool can be achieved.
  • a cylindrical telescopic unit with a non-circular cylinder cross-section allows the setting of the smallest possible distance between the tool and the bearing assembly.
  • the telescopic unit also leads to an increase in the range of movement of the tool.
  • the universal joint is attached to the tool facing the distal end of the inner cylinder.
  • Both the outer cylinder and the inner cylinder of the telescope unit have a distal end facing away from the tool and a proximal end facing away from the tool.
  • a mounted at the distal end of the inner cylinder universal joint a compact design of the linear guide system is made possible.
  • the inner cylinder has compared to the outer cylinder usually due to its smaller footprint on a lower weight. Because of the universal joint on the inner cylinder - - Is mounted, a relatively small mass must be moved when extending the telescope unit, so that a device with a higher dynamics is obtained.
  • a translatory or a rotary drive is provided, which is connected to the inner cylinder and / or the outer cylinder via a clamp, and that a sensor is provided, which detects the movement of the Gehemmes.
  • the inner cylinder and / or the outer cylinder is connected to the drive via a clamp, on which a sensor for detecting a movement of the Gehemmes is provided.
  • the measured variable determined by means of a sensor can, for example, be based on a collision calculation.
  • a telescopic unit in the form of a drawer with a frame and a box-shaped slide is easy to manufacture and allows through the flat outer surfaces easy mounting of the telescope unit.
  • proximal, frame-shaped frame and the distal box-shaped slider are determined in their relative position by a translational or rotary drive, the frame-near and the frame remote part of the drive not direct, but a guided over a connection either connection have to the proximal, frame-shaped frame or the distal, box-shaped slide and relative movements of Gehemmes be detected by a sensor.
  • the clamp serves to avoid collisions of the tool with the environment and is in operative connection with a sensor.
  • the sensor is suitable for determining a path measurement.
  • a further advantageous embodiment of the device according to the invention is characterized in that the processing unit has a center of mass which is approximately fixed in space when the orientation of the tool changes in space.
  • the tool in an advantageous embodiment, provision is made for the tool to comprise a laser head with a laser head symmetry axis, a beam feed with a beam feed axis and a beam deflection unit for feeding the laser beam to the laser head, wherein the laser head symmetry axis and the beam feed axis are offset relative to one another in that, viewed in the distal direction of the line guidance system, the beam feed axis is arranged behind the laser head axis of symmetry.
  • the linear guide system has a distal direction, which extends from the bearing arrangement along one of the displacement axes of the linear guide system in the direction of the tool.
  • the opposite direction to the distal direction is called the proximal direction.
  • the beam feed axis and the laser head symmetry axis are offset and preferably in parallel planes.
  • the staggered arrangement leads to a lower height of the laser head in the direction of the laser head axis of symmetry. Due to the smaller space requirement of the laser head, the laser head can be tilted at a greater angle during tilting in the proximal direction, without the laser head - - Collides with the linear guide system or the bearing assembly, so that a large work area is obtained.
  • the tool comprises a tool head facing front and a rear end, wherein the universal joint is connected to the front end of the tool.
  • the arrangement of the universal joint at the front end of the tool results in a small distance between the tool tip and the axes of movement of the universal joint, whereby a high guidance accuracy of the tool and a precise machining of the workpiece are possible.
  • the front end of the tool is understood to be the longitudinal section between the frontal end and the middle between the two ends.
  • the tool In a zero position, the tool preferably has a longitudinal side facing the bearing arrangement and a longitudinal side facing away from the bearing arrangement, wherein all the links are connected to the longitudinal side of the tool facing the bearing arrangement.
  • the zero position is the initial setting that the processing unit usually occupies when switching off the device and allows a generally equal displacement of the tool in both directions.
  • the links are on the one hand with the bearing assembly and on the other hand with the tool in operative connection. Since the tool is a three-dimensional body, it has, in the zero position, a longitudinal side facing the bearing arrangement and facing away from the bearing arrangement. All members of the processing unit engage on a common longitudinal side of the tool, namely on the bearing assembly of the facing longitudinal side of the tool. The opposite longitudinal side is thus free of links, which reduces the risk of collisions between the machining device and a workpiece to be machined.
  • the bearing assembly does not surround the tool and can be made simple and compact.
  • the movable support of the struts along a sliding axis contributes to adjustment of the orientation of the tool.
  • the direction and length of the sliding axis determines the mobility of the struts.
  • a provided with a drive slide is provided, which is attached to the Linearverschiebetician.
  • the drive of the struts is moved with the linear guide system, whereby a more compact design of the processing unit is made possible.
  • the logical arrangement of the links and joints with each other in model representation results in several self-contained mesh and the tool head is part of exactly two mesh.
  • the transmission of the inventive arrangement of the limbs and joints in a two-dimensional representation shows a network of edges (limbs) and nodes (joints).
  • the edges and nodes form the meshes of the network.
  • a mesh is the shortest possible closed train of edges and knots; it starts from a node and leads back to the same node.
  • the tool head is part of exactly two stitches.
  • the tool has two spaced apart hinge elements which are permanently connected to the tool and which are each part of different meshes.
  • a joint has several joint elements. Joint elements are in the case of a ball joint, for example, the ball socket or the ball head or in the case of a universal joint, for example, a bracket of the universal joint. At least two hinge elements are permanently connected at different points with the tool, so that they are part of different meshes.
  • the movable mounting of the struts in each case comprises a linear drive which can be moved along the respective sliding axis and to which the struts are articulated.
  • the articulated connection of the struts with the linear drive basically allows movement of the tool in three spatial directions.
  • the struts are used as an intermediate link between the linear drive and the tool. As a result, an immediate force on the linear drive, for example, in a collision of the tool, prevented.
  • the struts contribute to a long life of the device.
  • a connecting element for a universal joint is integrated into the shaft.
  • the tool is for example a laser or a burner for the thermal processing of workpieces, such as cutting or welding torches, in particular autogenous or plasma torches.
  • the tool has a tool head and a tool shank.
  • a connection element for a universal joint is integrated into the shaft.
  • the connection element is designed, for example, in the form of a connecting piece, a flange or a joint element which is part of the universal joint.
  • the joint element is for example a joint fork of the universal joint.
  • At least one joint element which is provided for connecting the tool to a strut, is integrated in the tool shank.
  • the connection of the movable struts to the tool for example via a ball joint or a universal joint.
  • the joints have several joint elements.
  • a joint element is, for example, the ball socket or the ball head.
  • the integrated in the tool shaft joint elements contribute to the reproducibility of the mutual arrangement - - Of tool and machining unit as well as the possibility of a fast and reproducible tool change at.
  • the additionally provided on the tool shaft joint elements increase the stability of the connection of the tool.
  • exactly two further joint elements are integrated in the tool shank, which are provided for connecting the tool to a strut.
  • FIG. 1 shows an abstract, two-dimensional representation of the links and joints of the device according to the invention for orientation and / or positioning of a tool
  • FIG. 2 shows an embodiment of the device according to the invention, in which the
  • Bearing arrangement for holding a processing unit designed as a portal-like, serially movable movement unit,
  • FIG. 3 shows a processing unit according to Figure 1 in an enlarged view
  • FIG. 1 shows in diagram A a two-dimensional, abstracted representation of an arrangement of the links and joints of a device according to the invention, to which the reference number 300 is assigned overall.
  • the device has a bearing arrangement 310. It comprises two struts 301, 302 acting on the tool, which are each connected on one side via a ball joint 303, 304 to the tool and on the other hand via a respective universal joint 305, 306 to the bearing arrangement 310.
  • a linear guidance system 307 with a three-axis-serial displacement cable 307 is mounted on the bearing arrangement 310.
  • - - arranged nematik which is connected via a universal joint 308 with the tool.
  • Diagram B shows a two-dimensional, abstracted representation of an alternative device according to the invention, to which the reference numeral 400 as a whole is assigned.
  • the device has a linear guide system 402 with a three-axis serial displacement kinematics connected to a bearing arrangement 410, which is connected to the tool via a universal joint 403.
  • two struts 404, 405 attack, which are each connected on the one hand via a ball joint 406, 407 with the linear guide system and on the other hand also via a respective ball joint 408, 409 with the tool.
  • the distal direction is in the direction of the arrow 401.
  • FIG. 2 shows a first embodiment of the device according to the invention, to which the reference number 500 is assigned overall.
  • the device 500 comprises a portal-like serial movement unit 501 and a processing unit 502 with a laser cutting torch 510, which is mounted on the movement unit 501.
  • the movement unit 501 is movable along the two orthogonal linear axes 503, 504.
  • the laser cutting torch 510 is movable by the linear guide system with a sliding kinematics along the displacement bars 505, 506 (shown by arrows) in two spatial directions.
  • the processing unit can be raised or lowered. It serves to adjust the height of the tool and is also referred to as the lifting axis.
  • the displacement axis 506 runs parallel to the linear axis 503 of the movement unit 501 and is therefore redundant therefrom. Both displacement axes 505, 506 are perpendicular to the linear axis 504.
  • Linear guide system 550 of the processing unit 502 is shown enlarged.
  • Linear guide system 550 has biaxial-serial displacement kinematics that allow for translation along translation axes 505 and 506.
  • a telescopic unit 522 is provided, which is designed in the manner of a drawer.
  • the drawer comprises a frame 523 facing away from the laser cutting torch 510 and a box-shaped slide 524 facing the laser cutting torch 510.
  • a translatory drive 580 is provided to set the relative position of the frame 523 and the box-shaped slide 524.
  • the box-shaped slide 524 is connected to the translatory drive 580 via a clamp with a sensor (not shown).
  • the box-shaped slider 524 is fork-shaped.
  • the joint fork is
  • the hinge fork 596 comprises two free legs 596b,
  • the tool is rotatably mounted about a proximal joint rotational axis 594.
  • the connecting web 596a is arranged such that it extends between the displacement axis 505 (lifting axis) and the tool symmetry axis 590 of the laser cutting head 514. Also the distal joint axis
  • Tool symmetry axis 590 and distal pivot axis 597 thus do not intersect.
  • the laser cutting torch 510 comprises a laser head 514 with a tool symmetry axis 590, a beam deflection unit 571 and a beam feed
  • two length invariant struts 512, 513 are connected to the laser head 514.
  • ball joints 516 are provided for the movable connection of the struts 512, 513 to the laser head 514.
  • the struts 512, 513 are along the sliding axes 519, 519a be
  • the slide shafts 519, 519a are arranged to enclose an angle of 53 °. They span a plane that is tilted at an angle of 36 ° to the displacement direction 506. Due to the tilted arrangement of the plane, a bulge 560 is obtained between the laser head 514 and the sliding axes 519, 519a.
  • the laser cutting torch 510 has a beam deflection unit 571 which guides the laser beam to the laser head 514.
  • the beam deflection unit 571 the beam feed axis 571a and the tool symmetry axis 590 (laser head symmetry axis) are offset relative to one another. This staggered arrangement leads to a lesser extent of the laser head 514 in the direction of the laser head axis of symmetry.
  • the laser head 514 Due to the smaller space requirement of the laser head 514, the laser head can be tilted against the distal direction 565 in the bulge 560 and thus at a greater angle during tilting, without the laser head 514 colliding with the sliding axes 519, 519a. As a result, a large working range of the laser head 514 is obtained.
  • the laser cutting torch 510 In the zero position, the laser cutting torch 510 has a bearing arrangement facing side 517 and a side facing away from the bearing assembly 518. Both the struts 512, 513 and the linear guide system are connected to the bearing assembly facing side 517 of the laser cutting torch 510.
  • the orientation of the laser cutting torch 510 is determined by the struts 512, 513. When changing the orientation of the laser cutting torch 510, the center of gravity of the processing unit is approximately spatially fixed. - -
  • FIG. 4 shows an embodiment of a tool according to the invention in the form of a laser cutting torch 100 for use in the device according to the invention.
  • the laser cutting torch 100 has a shaft 101 and a laser cutting head 102.
  • a connecting element for a universal joint in the form of a nozzle 105 is integrated, which can be connected via a flange with the universal joint (not shown in the figure).
  • the nozzle 105 is firmly connected to the shaft 101.
  • a connection of the nozzle 105 with the processing unit takes place along the second axis of rotation 107 of the universal joint.
  • two joint elements 108, 109 are integrated in the shaft 101, which are provided for connecting the laser cutting torch 100 to the above-explained movable struts of a machining unit according to the invention.
  • the hinge elements 108, 109 are ball heads of a ball joint. They are connected to the shaft 101 via the joint element holders 103, 104.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Plasma & Fusion (AREA)
  • Laser Beam Processing (AREA)
  • Machine Tool Units (AREA)

Abstract

L'invention concerne un dispositif d'orientation et/ou de positionnement multiaxiaux d'un outil et un outil adapté audit dispositif. Les dispositifs connus d'orientation et/ou de positionnement multiaxiaux d'un outil fonctionnant à symétrie de rotation comportent un ensemble palier pour la fixation d'une unité d'usinage. L'unité d'usinage comprend l'outil et plusieurs éléments montés de manière mobile destinés au montage et au positionnement de l'outil dans l'espace. Les éléments présentent une structure d'appui reliée par un cardan à l'outil en un premier point et deux traverses agissant en deux autres points de l'outil, et les traverses sont montées chacune de manière mobile le long d'un axe de coulissement. L'invention vise à fournir un dispositif qui peut être fabriqué facilement et à faibles coûts, qui permet par la même occasion un déplacement, un positionnement et/ou une orientation précis d'un outil dans l'espace avec une qualité de mouvement élevée, une dynamique importante et une distance de collision la plus grande possible par rapport à la pièce, et qui est adapté à mettre en œuvre de petits mouvements cartésiens. A cet effet, selon l'invention, l'ensemble palier est configuré comme une unité de mouvement du type portique, mobile en série le long de deux axes linéaires perpendiculaires l'un par rapport à l'autre, et la structure d'appui est configurée comme un système de guidage linéaire présentant au moins une cinématique de déplacement en série sur deux axes, qui permet un déplacement du cardan dans au moins deux directions de déplacement perpendiculaires l'une par rapport à l'autre. Le cardan présente un point caractéristique qui est positionné au-dessus du système de guidage linéaire, et les traverses déterminent la position de l'outil dans l'espace. Les axes de déplacement des traverses sont disposés de telle manière qu'ils forment ensemble un angle allant de 45° à 60°, et le plan sous-tendu par les axes de déplacement s'étend en étant incliné selon un angle allant de 30° à 40° par rapport à une des directions de déplacement.
PCT/EP2013/058598 2012-04-25 2013-04-25 Dispositif d'orientation et/ou de positionnement multiaxiaux d'un outil et outil adapté audit dispositif WO2013160392A1 (fr)

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DE102012008122.7A DE102012008122B4 (de) 2012-04-25 2012-04-25 Vorrichtung zur mehrachsigen Orientierung und/oder Positionierung eines Werkzeugs

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WO2014185878A2 (fr) * 2013-05-13 2014-11-20 Coşkunöz Metal Form Maki̇na Endüstri̇ Ve Ti̇c. A.Ş. Banc de traitement au laser ayant un mécanisme de mouvement
EP3023190A1 (fr) * 2014-11-24 2016-05-25 Bystronic Laser AG Dispositif de tête de coupe
CN108406338A (zh) * 2018-03-20 2018-08-17 吉林大学 工具头作用空间为二次曲面的多维超声工具系统及方法
CN108544106A (zh) * 2018-07-06 2018-09-18 合肥格骄电子科技有限公司 一种光机电一体化激光切割装置
CN112894826A (zh) * 2021-02-24 2021-06-04 中科新松有限公司 模块化机器人关节零位标定装置及标定方法

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DE102014102955B4 (de) 2013-12-12 2015-06-25 Messer Cutting Systems Gmbh Laserstrahlmaschine für die thermische Bearbeitung von Werkstücken
DE102017113234A1 (de) 2016-06-17 2017-12-21 Macaso Gmbh Mobile Vorrichtung zur Ausführung von Bearbeitungsaufgaben an großen, plattenförmigen oder gering gekrümmten Bauteilen mit schweißtechnischen Verfahren
IT202300002622A1 (it) * 2023-02-16 2024-08-16 Endico S R L Apparato e metodo per la realizzazione di elementi piani sagomati

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WO2014185878A2 (fr) * 2013-05-13 2014-11-20 Coşkunöz Metal Form Maki̇na Endüstri̇ Ve Ti̇c. A.Ş. Banc de traitement au laser ayant un mécanisme de mouvement
WO2014185878A3 (fr) * 2013-05-13 2015-01-08 Coşkunöz Metal Form Maki̇na Endüstri̇ Ve Ti̇c. A.Ş. Banc de traitement au laser ayant un mécanisme de mouvement
EP3023190A1 (fr) * 2014-11-24 2016-05-25 Bystronic Laser AG Dispositif de tête de coupe
WO2016083916A1 (fr) 2014-11-24 2016-06-02 Bystronic Laser Ag Pont pour machines de découpe au laser
CN107000135A (zh) * 2014-11-24 2017-08-01 百超激光股份公司 用于激光切割机械的桥接部
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CN108406338A (zh) * 2018-03-20 2018-08-17 吉林大学 工具头作用空间为二次曲面的多维超声工具系统及方法
CN108406338B (zh) * 2018-03-20 2023-08-11 吉林大学 工具头作用空间为二次曲面的多维超声工具系统及方法
CN108544106A (zh) * 2018-07-06 2018-09-18 合肥格骄电子科技有限公司 一种光机电一体化激光切割装置
CN112894826A (zh) * 2021-02-24 2021-06-04 中科新松有限公司 模块化机器人关节零位标定装置及标定方法
CN112894826B (zh) * 2021-02-24 2022-08-09 中科新松有限公司 模块化机器人关节零位标定装置及标定方法

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