Note: Descriptions are shown in the official language in which they were submitted.
This invention relates to a triaxial programmable
module.
One of the biggest problems in mechanical engineering
is the lack of a modular element for in-terconnecting mobile
machine elements, which is also able to provide a fast,
accuratet powerful, easy and economic way, the different
types of movements and stresses in a mechanical system.
This problem arises from the extreme complexity of
systems. For example, in the relative motion between two
bod~es, there can be 64 variations, as shown by considering,
by means of the Boolean laws, the existance or not of
freedom in each of the six parameters which define the speed
of the centre of gravity and the rotation of the mobile
body relative to the fixed one. Not considerlng from the
former variations those obtained by circular permutakions,
the number of independent possibilities for the mobile
body decreases to 20. For example, in a cylindrical
friction bearing mounting of an axle there are only two
allowed parameters: the rotation around the cylinder axis
and the translation in the ax~s direction. No other freedom
or parameter is allowed. As a further example, an internally
threaded socket allows a screwed rod to move inside it, the
rod rotating and translatin~ at the same time. This case r
however, differs from the former one by the existence of
a relation between both the parameters determined by t~e
thread. In other words, among the 20 mentioned apparent
possibilities, many others with great practical interest are
not included~ For example, a thrust bearing can have
different forms depending on whether external forces are
acting in one or both senses, and also whether torques
appear. The former 64 mentioned variations must be com-
bined with another 64 cominy from the consideration as per
the Boolean algebra of the existence or not of three
.
possi~le force components and three torque components. Even
the combinations provided b~ special relations are not
included.
, .
-2-
..
:: :
:: :
The machine tool work movements must be accurate,
allowing only small deviations when applying big work
stresses, which calls Eor a high strength. Current machine
tools are built includ~ng a bed in which the necessary
mobile elements are supported and having a complex casting
or welded building method, with a difficult design and
long manufacturiny time due to the necessity of using
special techniqu~s and machines. All this contrlbutes to
a high final cost. Another problem with those machines
is their dif~icult transport and the inability to be
reconverted if required. As there are a large number of
machine tool makers, the great variety of different parts
and spares that are required must be added to the costs
already mentioned.
Another type of workshop machinery is, for instance,
coordinate measuring machines, provided to measure the
workpiece dimensions. They have a main inconvenience:
although there are no working stresses, it is usual to put
heavy workpieces on the machine, which therefore needs
a high strength. Due to that, they are not an economical
price for small companies.
Robots and manipulators are among the more complex
motion systems, including a high number of degrees of free-
dom. Their actual cost is also very high despite the use
of low cost microprocessors. ~ consideration of existing
systems reveals that their mechanical ~omplexity derives
from the use of a great variety of different elements
with high manufacturing costs.
~ It is already known to provide a two axis module,
for use on machine tools which have slide guides in two
directions X, Y alIowing only linear displacements, with
only one fixed f~eedom degxee~ The rest of motion types
such as rotations, helicQidal movement, independent
rotation and translation, total blocking, etc., are not
attainable~ ~ny motion guidance possibility, perpendicular
to the XY plane is not allowed,
,
-3-
.
:
~ .
: : :
' .
.: ' ~
.
~ 3L~
Another known solution used in optics has neither
possibility for programming the ~uided movement, having
only translational degrees of freedom.
-- The present invention provides a triaxial programmable
S module, applicable to the assembly and testing of machine
tools and their control elemen~s, as well to power systems
based on mechanical, hydraulic, pneumatic or electrical
energy, which enables fixed structures assembly, practically
made in a variable stiff shape, wherein parallel to each of
the X, Y, Z axes of a cartesian coordinates system, there
is provided at least one guide which traverses the module
from one external surface to another and crosses spacially
other perpendicular guides without intersecting them, and
at least one kinematic programming device as herein
defined for regulating movement of elements guided by the
guides.
A guide, as understood in machine tool structures, is
made by a cylindrical or prismatic hole or groove, able to
allow ~he displacement or rotation of an external elongated
member.
A kinematics programming dev;ce is hereby defined as a
system which operates to constrain the type of movements
of an elongated element relative to a guide. For example,
the device may constrain the relative movement to pure
rotation, pure translation, independent translation and
rotation, helicoidal movement, etc.
The term kinematics programming device within this
context means all type of device belonging to the module,
which with or withouk the help of other auxiliary elements,
allows the builder or operatox to select between two or
more different states of movement within a guide.
This invention provides a module which at least to some
extent eliminates the former incon~eniences at the same
time as offering new adv~ntages~ For the building of the
mentioned machine tools and systems, the present module,
combined with unidimensIonal elements, such as xods, shapes,
etct, as well as two-dimens~onal elements, like sheets and
th~ck plates, or trldimensional ones, -like compact blocks,
4_
.
.
~ - ~
should solve any kind of structural problem, such as, for
example, parallelizing, perpendicularity, crosslng, line and
plane intersecting, rotation, translation, positioning
and directioning of solids at any space point. It can
originate movements following cartesian, cylindrical or
spherical coordinates. A single type of module can be
used for connecting one~, two- or tridimensional elements
as mentioned. This module, as well as its auxiliary
elements can be prefabricated and standardized, allowing
the direct building of machine tools without making any
new holes. Each desired movement programming between a
guide and the elements attached to it should be made in
any easy way without requiriny unusual pieces. It should
be also capable of processing other energy types than
mechanical, like hydraulic, pneumatlc or even electrical.
Being accurately built, it allows machine tool assembly
without additional stresses. ~he module allows low weight
building, and easy disassembling and disposal of fixed and
mobile systems. Its costs should be low, maintaining the
strength of existing structures.
Other modules and auxiliary elements can be attachable
or added, in order to strengthen the original structure if
necessary, and easy to handle and useful for teaching of
mechanical machines theory, as well as a good help in quick
testing of new systems, specially automatic control ones,
being also applicable to the simulation of systems with
the help of electronic equipment, mainly using micropro-
cessors. It can also provide for the support of auxiliary
parts such as sensors, longitudina-l measuring slides or
simple covering elements such as sheets. It also allows
for connection with screwed rods, ball or roller bearings
and other parts. Machine tools made with the module
would be light, easy to transport and to assemble even
near another fixed machine tool in order to make measure-
ments without moving the measured workpiece out of thework machine.
.
~Le~t~
The module can have diverse exte~nal shapes, Eor example
cubic, parallelepiped~c, cylindr~cal, spherical, etc.,
compact or hollowed inside, with some guides, each having
one or more kinematics programming devices, which allows
the elements inside the guides to move with different
types of movements.
The guides can be holes or grooves, in different
shapes and sizes crossing o~er all the module length on
each X, Y, Z direction. They can be smooth or threaded in
the whole or in a part of their length, and can also have
diverse circular grooves. Equally, small channels can be
disposed permitting the creation of an hydraulic or
pneumatic supporting pressure or a better lubrication. The
guiaes in one module can be different. No case will be
allowed to show interference between the guides, although,
as a limit, they can be tangential. The number of guides
on each direction X, Y, ~ can be also different, and the
planes defined by each couple of parallel guide axes, if
any, can be oriented in di~ferent directions. On the one
hand, one of the guides may be of bigger cross-seciton, or
on the other hand a symmetrical module version may be
provided i~ desired.
In a practical form, external planar surfaces can be
achieved so enabling the broad contact with other planar
surfaces, or the coverin~ of a formed structure by means of
plates or plane pieces, which also can improve the strength
in the corresponding direction. Another version of the
module can have a cylindrical external surface, then enabling
its use as an hydraulic piston. Another form can have,
parallel to one axis, specially if the surface has planar
sides, longitudinal protruding profiles, allowing the module
to be assembled to a surface with corresponding grooves.
It is to be understood that a kinematics programming
device according to this invention, ma~ be any system which
allows one to modify or program the selected relative motion
or even to block the element inside the guide in relation to
the guide itself by means of auxiliary pieces having
.~
-6-
- : . ~ :
~l L~
physical contact with said element, The relative movements
or degrees o freedom can be; pure rotation, pure transla-
tion, independent translat~on and rotation, helicoidal
movement, etc. Wlth this k~nematics proyramming device,
the obtained bindings can support diverse forces or tor~ues,
for example, forces in one or two senses, axial clearance
control forces, radial clearance control, etc. This kine-
matics programming can be obtained by means of programming
holes or grooves, oriented perpendicularly to the corres
ponding guide and having diverse shapes and sizes, crossing
over or not, smooth or threaded in the who]e or in a part
of their length, and can also have diverse grooves of part
circular section. Their number can be one or more for each
guide. The intersection between two programming holes or
grooves is a possibility which does not disturb their
function, although in this case, the auxiliary programming
elements used for each guide could not be retracted across
one end of the intersecting hole.
The auxiliary programminy elements housed in the corres-
pondent programming holes or groo~es can be different, forexample, pins, threaded rods, screws, clips, etc. There can
also be some auxiliary elements inside the guides, for
instance, inside threaded sockets, ball or roll bearings,
shielded end rings, fastening rings, cams, plugs, grooved
rods, etc.
One helpful interchangeability effect among different
modules can be obtained if ternary symmetry between perpen-
dicular guides exists, being then the distances between each
pair of such guides equal~ Assembling will then be easier.
It is known the ability of pneumatic or hydraulic
pressure to produce large ~orces when actin~ on a broad
surface, allowing also displacements without resistance.
This effect can be obtained, for instance, by eeding of a
hydraulic pressure through the programming or connecting
holes or guides,
The module can be made with different materials, being
of special in-terest the use of electrically insulating ones,
--7--
:
~ ~ ,
' ~
.
.
. .
which allow the making of different electrical circuits by
combining the programming holes and different guides.
According to another aspect of the invention there is
provided a three dimensional structure comprising a plural-
ity of elongate members interconnected by triaxial pro-
grammable modules, each module being as defined above
wherein guides of the modules engage with the elongate
members and the kinematic programming devices regulate
movement between the interengaging modules and elongate
members.
In the drawings which illustrate embodiments of the
invention:
Fig. 1 shows an example of a module with two guides and
four programming holes in each direction.
Fig. 2 is a detailed section along A-A of the module of
Fig. 1 including hydraulic or pneumatic support elements
both on the guides and external surface.
Fig. 3 shows an example of a module with groove type
guides and programming holes.
Fig. 4 is a partial view of a practical possibility
of how programming holes can interact on the guides.
Fig. 5 shows examples of auxiliary kinematics pro-
gramming elements.
Fig. 6 shows an example o~ a hydraulic programming
method using a grooved cylindr~¢al rod.
Fig. 7 is a partial section along B-B of the module
of Fig. 3, showing the hydraulic or pneumatic support forces.
Fig. 8 is an example of a mac~ine tool structure built
by means of a cubic type of module~
Fig. 1 shows a cubic ~ersion of a module 1 with
the same nurnbex of guides 2 on each direction, as well as
four kinematics programming holes 3. Section A-A belonging
to one Ve~sion is seen in Fi~. 2~ Guides 7, 9, 2, 8 here
shown, ha~e hydraulic or pneumatic support channels 5
connected to its programming hol~ 4. The guides have a
smooth part and a threaded part 9a. On the module sides 10,
cavities 10a have been made, giving hydraulic or pneumatic
-8-
..
:., . .. .... . ., -
support over a planar external surface 26 in a similar way
to that shown in Fig. 7. In Fig n 3 another cubic version 11
of this module appears, similar to the former one, with
grooves ~2 having a part circular cross-section and traverse
the module. This figure show~ that the holes 23 do not
intersect with other programming holes 24. Fig. 4 shows a
simple variety of module 1 which can perform equally the
desired function giving intersections between programming
holes 30a and the corresponding guides. Various programming
techni~ues are shown in Fig. 5. Here is shown, for example,
how to block a tube 12 inside the guide 6 by means of a pin
inserted through the hole 12a~ If a pure rotational move-
ment of the rod 15, having a groove 16, is desired, this
can be achie,ved by inserting through the hole 12a a pin 18
whose loosening is avoided by a threaded bolt 19. Rod 15
would become blocked if it were strongly engaged by pin 18
engaged by the threaded bolt 19. Those last two pieces
can also be used to allow a single type of movement of rod
2~ or its complete blocking. For the hydraulic or pneumatic
energy control, it is also possible to use this module
advantageously~ So the version 1 has six independent circuits
each one having two exits or guide ends 30. Fig. 6 shows
schematically a way of controlling a fluid flow 35 fed at
pressure 34 to an inlet 30a, the ou~let flow 35 being from
the hole 31a depending upon the rotation 36 or translation
37 of the control grooved rod 33. Fig 7 shows the flexi-
bility of this module in achieving hydraulic or pneumatic
support 28 equalized by pressure 29 due to the flow 27 and
27a when passing across hole 24. The module 11 is placed
' 30 on a planar surface 26 having a protruding profile 25.
This can be also achie~ed by module 1, inside its guide 9
; or in the surface 1~ Fig. 8 shows a sample of a boring
- machine structure arrangement, in which module 39 can
support the tool ha~ing three di$placement degrees of
freedom 50 as per X, Y, Zr made of nine modules 39,
all which can be ~denical but individually programmed
with necessary guides for housing diverse tubes 43,
_9_.
~ ' ' '
:
'
4~, ~5 screwed rods 41 and engines 47, 51, 52, being each
coupled to screwed rods 41, 41a, and for instance, chain
synchronized, Most diverse machine types can so be achieved
or simulated.
s Fig. 1 and 2 show guide 6 traversing the module parallel to
the X axis , crossing other perpendicular guides 7,8 parallel
to the directions Y, Z, without intersecting these guides. In
the same way, guide 7, parallel to direction Y traverses the
module crossing the guides 8, 6 without intersecting them. Guide
8 traverses the module also from one external surface to another
crossing perpendicular guides 6, 7 without intersecting them.
The programming elements ~4, 18 and 19 shown in Fig, 5 are
con-tainedin a programming in a plane perpendicular to the guide
6, which contains the parts 12~ 15 or 20.
Special interest for educational applications presents a version
of the module whose guides are symmetrically arranged around
a line which crosses the module. The guides of the module of
Fig. 1 appear symmetrically arranged in respect to the main
diagonals of the cube, being the minimum distance segments
between perpendicular guides equal and symmetrically arranged.
:
.
:~
'~ ~
' --1 0--
: .
:
.
