Industrial machine for controlling a plurality of tools

Abstract

TOOL DRIVING MACHINE Machine comprising: a frame extending along a first axis, a shaft, slidably mounted on the frame along said first axis and extending along a second axis; all of the admissible positions of said first and second axes defining a displacement surface, characterized in that it further comprises: a plurality of N>1 tools, slidably mounted on said carrier shaft, a plurality of N+1 motors, a plurality of N belts for driving said tools, and in that one of the belts, called the first belt, is driven by exactly two motors of the plurality of motors, called the first and second motors; and in that each separate belt of said first belt is driven by a single motor separate from said first and second motors; each of these motors driving a single belt. Figure for abstract: figure 1

Description

Title of the invention: Industrial machine for controlling a plurality of tools Technical field of the invention

[0001] The invention relates to the technical field of industrial tool control machines. More specifically, the invention relates to an industrial machine comprising a plurality of tools and incorporating a solution for spatially moving the plurality of tools. Technological background

[0002] Industrial machines allow a wide variety of actions to be carried out, often complex, in parallel or sequential manner.

[0003] When manufacturing a product, the latter transitions through the different stages of the manufacturing process, most often on a production line. Generally speaking, during the different stages of the manufacturing process, a plurality of tools are necessary to shape the product to its final stage.

[0004] In cases where space is not a limiting factor, production lines allow the process steps to be positioned sequentially and all the necessary tools to be positioned spread out along the production line. However, in cases where the space available for production is limited, this latter configuration is not a viable option. There is therefore a need for an industrial machine comprising a plurality of tools and incorporating a solution for spatially moving the plurality of tools within a reduced surface area.

[0005] With regard to the production cost of an industrial product, this is inexorably linked to the energy cost required to produce it. The spatial movement of production tools generates energy consumption, the latter must be minimized so as to reduce the production costs of the product. There is therefore a need for an industrial machine comprising a plurality of tools and incorporating a solution for spatial movement of the plurality of tools within a reduced surface area with minimal energy consumption.

[0006] Furthermore, the time required to produce a product is impacted by the distance that must be traveled by the various tools. There is therefore a need for an industrial machine comprising a plurality of tools and incorporating a solution for spatially moving the plurality of tools within a reduced surface area with minimal energy consumption and minimizing the distances traveled by the tools of the machine.

[0007] When an industrial machine comprises a plurality of tools that must move spatially so as to intervene in the manufacture of a product, the movement of these tools generates parasitic vibrations on the structure of the machine, which can considerably impact the precision with which the tools operate, which consequently results in a lower quality product. There is therefore a need for an industrial machine, with minimal energy consumption, incorporating a solution for spatial movement of any number of tools within a reduced surface area and capable of minimizing the parasitic vibrations generated by the spatial movement of the tools.

[0008] Furthermore, when manufacturing a product, it may be desirable to parallelize the production of the product by taking advantage of the mechanisms active during the manufacturing process, in particular by making it possible to produce exact copies of the product to be manufactured. There is therefore a need for an industrial machine incorporating a solution for spatially moving any number of tools within a reduced surface area with minimal energy consumption and capable of positioning the tools in parallel so as to pool the movements of the tools. Objectives of the invention

[0009] The invention therefore falls within this context and seeks to resolve at least one of the aforementioned drawbacks, and preferably all of the aforementioned drawbacks.

[0010] The invention aims to provide an industrial machine comprising a plurality of tools and incorporating a solution for spatial movement of said plurality of tools within a reduced surface area.

[0011] The invention also aims to provide, in at least one embodiment, an industrial machine capable of reducing the parasitic vibrations generated by the movement of the tools.

[0012] The invention also aims to provide, in at least one embodiment, an industrial machine capable of positioning the tools in parallel so as to pool the movements of the tools.

[0013] The invention also aims to provide, in at least one embodiment, an industrial machine capable of minimizing the overall energy consumption of the machine. Presentation of the invention

[0014] To do this, the invention relates to an industrial machine comprising:

[0015] a chassis extending substantially along a first axis,

[0016] a shaft, called a carrier shaft, slidably mounted on the chassis along said first axis and extending along a second axis; the set of admissible positions of said first and second axes defining a geometric surface, called a displacement surface,

[0017] characterized in that it further comprises:

[0018] a plurality of N tools, slidably mounted on said carrier shaft, N being an integer greater than or equal to 2,

[0019] a plurality of N+1 motors,

[0020] a plurality of N drive belts of said tools,

[0021] and in that each tool of said plurality of tools is engaged with only one of the belts of said plurality of belts and each belt of said plurality of belts is engaged with only one tool; and in that one of the belts, called the first belt, is driven by exactly two motors of the plurality of motors, called the first and second motors;

[0022] and in that each belt distinct from said first belt, called auxiliary belt, is driven by a single motor of said plurality of motors, called auxiliary motor of this belt, distinct from said first and second motors; each auxiliary motor driving a single auxiliary belt.

[0023] Thus and according to the invention, said first belt is driven by said first and second motors so as to be able to slide the carrier shaft along said first axis and / or to slide said tool, engaged with said first belt, along said carrier shaft.

[0024] According to the invention, each of said auxiliary belts is driven by a single motor of said plurality of motors, called auxiliary motor of this belt, distinct from said first and second motors, so as to be able to slide the tool engaged with said auxiliary belt along said carrier shaft.

[0025] According to these aspects of the invention, to move all of the N tools it is sufficient to use only N+1 motors and N drive belts. This is particularly advantageous in comparison with existing industrial machines, which require twice as many motors as the number of tools to be moved.

[0026] By reducing the number of mechanical components required to position one or more tools on the movement surface, the structure has a reduction in mechanical clearances, in particular cascades of mechanical clearances within the structure, and parasitic vibrations due to the movement of the tools. This reduction results in an increase in the working precision of the tools.

[0027] By proceeding in this way, the invention also proposes to take advantage of the pooling of the movement of the tools, all carried by the carrier shaft, so as to minimize the distance of all the tools around a point of the movement surface, called the current working point, so that the machine can select and change working tools quickly.

[0028] In one embodiment of the invention, said displacement surface is a plane, in particular a plane defined by a Cartesian equation of the form:

[0029] [Math.l] aix + a2 j+«3z = 0

[0030] Advantageously and according to the invention, said first belt is driven by said first and second motors, so as to be able to slide the carrier shaft along said first axis and / or to slide said tool, engaged with said first belt, along said carrier shaft. This characteristic makes it possible to simultaneously move all of the tools mounted on said carrier shaft in a direction parallel to the direction defined by said first axis. In addition, this characteristic also makes it possible to move said first tool in a direction parallel to the direction defined by said second axis, in particular on said carrier shaft.

[0031] According to a variant, a drive belt may also be engaged with at least one additional tool not included in said plurality of N tools.

[0032] In the context of the present invention, "industrial machine" means any mechanical or electromechanical device designed to perform specific tasks in industrial environments, including industrial production or manufacturing environments. This includes, but is not limited to, machine tools, automated assembly lines, industrial robots, and automated handling and transport systems. Furthermore, in sectors such as the medical field, it may also encompass equipment such as MRI scanners, X-ray machines, computer-assisted surgical robots, and automated drug management and dispensing systems.

[0033] In the context of the present invention, the term "geometric surface" means the geometric location defined by a set of points in three-dimensional physical space and whose geometric dimension is equal to 2.

[0034] According to an advantageous embodiment of the invention, the kinematics of the assembly of motors and belts is given by the following matrix equation:

[0035] [Math.2]

[0036] where the vector (x^yO represents the displacement vectors of the i-th tool in two spatial directions (x,y), R; is a constant dependent on the radius of the motor drives and q; represents the drive coordinate in radians.

[0037] In a preferred embodiment of the invention, said frame and the supporting shaft form a structure substantially similar to that of a letter “H”.

[0038] Advantageously, said industrial machine comprises a plurality of guide means capable of guiding the driving of said plurality of drive belts.

[0039] If desired, said guiding means of said plurality of drive belts may in particular comprise at least one of the elements among: pulleys, guide wheels, guide channels, tubes, etc.

[0040] Advantageously, said guide means can be supported by shafts, in particular coaxial shafts, of said guide elements.

[0041] If desired, said first and second motors and said first belt may be arranged so as to reproduce the structure known as “Hbot”, a term commonly used to refer to the arrangement of these elements following a geometry substantially in the shape of the letter “H”, in particular obtained by spatial positioning of the guide means.

[0042] According to this advantageous embodiment, a plurality of means for guiding said first belt, in particular six guiding means, for example six pulleys, can be used to enable said Hbot structure to be reproduced.

[0043] Advantageously, said guide means may be arranged spatially so that said first drive belt defines four angles, all of a measurement substantially equal to 90°.

[0044] In a cumulative embodiment of the invention, the carrier shaft comprises four stakes secured to said carrier shaft, and arranged in pairs on said carrier shaft, in particular on two zones symmetrical with respect to the center of mass of said carrier shaft and opposite said chassis, so that the first drive belt is deflected at least according to four substantially right angles.

[0045] By proceeding in this way, the determination of the inverse kinematics of the tools is greatly simplified and also confers notable stability to the structure.

[0046] If desired, the carrier shaft may comprise a male steering member and a female member capable of supporting a tool slidably mounted on said male member. Said male member being arranged to guide the translational movement of said female member along the direction of said second axis.

[0047] Advantageously, each belt distinct from said first belt, called auxiliary belt, is driven by a single motor distinct from said first and second motors, called auxiliary motor of this belt; reciprocally, said auxiliary motor drives only said auxiliary belt. According to this aspect of the invention, each drive belt of said plurality of drive belts makes it possible to move one, and only one, tool in a direction parallel to said second axis, in particular along said shaft.

[0048] Advantageously and according to the invention, the combination of movements along said first axis and along said second axis makes it possible to position any tool on a set of points according to a two-dimensional Cartesian reference frame parallel to said movement surface.

[0049] A machine according to the invention therefore makes it possible to limit the disadvantages linked to the vibrations generated by the movement of the tools, as well as those linked to the associated energy consumption and the time required to move said tools.

[0050] In one embodiment of the invention, said industrial machine may be a 3D printer, in particular a material extrusion printer.

[0051] According to this advantageous embodiment, the 3D printer can print in one or more materials from the following non-limiting list: polylactic acid, acrylonitrile butadiene styrene, glycolized polyethylene terephthalate, thermoplastic polyurethane, nylon, polyvinyl alcohol, acrylonitrile styrene acrylate, high impact polystyrene, mixtures of polylactic acid and wood particles, metal (including stainless steel, titanium and aluminum), resin, ceramic, silicones, concrete and other construction materials, polyetherimides, poly-ether-ether-ketone, color gradient filaments, polycarbonate, polypropylene, carbon fiber, electrically conductive filaments, magnetic filaments, luminescent filaments, thermochromic filaments, or biocompatible materials such as silicones.

[0052] If desired, said plurality of tools may be composed of tools of the same type of tool, in particular printing nozzles of a 3D printer. According to this advantageous characteristic, it is possible to make said plurality of tools work on as many copies of the same object on which said tools act.

[0053] In particular, it is possible to manufacture a plurality of copies of the same object using a 3D printing process.

[0054] Furthermore, by parallelizing a plurality of industrial machines according to the invention, each comprising a plurality of tools of the same type of tool, the machines possibly comprising different types of tools, it is possible to position said industrial machines along a production line in order to make the tools of the various machines work sequentially on copies of the same object.

[0055] Advantageously, the drive belts may be made from one or more materials from the following non-limiting list: polyurethane, Teflon, neoprene rubber, silicone rubber, nylon, Kevlar, fiberglass, polyvinyl chloride, metal, etc.

[0056] Preferably, said drive belts may be toothed belts and / or comprise ribs making it possible to increase the precision and quality of the driving of said belts by the motors.

[0057] If desired, said drive belts may be smooth belts.

[0058] In one embodiment of the invention, at least one of the belts may be replaced by a chain, a cord, or a cable.

[0059] In a cumulative embodiment of the invention, the industrial machine comprises a control unit capable of receiving a trajectory tracking command; said control unit being capable of controlling the motors so as to move at least one of the tools according to said trajectory tracking command.

[0060] According to this advantageous embodiment, the control unit can comprise means of communication, wired or not, with at least one remote terminal.

[0061] Advantageously, said remote terminal is capable of generating trajectory tracking commands, in particular from a pair of positions, called “initial configuration” and “terminal configuration”, corresponding to an initial spatial arrangement of the plurality of tools on said movement surface.

[0062] Advantageously, a trajectory tracking control may comprise a set of digital commands, in particular digital signals, making it possible to control the drives of the motors of said plurality of motors. In doing so, a motor drive is transmitted to the single drive belt with which the motor is associated; said drive transmitted to said belt in turn drives the single tool with which it is engaged.

[0063] Advantageously, said control unit may comprise a microcontroller, or a microcomputer, embedded on the industrial machine and capable of generating and / or transmitting and / or executing trajectory tracking commands.

[0064] If desired, the industrial machine can comprise two tools, in particular two printing nozzles, in particular two nozzles for printing by extrusion of material.

[0065] According to this embodiment, each of the two material extrusion printing nozzles can each print distinct materials.

[0066] In an alternative embodiment, the material extrusion printing nozzles can print in the same material in two distinct color modalities.

[0067] In an alternative embodiment of the invention, the industrial machine may comprise a number of tools N equal to a multiple of an integer Q greater than or equal to two, the number N of tools being able to be partitioned into an integer number of groups of tools, each of said groups of tools comprising a number Q of tools and each group of tools comprising the same types of tools.

[0068] According to this embodiment, each of the groups of tools comprising a number Q of tools can be responsible for manufacturing an object, called a product object, such that all of the groups comprising Q tools can generate an integer number of copies of said product object.

[0069] In one embodiment of the invention, the chassis is slidably mounted on a shaft, called a rising shaft, extending in a direction carried by a third normal axis at at least one point of said geometric displacement surface.

[0070] When said displacement surface is a plane, the preceding condition is equivalent to imposing that said third axis is not coplanar with said displacement surface.

[0071] According to this characteristic, the industrial machine is capable of moving the plurality of tools according to a third degree of freedom. In addition, this characteristic allows the movement and positioning of the tools on any point of a three-dimensional volume defined by the set of reachable points of said tools.

[0072] If desired, said third axis may in particular be directed by a direction vector, in particular a normal vector at at least one point of said displacement surface.

[0073] Advantageously, by noting (x,y,z) the three spatial coordinates on a Cartesian reference frame, F, G, fi and f2 four real variable functions, said geometric displacement surface can in particular be described through algebraic equations according to one of the following forms:

[0074] [Math.3] z = F(x, j)

[0075] [Math.4] G(x,y,z) =0

[0076] [Math.5] (x = / ]( / ), j? = / 2(r)}

[0077] The first equation is commonly referred to as an explicit Cartesian equation; the second is commonly referred to as an implicit Cartesian equation, and the third is commonly referred to as a parametric equation.

[0078] Alternatively, the geometric displacement surface can be defined through a two-dimensional mesh; in particular a polygonal mesh.

[0079] In one embodiment of the invention, the geometric displacement surface comprises a non-empty sub-part of non-zero curvature.

[0080] In the particular case where the tools are 3D printer printing nozzles, these can then move freely in space and print volumetric objects.

[0081] Advantageously, said tools of the plurality of tools may comprise a tool support and an active part.

[0082] Advantageously, said active part may be arranged so as to be fixed on said tool support; and said tool support may be arranged so as to slide on said carrier shaft.

[0083] According to an alternative embodiment of the invention, the same tool support can support a plurality of tools, in particular a plurality of tools in pairs that are distinct. List of figures

[0084] Other aims, characteristics and advantages of the invention will appear on reading the following description given solely for non-limiting purposes and which refers to the appended figures in which:

[0085] [Fig-1] is a schematic top view of an industrial machine according to a mode of carrying out the invention.

[0086] [Fig.2] is a schematic perspective view of an industrial machine according to a embodiment of the invention.

[0087] [Fig.3] is a schematic perspective view of a chassis and a supporting shaft according to one embodiment of the invention.

[0088] [Fig.4] is a schematic perspective view of an industrial machine according to a embodiment of the invention.

[0089] [Fig.5] is a schematic perspective view and a top view of a plurality of drive belts according to one embodiment of the invention.

[0090] Detailed description of an embodiment of the invention

[0091] In the figures, the scales and proportions are not strictly respected, for the purposes of illustration and clarity.

[0092] Furthermore, identical, similar or analogous elements are designated by the same references in all the figures.

[0093] [Fig.l] represents, schematically and partially, a top view of an industrial machine 1 comprising: - a chassis 2 extending substantially along a first axis AX1, - a carrier shaft 3, slidably mounted on the chassis 2 along said first axis AX1 and extending along a second axis AX2 defining a flat surface P, called the displacement plane, with said first axis AX1, - a plurality of two tools 4 slidably mounted on said carrier shaft 3, - a plurality of three motors 5, - a plurality of two drive belts 6 of said tools 4.

[0094] [Fig.2] represents, schematically and partially, a perspective view of an industrial machine 1 comprising: - a chassis 2 extending substantially along a first axis AX1, - a carrier shaft 3, slidably mounted on the chassis 2 along said first axis AX1 and extending along a second axis AX2, all of the admissible positions of said first and second axes defining a movement plane P.

[0095] The industrial machine according to the invention is characterized in that it further comprises: - a plurality of two tools 4.1; 4.2 slidably mounted on said carrier shaft 3, - a plurality of three motors 5.1; 5.2; 5.3, - a plurality of two drive belts 6.1; 6.2 of said tools 4.1; 4.2.

[0096] The machine according to the invention is also characterized in that each tool 4.1; 4.2 of said plurality of tools is engaged with only one of the belts 6.1; 6.2 of said plurality of drive belts and each belt 6.1; 6.2 of said plurality of belts is engaged with a single tool 4.1; 4.2;

[0097] so that one of the belts, called first belt 6.1, is driven by exactly two motors of the plurality of motors, called first 5.1 and second 5.2 motors;

[0098] so that each separate belt of said first belt 6.1, called auxiliary belt 6.2, is driven by a single motor of said plurality of motors, called auxiliary motor 5.3 of this belt 6.2, separate from said first 5.1 and second motors 5.2.

[0099] The first belt 6.1 is driven by said first 5.1 and second 5.2 motors so as to be able to slide the carrier shaft 3 along said first axis AX1 and to slide said tool 4.1, engaged with said first belt 6.1, along said carrier shaft 3.

[0100] The invention makes it possible to move the assembly of the two tools 4.1; 4.2 with only three motors 5.1; 5.2; 5.3 and two drive belts 6.1; 6.2.

[0101] This reduced number of mechanical components makes it possible to reduce the mechanical play of the structure as well as the parasitic vibrations due to the movement of the tools 4.1; 4.2.

[0102] All of the tools 4.1; 4.2 are carried by said carrier shaft 3, so that the movement of the carrier shaft 3 along the direction AX1 makes it possible to pool the movement of all of the tools 4.1; 4.2 in said direction AX1; thus making it possible to minimize the distance of all the tools around a point of the movement plane P, called the current working point, so that the machine 1 can select and change the working tool 4.1; 4.2 quickly.

[0103] The first belt 6.1 is driven by said first 5.1 and second 5.2 motors, so as to be able to slide the carrier shaft along said first axis AX1 and / or to slide said tool 4.1, engaged with said first belt 6.1, along said carrier shaft 3. Thus, it is possible to simultaneously move the all of the tools 4.1; 4.2 mounted on said carrier shaft 3 in a direction parallel to the direction defined by said first axis AX1. In addition, by proceeding in this way, it is also possible to move said first tool 4.1 in a direction parallel to the direction defined by said second axis AX2, in particular on said carrier shaft 3.

[0104] According to this embodiment, the chassis 2 and the supporting shaft 3 form a structure substantially similar to that of a letter “H”.

[0105] The industrial machine 1 comprises a plurality of guide means 8, in the form of pulleys, capable of guiding the driving of said plurality of drive belts 6.1; 6.2.

[0106] The guide means 8 are supported by stakes 7 and by shafts (not shown) coaxial with said guide means 8.

[0107] According to this non-limiting embodiment of the invention, the guide means 8 as well as said first 5.1 and second 5.2 motors and said first belt 6.1 are arranged to reproduce the structure known as “Hbot”.

[0108] The figure shows six guide means 8 in the form of six pulleys arranged spatially so that said first drive belt 6.1 defines four angles, all of a measurement substantially equal to 90°.

[0109] The carrier shaft 3 comprises four stakes 7 secured to said carrier shaft 3 and arranged in pairs on said carrier shaft 3, in particular on two zones symmetrical with respect to the center of mass of said carrier shaft 3 and opposite said chassis 2, so that the first drive belt 6.1 is deflected at least according to four substantially right angles.

[0110] Each belt 6.2 distinct from said first belt 6.1, called auxiliary belt, is driven by a single motor 5.3 distinct from said first 5.1 and second 5.2 motors, called auxiliary motor of this belt; reciprocally, said auxiliary motor 5.3 drives only said auxiliary belt 6.2. According to this aspect of the invention, each drive belt of said plurality of drive belts makes it possible to move one, and only one, tool 4.1; 4.2 in a direction parallel to said second axis AX2, in particular along said shaft 3.

[0111] Therefore, the combination of movements along said first axis AX1 and along said second axis AX2 makes it possible to position any tool 4.1; 4.2 on a set of points according to a two-dimensional Cartesian reference frame parallel to the movement plane P.

[0112] The plurality of tools 4.1; 4.2 is composed of two printing nozzles 4.1.2; 4.2.2 capable of printing by extrusion of material in two distinct materials.

[0113] [Fig. 3] represents, schematically and partially, a perspective view of a chassis 2 and a carrier shaft 3 of an industrial machine 1 according to one embodiment of the invention.

[0114] The carrier shaft comprises a male steering member 9 and a female member 10 capable of supporting a tool (not shown), slidably mounted on said male member 9. Said male member being arranged to guide the translational movement of said female member along the direction AX2.

[0115] [Fig.4] represents, schematically and partially, a perspective view of an industrial machine 1, according to an embodiment of the invention, capable of moving a plurality of tools according to three degrees of freedom.

[0116] The tools of the plurality of tools comprise a tool holder 4.1.1; 4.2.1 and an active part 4.1.2; 4.2.2.

[0117] The active part 4.1.2; 4.2.2 is arranged to be fixed on said tool support 4.1.1; 4.2.1; and said tool support 4.1.1; 4.2.1 is arranged to slide on said carrier shaft 3.

[0118] The industrial machine 1 comprises a control unit (not shown) capable of receiving a trajectory tracking command; said control unit being capable of controlling the motors 5.1; 5.2; 5.3 so as to move at least one of the tools 4.1.2; 4.2.2 according to said trajectory tracking command.

[0119] According to this embodiment of the invention, the control unit may comprise wireless communication means (not shown) with a remote terminal (not shown).

[0120] Said remote terminal is capable of generating trajectory tracking commands from a pair of positions, called “initial configuration” and “terminal configuration”, corresponding to an initial spatial arrangement of the plurality of tools 4.1.2; 4.2.2 on the movement plane.

[0121] The trajectory tracking control comprises a set of digital commands, in the form of digital signals, for controlling the drives of the motors 5.1; 5.2; 5.3 of said plurality of motors. Such that a motor drive 5.1; 5.2; 5.3 is transmitted to the single drive belt 6.1; 6.2 with which the motor is 5.1; 5.2; 5.3 associated; said drive transmitted to said belt in turn drives the single tool 4.1.2; 4.2.2 with which it is engaged.

[0122] The control unit comprises a microcontroller embedded (not shown) on the industrial machine 1, capable of generating and / or transmitting and / or executing trajectory tracking commands.

[0123] According to this embodiment, the chassis 2 is slidably mounted on a shaft, called the rising shaft 11, extending in a direction carried by a third axis AX3 not coplanar with said movement plane P.

[0124] The industrial machine 1 is capable of moving the plurality of tools 4.1.2; 4.2.2 according to a third degree of freedom, allowing the movement and positioning of the tools 4.1.2; 4.2.2 on any point of a three-dimensional volume defined by the set of reachable points of said tools 4.1.2; 4.2.2.

[0125] Tools 4.1.2; 4.2.2 are 3D printing nozzles, which can then move freely in space and print volumetric objects.

[0126] [Fig. 5] schematically and partially represents a perspective view of the tool drive system of an industrial machine 1 according to an embodiment of the invention. Said tool drive system comprises a first belt 6.1 adopting a substantially “H” shape and a second belt 6.2 adopting a substantially “T” shape.

[0127] Drive belts are toothed belts made of neoprene rubber providing good grip and wear resistance.

[0128] The invention is not limited to the embodiments described. In particular, it may comprise means of communication, wired and / or wireless, with a remote computing unit, in particular a computer capable of transmitting sequences of tool movement commands according to a predefined program.

[0129] It will also be possible to provide for the use of motors with a greater or lesser engine torque depending on requirements, or even to add more motors driving the same belt to increase the traction force without this departing from the scope provided by the invention previously described.

Claims

Claims

1. Industrial machine (1) comprising: - a chassis (2) extending substantially along a first axis (AX1), - a shaft (3), called a carrier shaft, slidably mounted on the chassis (2) along said first axis (AX1) and extending along a second axis (AX2); the set of admissible positions of said first and second axes defining a geometric surface (P), called a displacement surface, characterized in that it further comprises: - a plurality of N tools (4; 4.1; 4.2), slidably mounted on said carrier shaft (3), N being an integer greater than or equal to 2, - a plurality of N+1 motors (5; 5.1; 5.2; 5.3), - a plurality of N drive belts (6) for said tools (4; 4.1; 4.2), and in that each tool (4; 4.1; 4.2) of said plurality of tools is engaged with only one of the belts (6) of said plurality of belts and each belt of said plurality of belts is engaged with only one tool; and in that one of the belts, called first belt, is driven by exactly two motors of the plurality of motors, called first and second motors (5.1; 5.2); and in that each belt (6) distinct from said first belt, called auxiliary belt, is driven by a single motor (5) of said plurality of motors, called auxiliary motor of this belt, distinct from said first and second motors (5.1; 5.2); each auxiliary motor driving a single auxiliary belt.

2. Industrial machine (1) according to claim 1, characterized in that it further comprises a control unit capable of receiving a trajectory tracking command; and in that said control unit is capable of controlling the motors so as to move at least one of the tools according to said trajectory tracking command.

3. Industrial machine (1) according to one of claims 1 or 2, characterized in that the kinematics of the assembly of motors and belts is given by: [Math.6] *i 1 11 -Ri .1 -11 .^2 , 1<Î < / V+1 where N being an integer greater than or equal to 2, the vector (x;,y;) represents the displacement vectors of the i-th tool in two spatial directions (x,y), R; is a constant dependent on the radius of the motor drives and q; represents the drive coordinate of the i-th motor in radians, in particular q2 represents the drive coordinate of the 2-nd motor in radians.

4. Industrial machine (1) according to one of claims 1 to 3, characterized in that the integer N is equal to 2.

5. Industrial machine (1) according to one of claims 1 to 4, characterized in that at least one of the tools of said plurality of tools is a nozzle for printing by extrusion of material.

6. Industrial machine (1) according to claim 5 characterized in that said tools are printing nozzles configured to be able to print in distinct materials.

7. Industrial machine (1) according to one of claims 1 to 6, characterized in that said chassis (2) is slidably mounted on a shaft (11), called the rising shaft, extending in a direction carried by a third axis (AX3) normal at at least one point to said displacement surface (P).

8. Industrial machine (1) according to one of claims 1 to 7, characterized in that said frame (2) and the shaft (3) form a structure in the shape of the letter “H”.

9. Industrial machine (1) according to claim 8, characterized in that the carrier shaft (3) comprises four stakes (7) integral with said carrier shaft (3), and arranged in pairs on said carrier shaft (3), in particular on two zones symmetrical with respect to the center of mass of said carrier shaft and opposite said chassis, so that the first drive belt is deflected at least according to four substantially right angles.

10. Industrial machine (1) according to one of claims 1 to 9, characterized in that it comprises a plurality of pulleys (8) capable of guiding said plurality of drive belts in translation. 16

11. Industrial machine (1) according to one of claims 1 to 10, characterized in that said displacement surface comprises a non-empty sub-part of non-zero curvature (P).

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