Industrial machine for controlling a plurality of tools

Abstract

TOOL DRIVING MACHINE. A machine comprising: a frame extending along a first axis, a shaft, mounted to slide on the frame along said first axis and extending along a second axis; the set of permissible positions of said first and second axes defining a movement surface, characterized in that it further comprises: a plurality of N>1 tools, mounted to slide on said supporting shaft, a plurality of N+1 motors, a plurality of N drive belts for 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 belt distinct from said first belt is driven by a single motor distinct from said first and second motors; each of these motors driving a single belt. Figure for the abbreviation: 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 concerns an industrial machine comprising a plurality of tools and incorporating a solution for the spatial movement of the plurality of tools. Technological background

[0002] Industrial machines make it possible to carry out a wide variety of actions, often complex, in parallel or sequentially.

[0003] During the manufacture of a product, it transitions through the various stages of the manufacturing process, most often on a production line. Generally speaking, during the different stages of the manufacturing process, a variety of tools are needed to shape the product to its final state.

[0004] In cases where space constraints are not a limiting factor, production lines allow for the sequential positioning of process steps and the placement of all necessary tools along the production line. However, when available production space is limited, this latter configuration is not a viable option. Therefore, there is a need for an industrial machine comprising a plurality of tools and incorporating a solution for the spatial movement of these tools within a reduced area.

[0005] The cost of producing an industrial product is inextricably linked to the energy cost required for its production. The spatial movement of production tools generates energy consumption, which must be minimized to reduce the product's production costs. Therefore, there is a need for an industrial machine comprising a plurality of tools and incorporating a solution for the spatial movement of these tools within a small 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. Therefore, there is a need for an industrial machine comprising a plurality of tools and incorporating a solution for the spatial movement of the plurality of tools within a reduced surface area with minimal energy consumption and minimizing the distances traveled by the machine's tools.

[0007] When an industrial machine comprises a plurality of tools that must move spatially to participate in the manufacturing of a product, the movement of these tools generates unwanted vibrations in the machine's structure. This can significantly impact the precision with which the tools operate, resulting in a lower-quality product. Therefore, there is a need for an industrial machine with minimal energy consumption that incorporates a solution for the spatial movement of any number of tools within a small area and is capable of minimizing the unwanted vibrations generated by the spatial movement of the tools.

[0008] Furthermore, during the manufacturing of a product, it may be desirable to parallelize production by taking advantage of the mechanisms active during the manufacturing process, particularly by enabling the production of identical copies of the product to be manufactured. Therefore, there is a need for an industrial machine incorporating a spatial movement solution for any number of tools within a small area with minimal energy consumption, and capable of positioning the tools parallel to each other so as to share the tool movements. 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 spatial displacement solution for said plurality of tools within a reduced surface.

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

[0012] The invention also aims to provide, in at least one embodiment, an industrial machine capable of positioning the tools parallel to each other 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. Description of the invention

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

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

[0016] a shaft, called a load-bearing shaft, mounted to slide on the frame 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, mounted to slide on said supporting shaft, N being an integer greater than or equal to 2,

[0019] a plurality of N+l motors,

[0020] a plurality of N drive belts for 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 from the plurality of motors, called the first and second motors;

[0022] and in that each belt separate from said first belt, said auxiliary belt, is driven by a single motor of said plurality of motors, said auxiliary motor of this belt, separate 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, in contact 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, said auxiliary motor of this belt, distinct from said first and second motors, so as to be able to slide the tool in contact with said auxiliary belt along said carrier shaft.

[0025] According to these aspects of the invention, moving all N tools requires only N+1 motors and N drive belts. This is particularly advantageous compared to existing industrial machines, which require twice the number of 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 exhibits a reduction in mechanical play, particularly the cascade of mechanical play within the structure, and in parasitic vibrations due to tool movement. This reduction results in increased tool operating accuracy.

[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 support shaft, so as to minimize the distance of all the tools around a point of the movement surface, called current working point, so that the machine can select and change working tool 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 allow the support shaft to slide along said first axis and / or to allow said tool, engaged with said first belt, to slide along said support shaft. This feature allows all the tools mounted on said support shaft to be moved simultaneously in a direction parallel to the direction defined by said first axis. Furthermore, this feature also allows said first tool to be moved in a direction parallel to the direction defined by said second axis, particularly along said support shaft.

[0031] According to one variant, a drive belt can 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, particularly industrial production or manufacturing environments. This includes, but is not limited to, machine tools, automated assembly lines, industrial robots, and automated material 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, "geometric surface" means the geometric locus 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 entire set 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 along 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 chassis and the supporting shaft form a structure substantially similar to that of a letter "H".

[0038] Advantageously, said industrial machine includes a plurality of guiding means suitable for guiding the drive of said plurality of drive belts.

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

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

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

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

[0043] Advantageously, said guiding means can be arranged spatially so that said first drive belt defines four angles, all of substantially equal measure of 90°.

[0044] In a cumulative embodiment of the invention, the support shaft comprises four pegs attached to said support shaft, and arranged in pairs on said support shaft, in particular on two symmetrical areas with respect to the center of mass of said support shaft and opposite said chassis, so that the first drive belt is deflected at least at 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 a notable stability of the structure.

[0046] If desired, the supporting shaft may include a male steering member and a female member adapted to support a tool mounted to slide 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 separate belt of said first belt, referred to as the auxiliary belt, is driven by a single motor separate from said first and second motors, referred to as the auxiliary motor of that belt; conversely, 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 displacements 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 frame parallel to said displacement surface.

[0049] A machine according to the invention therefore makes it possible to limit the disadvantages related to the vibrations generated by the movement of the tools, as well as those related 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, polyetheretherketone, color gradient filaments, polycarbonate, polypropylene, carbon fiber, electrically conductive filaments, magnetic filaments, luminescent filaments, thermochromic filaments, or even biocompatible materials such as silicones.

[0052] If desired, said plurality of tools can be composed of tools of the same type, in particular the printing nozzles of a 3D printer. According to this advantageous feature, it is possible to operate said plurality of tools 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 paralleling 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 according to 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 can be made of 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 include ribs to increase the precision and quality of the drive of said belts by the motors.

[0057] If desired, said drive belts can 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 includes 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 may include means of communication, wired or wireless, 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 include a set of digital commands, in particular digital signals, for controlling the drives of the motors of said plurality of motors. By proceeding in this manner, 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 include 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 may include two tools, in particular two printing nozzles, in particular two material extrusion printing nozzles.

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

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

[0067] In an alternative embodiment of the invention, the industrial machine may include 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 tool groups, each of said tool groups comprising a number Q of tools and each tool group comprising the same types of tools.

[0068] According to this embodiment, each of the tool groups comprising a number Q of tools can be charged with the manufacture of an object, called the product object, such that the set of 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 mounted to slide on a shaft, called the rising shaft, extending along a direction carried by a third axis normal to at least one point of said geometric displacement surface.

[0070] When said displacement surface is a plane, the preceding condition is equivalent to requiring that said third axis be non-coplanar to said displacement surface.

[0071] According to this feature, the industrial machine is capable of moving the plurality of tools along a third degree of freedom. Furthermore, this feature allows the tools to be moved and positioned at any point within 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 denoting (x,y,z) the three spatial coordinates on a Cartesian frame, F, G, fi and f2 four functions of real variable, 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 nozzles, these can then move freely in space and print volumetric objects.

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

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

[0083] According to an alternative embodiment of the invention, a single tool holder can support a plurality of tools, in particular a plurality of tools that are two-by-two distinct. List of figures

[0084] Other objects, features and advantages of the invention will become apparent from the following description, given by way of non-limiting example only, and which refers to the accompanying figures in which:

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

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

[0089] [Fig.5] is a schematic perspective view and a top view of a plurality of drive belts according to an 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] In addition, identical, similar or analogous elements are designated by the same references in all figures.

[0093] Figure 1 represents, schematically and partially, a top view of an industrial machine 1 comprising: - a chassis 2 extending substantially along a first axis AX1, - a supporting shaft 3, mounted to slide 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 mounted to slide on said supporting shaft 3, - a plurality of three 5 motors, - a plurality of two drive belts 6 of said tools 4.

[0094] Figure 2 schematically and partially represents a perspective view of an industrial machine 1 comprising: - a chassis 2 extending substantially along a first axis AX1, - a supporting shaft 3, mounted to slide on the chassis 2 along said first axis AX1 and extending along a second axis AX2, the whole of the admissible positions of said first and second axes defining a displacement 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 mounted to slide on said supporting shaft 3, - a plurality of three engines 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 only one 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 belt separate from said first belt 6.1, said auxiliary belt 6.2, is driven by a single motor of said plurality of motors, said 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, in contact with said first belt 6.1, along said carrier shaft 3.

[0100] The invention makes it possible to move the whole 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] The set of tools 4.1; 4.2 are carried by said support shaft 3, so that the movement of the support shaft 3 along the direction AX1 allows the movement of the set of tools 4.1; 4.2 to be shared on said direction AX1; thus minimizing the distance of all the tools around a point of the displacement plane P, called current working point, so that the machine 1 can select and change working tools 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 allow the support shaft to slide along said first axis AX1 and / or to allow said tool 4.1, engaged with said first belt 6.1, to slide along said support shaft 3. Thus, it is possible to move the all the tools 4.1; 4.2 mounted on said support shaft 3 in a direction parallel to the direction defined by said first axis AX1. Furthermore, 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 support 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 guiding means 8, in the form of pulleys, suitable for guiding the drive of said plurality of drive belts 6.1; 6.2.

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

[0107] According to this non-limiting embodiment of the invention, the guiding 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 guiding means 8 in the form of six pulleys arranged spatially so that said first drive belt 6.1 defines four angles, all of a measure substantially equal to 90°.

[0109] The support shaft 3 comprises four pegs 7 attached to said support shaft 3 and arranged in pairs on said support shaft 3, in particular on two symmetrical areas with respect to the center of mass of said support shaft 3 and opposite said frame 2, so that the first drive belt 6.1 is deflected at least at four substantially right angles.

[0110] Each belt 6.2, distinct from said first belt 6.1, referred to as the auxiliary belt, is driven by a single motor 5.3, distinct from said first 5.1 and second 5.2 motors, referred to as the auxiliary motor of this belt; conversely, 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 displacements 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 coordinate system parallel to the displacement 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 extruding material in two distinct materials.

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

[0114] The support shaft includes a male steering member 9 and a female member 10 adapted to support a tool (not shown), mounted to slide 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 include 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 so as 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 so as to slide on said carrier shaft 3.

[0118] The industrial machine 1 includes 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 include non-wired 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 displacement 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. Thus, a drive from motor 5.1; 5.2; 5.3 is transmitted to the single drive belt 6.1; 6.2 with which the motor 5.1; 5.2; 5.3 is associated; said drive transmitted to said belt in turn drives the single tool 4.1.2; 4.2.2 with which it is meshed.

[0122] The control unit includes an embedded microcontroller (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 mounted sliding on a shaft, called the rising shaft 11, extending along a direction carried by a third axis AX3 not coplanar to said displacement 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] Figure 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 comprising a first belt 6.1 having a shape substantially resembling the letter "H" and a second belt 6.2 having a shape substantially resembling the letter "T".

[0127] The drive belts are toothed belts made of neoprene rubber offering good grip and wear resistance.

[0128] The invention is not limited to the embodiments described. In particular, it may include 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 use motors with a greater or lesser motor torque depending on the needs, or even add more motors driving the same belt to increase the traction force without going out of the scope provided for by the invention described above.

Claims

Demands

1. Industrial machine (1) comprising: - a frame (2) extending substantially along a first axis (AX1), - a shaft (3), called the support shaft, mounted to slide on the frame (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 the displacement surface, characterized in that it further comprises: - a plurality of N tools (4; 4.1; 4.2), mounted to slide on said support 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)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, said first belt, is driven by exactly two motors of the plurality of motors, said first and second motors (5.1; 5.2); and in that each belt (6) distinct from said first belt, said auxiliary belt, is driven by a single motor (5) of said plurality of motors, said auxiliary motor of that 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 claim 1 or 2, characterized in that the kinematics of the motor and belt assembly is given by: [Math.6] *i 1 11 -Ri .1 -11 .^2 , 1<Î < / V+1 where N is an integer greater than or equal to 2, the vector (x;,y;) represents the displacement vectors of the i-th tool along 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 2nd motor in radians.

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

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

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 any one of claims 1 to 6, characterized in that said frame (2) is mounted sliding on a shaft (11), said 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 any one of claims 1 to 7, characterized in that said frame (2) and shaft (3) form an "H"-shaped structure.

9. Industrial machine (1) according to claim 8, characterized in that the support shaft (3) has four pegs (7) attached to said support shaft (3), and arranged in pairs on said support shaft (3), in particular on two symmetrical areas with respect to the center of mass of said support shaft and opposite said frame, so that the first drive belt is deflected at least at four substantially right angles.

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

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

Images