US 11,052,536 B2
Machining station, workpiece holding system, and method of machining a workpiece
Louis Jetté, St-Étienne de Bolton (CA); and Raymond Chabot, St-Alphonse de Granby (CA)
Assigned to FIVES LINÉ MACHINES INC., Granby (CA)
Appl. No. 16/326,267
Filed by FIVES LINÉ MACHINES INC., Granby (CA)
PCT Filed Sep. 9, 2017, PCT No. PCT/CA2017/051052
§ 371(c)(1), (2) Date Feb. 18, 2019,
PCT Pub. No. WO2018/045463, PCT Pub. Date Mar. 15, 2018.
Claims priority of provisional application 62/384,869, filed on Sep. 8, 2016.
Prior Publication US 2019/0210217 A1, Jul. 11, 2019
Int. Cl. B25J 9/00 (2006.01); B25J 15/06 (2006.01); B23Q 1/54 (2006.01); G05B 19/418 (2006.01); B23Q 1/58 (2006.01); B23Q 1/03 (2006.01); B25J 11/00 (2006.01); B25J 9/16 (2006.01); B23Q 1/00 (2006.01); B23Q 11/08 (2006.01)
CPC B25J 9/0084 (2013.01) [B23Q 1/035 (2013.01); B23Q 1/5462 (2013.01); B23Q 1/58 (2013.01); B25J 9/0009 (2013.01); B25J 9/0069 (2013.01); B25J 9/1682 (2013.01); B25J 11/005 (2013.01); B25J 11/0055 (2013.01); B25J 15/0616 (2013.01); B25J 15/0683 (2013.01); G05B 19/41825 (2013.01); B23Q 1/0045 (2013.01); B23Q 11/0891 (2013.01); G05B 2219/39105 (2013.01); G05B 2219/39156 (2013.01); G05B 2219/39157 (2013.01); G05B 2219/45145 (2013.01); Y02P 90/02 (2015.11)] 19 Claims
OG exemplary drawing
 
1. A machining station comprising:
a table;
at least three parallel kinematic robots, each robot having a multi-axis mover secured to the table, and a gripper opposite the table, the robots being interspaced from one another on the table, each robot having 6 extensible members each having a first end pivotally connected to a base and a second end pivotally connected to a corresponding gripper portion in a configuration allowing both lifting and displacement of the gripper along three orthogonal axes, providing the gripper with six degrees of freedom;
a controller configured and adapted to independently control each one of the robots to automatically engage a corresponding location of a workpiece, hold the workpiece in a coordinated manner, and release the workpiece, based on control data, the controller configured and adapted to independently and collectively operate each one of the extensible members of each robot to control movement of the respective gripper along three orthogonal axes and orientation of the respective gripper around three orthogonal axes;
a computer numerical command (CNC) machine-tool system operable to machine the workpiece while the workpiece is held by the plurality of robots.