Articulated Robot for Machine Tool Access
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Solution Overview
Problem
Existing machine tool systems require large robots to access workpieces and tools within the machining chamber, leading to increased size, cost, and complexity, while robots that are closer to the spindle are limited in their ability to access and maneuver.
Innovation Solution
A machine tool design featuring an articulated robot with multiple arms and joints that can rotate around an axis orthogonal to the workpiece spindle, allowing the end effector to move in a plane parallel to the tool's movement plane, enabling access to the periphery of the tool while maintaining a compact robot size by attaching it to the tool post or tailstock.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robot is provided outside the machining chamber to access workpiece and tool, then the robot can access the workpiece and tool, but the robot size must be increased which results in increase in cost, size, and interference with other members
Solution Approach 1:
The robot is repositioned from an external location to an internal location within the machining chamber, utilizing the three-dimensional space inside the chamber. The robot is attached to the tool post or tailstock, allowing it to operate in the internal space rather than requiring external space, thus reducing robot size while maintaining access capability.
2Volume of moving object
If a robot is provided near the tool spindle to reduce size, then the robot size is reduced, but the robot can only rotate around one axis and can only transport the workpiece along a predefined route, limiting access to tool or workpiece
Solution Approach 1:
The robot is designed with multiple joints that enable dynamic movement in multiple directions. The robot can rotate around multiple axes and change its orientation dynamically, allowing it to access the tool and workpiece from various angles and positions, thus providing both compact size and flexible access capability.
3Ease of operation
If a large-size robot is used to access workpiece and tool, then access capability is improved, but it results in interference with other members and complexity of control due to increase in number of joints
Solution Approach 1:
The robot is repositioned to the tool post or tailstock area, utilizing the internal three-dimensional space of the machining chamber. This strategic repositioning allows the robot to access workpiece and tool effectively while maintaining a compact size that minimizes interference with other machine members and reduces control complexity.
Data Source
AI summary
A machine tool includes a workpiece spindle device which rotates a workpiece, a tool post which can move a tool in a first axis direction (X-axis direction) which is a radial direction of the workpiece and a second axis direction (Z-axis direction) which is an axial direction of the workpiece, and an articulated robot including a plurality of arms, a plurality of joints, and end effectors. The plurality of joints connect the plurality of arms in a rotatable manner around an axis parallel to a third axis (Y-axis) orthogonal to the first axis and the second axis, and the end effectors move in a plane parallel to a movement plane of the tool.