Handling Manipulator Assembly with Vertical and Horizontal Axes
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Solution Overview
Problem
Existing handling manipulator assemblies for machine tools are limited in flexibility and obstruct access to the machine tool, with restricted range of motion and inability to handle heavy loads efficiently.
Innovation Solution
A handling manipulator assembly with two axes of rotation, vertical and horizontal linear axes, and a jointing link at the articulated arm allowing 30° to 60° angle rotation, enabling flexible access and precise positioning of the gripper within a virtual cylindrical space, and a simple, rugged construction that allows unobstructed access to the machine tool.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a handling manipulator assembly uses a complex structure with multiple pivot arms and rotatable parts to increase flexibility, then the range of motion is improved, but the device complexity increases and the structure becomes less rugged
Solution Approach 1:
The manipulator assembly is divided into distinct functional segments: a main support for vertical movement, a horizontal extension arm for radial movement, and an articulated arm for angular positioning. Each segment has a single primary degree of freedom, simplifying the control and mechanical design while achieving comprehensive coverage of the workspace through coordinated movement of segments.
Solution Approach 2:
The patent introduces a vertical dimension for the main support's movement, adding to the horizontal radial movement of the extension arm and the angular movement of the articulated arm. This three-dimensional arrangement (vertical + radial + angular) creates a virtual cylindrical workspace without requiring complex multi-axis rotation mechanisms in a single plane.
2Device complexity
If the manipulator arm is designed with limited range of motion to simplify construction, then the device complexity is reduced, but the flexibility and adaptability are worsened
Solution Approach 1:
The manipulator employs dynamic positioning through independent control of three movement axes: vertical position of the main support, radial position of the horizontal extension arm, and angular position of the articulated arm. This dynamic coordination allows the system to adapt to any position within the virtual cylindrical space while maintaining simple, fixed mechanical structures for each axis.
3Ease of operation
If the manipulator assembly is positioned to provide wide access to the machine tool, then the ease of operation is improved, but the ability to reach deep into the machine tool is reduced
Solution Approach 1:
The patent utilizes vertical space by allowing the main support to move vertically, enabling the manipulator to reach deep into the machine tool from a side position rather than requiring the arm to extend horizontally through the entire insertion depth. This vertical displacement component allows deep access while maintaining unobstructed front portal access.
Solution Approach 2:
The horizontal extension arm is designed to extend through a slot in the main support, creating a nested arrangement where the extension arm passes through the vertical structure. This allows the manipulator to achieve deep horizontal insertion while the main support remains positioned at the side for easy access and operation.
Data Source
AI summary
A handling manipulator assembly comprises a vertical extending main support (2) arranged on a rotary plate (3). Arranged on the main support (2) is a vertically travelling vertical carriage (9) to which a horizontal extension arm (12) is secured. Mounted on the horizontal extension arm (12) is an articulated arm (14) provided at the end with a manipulator gripper (18). Such a handling manipulator assembly (1) is suitable to advantage to feed/remove tools or workpieces to/from a machine tool provided with a front portal.