In-Machine Robot Joints for Machine Tool Interference
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Solution Overview
Problem
Existing machine tools face challenges in using robots for machining tasks, particularly in following tool movement due to complex control requirements and interference with other components, limiting their versatility and effectiveness.
Innovation Solution
A machine tool design featuring an in-machine robot with a base joint rotating around an axis parallel to the workpiece spindle and three parallel joints orthogonal to it, allowing for simple coordinate calculation and easy control, while preventing interference with other components by adjusting the orientation of the parallel joints and positioning the base joint strategically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a vertical articulated robot is used for machining tasks, then the robot can follow tool movement, but the control requires complicated coordinate conversion process
Solution Approach 1:
The patent changes the robot's structural parameters by using three parallel joints instead of multiple rotating joints about different axes. This parameter change simplifies the coordinate transformation from complex 3D rotations to simpler parallel plane movements, reducing control complexity while maintaining the ability to follow tool movement
2Device complexity
If a robot with simple structure is used, then the coordinate calculation is easy, but the robot cannot follow movement of the tool
Solution Approach 1:
The patent makes the robot structure dynamic by allowing the base joint to rotate about the second axis while the three parallel joints move in planes orthogonal to it. This dynamic configuration enables the robot to adapt its orientation to follow tool movement while maintaining simple coordinate calculations through the parallel joint structure
3Adaptability or versatility
If the robot is installed in the machining chamber, then various tasks can be performed, but interference with other components occurs
Solution Approach 1:
The patent resolves interference by utilizing the vertical dimension (first axis) for the three parallel joints to move in planes orthogonal to the second axis. This dimensional arrangement allows the robot to operate in the machining chamber without interfering with horizontal components like the tool post and workpiece spindle, as the robot's movement occurs primarily in vertical planes
Data Source
AI summary
The machine tool includes a tool post linearly movable along a direction parallel to an X axis and a direction parallel to a Z axis, a workpiece spindle which retains a workpiece in a condition rotatable about an axis parallel to the Z axis, and an in-machine robot which is installed in a machining chamber and has joints. The joints of the in-machine robot include a base joint rotatable about an axis parallel to the Z axis, and three parallel joints rotatable about an axis orthogonal to the axis of rotation of the base joint, the parallel joints being located on a distal end side of the base joint and successively arranged from the base joint. The axis of rotation of the base joint is displaced from that of the workpiece spindle.