In-Machine Robot Resonance Control in Machine Tools
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Solution Overview
Problem
Machine tools experience vibration during machining, leading to resonance in in-machine robots, which can result in product defects and damage to the robots themselves due to the transfer of vibrations.
Innovation Solution
A machine tool system equipped with a vibration sensor and a controller that detects vibrations and adjusts the natural frequency of the in-machine robot by exchanging end effectors with different masses or changing the robot's orientation to suppress resonance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If machining is performed with high load or intermittent cutting, then productivity is improved, but vibration is caused leading to resonance in the in-machine robot
Solution Approach 1:
The system dynamically changes the natural frequency parameter of the in-machine robot by exchanging end effectors with different masses or changing the robot's orientation, thereby avoiding resonance conditions while maintaining high-load intermittent cutting operations for productivity
2Productivity
If the in-machine robot is placed inside the machine tool for workpiece transportation, then productivity is improved, but the robot is exposed to machining vibrations causing resonance
Solution Approach 1:
The robot's natural frequency is dynamically adjusted through end effector exchange or orientation change to avoid resonance with machining vibrations, ensuring reliable operation while maintaining close proximity to the workpiece for efficient handling
3Reliability
If vibration suppression measures are taken to protect the in-machine robot, then reliability is improved, but the system complexity increases
Solution Approach 1:
Instead of adding complex vibration isolation hardware, the system uses software-controlled parameter changes (end effector mass selection or robot orientation adjustment) to shift the natural frequency away from resonance conditions, maintaining simplicity while improving reliability
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively suppresses resonance phenomena, preventing product defects and damage to the in-machine robot by dynamically altering its natural frequency in response to detected vibrations.
Implementation Method 1
a hemming blade is mounted on a robot arm via a vibration source, a part to be bend-machined of a workpiece, which is continuous, is pressed and bent by the hemming blade which is driven by the vibration source
Implementation Method 2
a weight for suppressing resonance of the robot arm due to the vibration of the hemming blade is detachably attached to at least one of the hemming blade and the vibration source thereof
Data Source
AI summary
A machine tool is disclosed which can suppress resonance of an in-machine robot even when vibration occurs during machining of a workpiece. Vibration of the in-machine robot is detected by a vibration sensor of the in-machine robot. When the vibration of the in-machine robot becomes greater than or equal to a threshold during machining of the workpiece, a controller changes a natural frequency of the in-machine robot by exchanging an end effector of the in-machine robot or by changing an orientation of the in-machine robot, to thereby suppress resonance of the in-machine robot.