Machine Tool Manipulator Arm Layout for Compact Tool Handling
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Solution Overview
Problem
Existing handling arrangements for machine tools are costly, require significant space, and have long installation times due to complex structures and high maintenance needs, especially when using 6-axis robots or bulky longitudinal rail systems.
Innovation Solution
A compact handling arrangement featuring a horizontal rail with a pivotable tower, a vertical slide, and a single, rigid arm with multiple pivot axes, allowing for flexible positioning and alignment of tools/workpieces with minimal space requirements, integrated into a modular cabinet system for easy installation and operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a 6-axis robot is used for handling tools and workpieces, then automation capability is improved, but investment costs and maintenance costs increase significantly
Solution Approach 1:
The handling arrangement is divided into separate functional modules: a horizontal rail arrangement for lateral movement, a tower for vertical positioning, a vertical rail arrangement for height adjustment, and a manipulator arm for tool/workpiece handling. Each module can be manufactured and assembled independently, reducing overall system cost while maintaining automation capability.
Solution Approach 2:
The manipulator arm is designed with multiple pivot axes (first pivot axis on the vertical slide, second pivot axis on the arm itself, and optionally a third vertical pivot axis) that enable it to perform multiple functions: horizontal reaching, vertical lifting, and rotational positioning. This multi-axis design provides 6-axis robot-like versatility at lower cost through a simplified architectural approach.
2Adaptability or versatility
If a longitudinal rail system with carriage and telescopic arm is used, then handling functionality is achieved, but space requirements in front of the machine tool increase
Solution Approach 1:
The handling arrangement utilizes vertical space by implementing a tower structure with a vertical rail arrangement that allows the vertical slide and manipulator to move upward and downward. This vertical dimension enables the system to achieve three-dimensional work envelope coverage without requiring additional horizontal space in front of the machine tool.
Solution Approach 2:
The manipulator arm is designed with nested pivot axes where the second pivot axis on the arm allows the manipulator to fold back onto itself during retraction. The arm can be positioned in a compact configuration where it nests within its own sweep path, minimizing the horizontal footprint when the handling arrangement is not in use.
3Adaptability or versatility
If complex handling assemblies with multiple components are used, then handling capability is improved, but installation time increases due to individual on-site assembly requirements
Solution Approach 1:
The handling arrangement is designed as modular segments (horizontal rail assembly, tower assembly, vertical rail assembly, manipulator assembly) that can be manufactured separately and then quickly assembled on-site using standardized interfaces. This segmentation maintains full handling capability while significantly reducing installation time compared to monolithic designs.
Solution Approach 2:
Multiple functional components are merged into integrated assemblies: the tower combines vertical support, vertical rail mounting, and pivot axis bearings; the manipulator arm integrates the first and second pivot axes along with the manipulator mechanism. These pre-integrated modules reduce the number of separate assembly operations required during installation.
Data Source
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AI summary
The invention relates to a handling assembly (1) for handling tools and/or workpieces (16) of a machine tool (2), comprising: a horizontal rail assembly (101); a vertical tower (3) which is arranged on the horizontal rail assembly (101) so as to be movable in the direction of a horizontal axis (21); a vertical rail assembly (102) which is arranged on the tower (3); a vertical carriage (12) which is movable along the vertical rail assembly (102) in the vertical direction (B); precisely one one-piece rigid arm (15) which is arranged on the vertical carriage (12) and is pivotable about a horizontal, first pivot axis (13) on the vertical carriage (12); and a manipulator (5) which is arranged on the arm (15) and is pivotable about a horizontal, second pivot axis (14) on the arm (15), wherein: the arm (15) is pivotable about a vertical pivot axis (103; 104); the first pivot axis (13) is in parallel with the second pivot axis (14); and the first pivot axis (13) is arranged on a first side of the vertical pivot axis (103; 104) at a first distance (A1) from the vertical pivot axis (103; 104).