Multi-Effector Serial Manipulator for Compact Machine Tool Operations
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Solution Overview
Problem
Existing machine tools require multiple robots to perform various tasks, leading to increased cost and size due to the limitation of one end effector per robot, making it inefficient for executing multiple operations like sensing and gripping.
Innovation Solution
A machine tool equipped with a movable member and serial-manipulator-type robots that have two or more degrees of freedom, featuring multiple end effectors positioned with joints, allowing for various operations while maintaining a compact and cost-effective design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple robots are provided to execute various works such as sensing and gripping, then the machine tool can perform multiple tasks, but the cost and size of the machine tool increase
Solution Approach 1:
The patent combines multiple end effectors (gripping device and sensing device) into a single robot body, allowing one robot to perform multiple tasks simultaneously. This merging approach eliminates the need for separate robots for gripping and sensing, thereby reducing the overall number of robots required while maintaining full task execution capability.
Solution Approach 2:
The robot is designed with multi-functional end effectors that can perform both gripping and sensing operations. The gripping device includes sensors that enable tactile sensing, while the sensing device can detect various physical quantities. This universal design allows a single robot to execute diverse tasks including workpiece handling, sensing, and inspection without requiring multiple specialized robots.
2Adaptability or versatility
If a robot has only one end effector, then the robot structure is simple, but it cannot execute multiple different works such as sensing and gripping simultaneously
Solution Approach 1:
The patent merges multiple end effectors (gripping device and sensing device) into a single integrated robot structure. The gripping device and sensing device are positioned at different locations on the robot body, with the sensing device arranged to avoid interference with the gripping operation. This integration allows the robot to execute multiple operations simultaneously without requiring separate robot units.
Solution Approach 2:
The patent utilizes spatial arrangement in multiple dimensions to accommodate multiple end effectors. The sensing device is positioned in a location that does not interfere with the gripping device's operation, effectively using three-dimensional space to resolve the conflict between multiple functions and compact structure. This spatial dimensionality allows simultaneous gripping and sensing operations.
3Ease of operation
If multiple robots are provided to perform various tasks, then all required operations can be performed, but the accessible range and flexibility are limited compared to a unified multi-functional robot
Solution Approach 1:
The patent combines multiple end effectors into a single robot body, which inherently provides better accessible range compared to multiple separate robots. The unified robot structure with multiple degrees of freedom can reach various positions and orientations more effectively than multiple fixed robots, while the integrated design reduces system complexity.
Solution Approach 2:
The robot employs dynamic positioning and orientation capabilities with multiple degrees of freedom, allowing the end effectors to adaptively reach different work areas. The robot can dynamically adjust its configuration to optimize accessible range for both gripping and sensing operations, providing greater flexibility than a static multi-robot system.
Data Source
AI summary
A machine tool is provided which can execute various works while suppressing increase in cost or size. The machine tool includes a tool spindle device which is a movable member which can move with respect to a mounting surface of the machine tool, and one or more serial-manipulator-type robots attached on the tool spindle device, which can move with the tool spindle device, and which have two or more degrees of freedom, and the robot includes two or more end effectors provided at positions different from each other with one or more joints therebetween.