Multi-Robot Workpiece Handling in Machine Tool Systems
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Solution Overview
Problem
Existing machine tool systems limit the flexibility and degree of freedom of workpiece movement, requiring additional axis devices or worktable changes, which increases preparation time and machining cycle length.
Innovation Solution
Incorporating multiple robots within the machining space to grip and move the workpiece in accordance with machining operations, eliminating the need for additional axis devices and worktable changes, and allowing continuous holding of the workpiece to prevent clamping and unclamping cycles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a worktable that moves a workpiece along a plane is used, then the workpiece can be positioned and moved, but the flexibility and degree of freedom of movement are limited
Solution Approach 1:
The invention divides the workpiece support function into multiple independent robots instead of a single integrated worktable. Each robot can independently position and orient the workpiece, providing segmented control that increases flexibility while maintaining manageable system complexity through modular robot units.
Solution Approach 2:
The invention transitions from planar movement on a worktable to three-dimensional positioning using multiple robots with multiple degrees of freedom. This dimensional expansion allows the workpiece to be moved and oriented in complex trajectories and angles that are impossible with conventional planar worktables.
2Adaptability or versatility
If an additional axis device is attached on the worktable to rotate the workpiece, then the workpiece can be turned during machining, but it takes a lot of preparation work time
Solution Approach 1:
The robots are pre-programmed with machining path data, allowing them to automatically position and rotate the workpiece in coordination with the machining operations. This preliminary programming eliminates the need for manual attachment of rotation devices and reduces setup time while maintaining full rotational capability.
Solution Approach 2:
The system uses dynamic, programmable robot positioning instead of fixed mechanical rotation devices. The robots can adapt their movements in real-time based on machining requirements, providing flexible workpiece rotation without the rigid setup requirements of traditional additional axis devices.
3Force
If a clamping device is used to secure the workpiece, then the workpiece can be held firmly, but clamping and unclamping operations lengthen the machining cycle
Solution Approach 1:
The invention replaces traditional mechanical clamping devices with robotic gripping systems. The robots use controlled gripping forces to hold the workpiece firmly during machining, eliminating the need for separate clamping and unclamping operations. This substitution maintains adequate holding force while significantly reducing cycle time by integrating positioning and gripping functions into the robots.
4Ease of manufacture
If robots are installed inside the machining space, then safety fences are not needed reducing cost, but the robots must operate in close proximity to the machining area
Solution Approach 1:
The system uses a coordinated control mechanism as an intermediary between the robots and the machining operations. The control system synchronizes robot movements with machining cycles, ensuring robots are positioned safely during cutting operations and only approach the workpiece when the machining area is clear of hazards. This mediation allows robots to operate inside the machining space without requiring extensive safety fencing.
Data Source
AI summary
A machine tool system includes: a machine tool that machines a workpiece by using a tool attached to a spindle; and a plurality of robots installed inside a machining space of the machine tool and adapted to grip the workpiece and move the workpiece in conformity with the machining performed by the machine tool.