Robot Arm Distance Adjustment for Interference-Free Machining
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Solution Overview
Problem
Machining apparatuses using robots face challenges in applying machining to a wide range with a single robot, requiring complex facility construction and multiple robots to achieve effective coverage.
Innovation Solution
A method involving a machining apparatus with a 7-axis robot configuration, including a distance adjustment actuator that adjusts the distance between the second and third axes, allowing the end effector to move between positions higher and lower than the base end of the arm portion, enabling machining of a wide range without interference with the workpiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional 6-axis robot is used for machining, then the robot structure is simple and easy to construct, but the robot cannot reach a wide range of positions on the workpiece without causing interference with the workpiece itself
Solution Approach 1:
The patent applies the dynamics principle by making the robot arm configuration adjustable during operation. The distance adjustment actuator dynamically changes the distance between the second and third axes based on the machining position requirements, allowing the robot to adapt its arm configuration (folded or extended) to reach different areas of the workpiece without interference
Solution Approach 2:
The patent implements parameter changes by varying the physical configuration parameter of the robot arm (distance between axes) according to the machining requirements. The distance adjustment actuator modifies the arm configuration parameter to enable the end effector to reach positions both higher and lower than the base end of the first arm portion, expanding the machining range
2Adaptability or versatility
If multiple robots are used to machine different portions of a workpiece, then the machining coverage is increased, but the facility construction becomes complex and the number of robots increases
Solution Approach 1:
The patent applies the universality principle by designing a single robot system that can perform multiple machining functions across different workpiece areas. The distance adjustment actuator enables one robot to replace multiple robots by allowing the end effector to reach various portions of the workpiece that would otherwise require separate robotic units
Solution Approach 2:
The dynamic adjustment of the arm configuration allows a single robot to adapt its reaching capability to cover different workpiece areas, effectively replacing the need for multiple fixed-position robots and simplifying facility construction
3Length of moving object
If the robot arm is positioned to reach high portions of the workpiece, then the upper machining range is improved, but the arm configuration may cause interference with the workpiece
Solution Approach 1:
The patent uses dynamic adjustment of the arm configuration to resolve the interference problem. When reaching high portions of the workpiece, the distance adjustment actuator modifies the distance between the second and third axes to optimize the arm configuration, allowing the end effector to reach the desired height while avoiding collision with the workpiece
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
Enables efficient machining of a wide range with a single robot by adjusting the arm configuration to avoid interference and increase the reaching and movable range, facilitating flexible production facility construction and reducing the need for multiple robots.
Implementation Method 1
a vibration generation unit configured to generate vibrations in the cutterhead
Data Source
Figure 1
Figure 2A~2B
Figure 3
AI summary
A machining apparatus 1 includes a robot 10 including a first arm portion 13, a second arm portion 14, a tip portion 16, a second actuator 22 swinging the first arm portion 13 around a second axis Ax2, a third actuator 23 swinging the second arm portion 14 around a third axis Ax3, a seventh actuator 27 adjusting a distance between the second axis Ax2 and the third axis Ax3, and an end effector 17 provided to a tip portion 16 and applying machining to a workpiece W. The robot 10 is positioned such that a tip portion of the first arm portion 13 or a base end portion of the second arm portion 14 interferes with the workpiece W when the first arm portion 13 is rotated around the second axis Ax2, where the distance is made longest, in a state where the robot 10 exactly faces the workpiece W.