Articulated Robot Drilling Unit With Linear Guide Reaction Support
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Solution Overview
Problem
Conventional articulated robots face challenges in drilling holes for elevator rail installation due to the need for a drilling machine that can perform both rotation and hammering motions, which results in excessive moment on the robot's joints, making it difficult to handle in narrow and dark spaces like elevator shafts.
Innovation Solution
A work machine unit is designed with a support member and linear guides that allow the drilling machine to be positioned closer to the drilling site, reducing the moment on the robot's joints by using an elastic body and linear guides to absorb reaction forces, enabling the use of a smaller articulated robot for efficient rail installation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a drilling machine with striking mechanism is assembled to the distal end of the articulated robot, then the drilling operation can be performed on concrete surfaces, but the robot joints are subjected to large moments that may exceed allowable moments
Solution Approach 1:
The linear guide is arranged substantially perpendicular to the axial direction of the drilling machine, transferring the reaction force from the drilling operation from the axial direction (which would create large moments on robot joints) to a perpendicular direction (which the robot can handle more easily). This dimensional change in force transmission resolves the contradiction between drilling capability and joint moment limits.
Solution Approach 2:
The linear guide acts as an intermediary mechanism between the drilling machine and the robot arm. It mediates the reaction forces generated during drilling by guiding them along a perpendicular path, thereby protecting the robot joints from excessive moments while still enabling effective drilling operations on concrete surfaces.
2Stability of the object's composition
If the drilling machine is positioned far from the drilling position to maintain stability, then the robot can support the machine, but the moment on the robot joints increases making it difficult to handle in narrow spaces
Solution Approach 1:
By arranging the linear guide perpendicular to the axial direction of the drilling machine, the reaction forces are redirected to a different dimension. This allows the drilling machine to be positioned closer to the drilling point without increasing the moment on robot joints, as the perpendicular force transmission path does not create the same rotational leverage that would occur with axial force transmission.
3Ease of operation
If a smaller articulated robot is used to improve handling in narrow and dark spaces, then the robot is easier to maneuver, but it has lower allowable moments at the joints
Solution Approach 1:
The perpendicular arrangement of the linear guide changes the direction of reaction force transmission from axial to perpendicular relative to the drilling machine's axis. This dimensional change allows smaller robots with lower joint moment capacities to perform drilling operations, as the perpendicular force path does not create the large moments that would occur with axial force transmission at the distal end.
Solution Approach 2:
The linear guide serves as an intermediary that protects the robot joints from the full impact of drilling reaction forces. By guiding these forces along a perpendicular path, it enables smaller, more maneuverable robots to perform drilling operations in narrow elevator shafts without exceeding their joint moment limits.
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 solution allows for effective drilling operations in tight spaces by reducing the load on the robot's joints and enabling the use of a smaller, more manageable articulated robot, facilitating easier handling and installation of elevator rails.
Implementation Method 1
an elastic body and linear guides to absorb reaction forces
Implementation Method 2
linear guide disposed at another end of the support member... configured to abut against a work object or its peripheral structural object
Data Source
AI summary
A work machine unit includes: a support member assembled to an end effector connection part of an operating machine; a work machine part assembled to one end of the support member; and a linear guide disposed at another end of the support member across its connection to the end effector connection part from the support member, arranged in parallel to an axial direction of the work machine part, and configured to abut against a work object or its peripheral structural object. Further, the linear guide is passed through a through-hole formed in the support member, and the support member is configured to move in the axial direction of the work machine part as guided by the linear guide.