Robot-Machine Tool Workpiece Machining Coordination
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Solution Overview
Problem
Conventional machining systems face challenges in machining the portion of a workpiece that abuts the clamp mechanism, leading to reduced machining accuracy and production efficiency, as this portion cannot be effectively machined without additional operations like repositioning the workpiece on another jig.
Innovation Solution
A method involving a machine tool with a clamp part that presses the workpiece against a workpiece receiving part, and a robot with a force sensor-controlled hand that grips and restricts the workpiece's movement, allowing the machine tool to machine the clamp-pressed portion without changing the workpiece's posture, enabling the robot to grip and hold another portion of the workpiece to maintain stability during machining.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the clamp mechanism presses the workpiece against the workpiece receiving part, then the workpiece is securely clamped for machining, but the portion of the workpiece that abuts with the clamp mechanism cannot be machined
Solution Approach 1:
The workpiece is divided into two portions: a first portion that abuts the clamp mechanism and a second portion that is gripped by the robot hand. This segmentation allows different portions of the workpiece to be held by different mechanisms simultaneously, enabling the clamped portion to be machined while another portion is restrained by the robot.
Solution Approach 2:
The robot hand acts as an intermediary mechanism that grips a second portion of the workpiece to prevent movement during machining of the first portion. This intermediary gripping mechanism enables machining of the clamp-abutting portion without compromising workpiece stability.
2Ease of manufacture
If another operation is performed to machine the portion abutting the clamp mechanism (e.g., placing the workpiece on another jig), then that portion can be machined, but machining accuracy and production efficiency are reduced
Solution Approach 1:
The system merges the clamping function of the clamp mechanism with the restraining function of the robot hand into a single coordinated operation. Both mechanisms work simultaneously on different portions of the workpiece, eliminating the need for separate operations with different jigs and thereby improving production efficiency.
Solution Approach 2:
The robot hand serves multiple functions: it grips the workpiece to prevent movement during machining, and can be positioned to allow access to different portions of the workpiece for machining. This multi-functional approach eliminates the need for multiple specialized jigs and operations.
3Manufacturing precision
If the robot hand grips the workpiece to prevent movement during machining, then machining accuracy is improved, but the pressing force control is required to maintain proper grip
Solution Approach 1:
The force sensor provides real-time feedback on the gripping force applied by the robot hand to the workpiece. This feedback enables closed-loop control of the pressing force, ensuring that the grip is sufficient to prevent workpiece movement during machining while avoiding excessive force that could damage the workpiece or affect machining accuracy.
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
This approach enhances machining accuracy and efficiency by allowing the machine tool to directly machine the initially clamped portion without repositioning the workpiece, improving production efficiency and preventing movement during the machining process.
Implementation Method 1
The robot may include a force sensor which measures a force applied to the robot hand. When the second portion is gripped by the robot hand, a pressing force, by which the robot hand presses the second portion, may be controlled to a predetermined value based on the force measured by the force sensor.
Data Source
AI summary
A method for machining a workpiece which can prevent a reduction in machining accuracy and production efficiency. The method includes pressing a clamp part against a first portion of the workpiece, to clamp the workpiece in cooperation with a workpiece receiving part, causing the clamp part to move away from the first portion, to release the workpiece, which has been clamped by the clamp part, operating a robot to cause a robot hand to grasp a second portion of the workpiece, which is different from the first portion, to restrict the movement of the workpiece relative to the workpiece receiving part without a change in the posture of the workpiece, and operating a machine tool to machine the first portion while restricting the movement of the workpiece relative to the workpiece receiving part.