In-Machine Robot Root Joint Coupling for Compact High Torque
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Solution Overview
Problem
The challenge in machine tools is to achieve a balance between providing a large power actuator for the root joint of an articulated robot while minimizing its size and cost, especially when the robot needs to be fully enclosed within the machine tool, which is constrained by limited space.
Innovation Solution
The solution involves an in-machine robot with a root joint actuator that can be connected or disconnected from a large-power spindle motor, allowing the root joint to utilize the motive power for rotating or moving the retaining member, thereby reducing the size and cost of the actuator while maintaining high power and compactness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the power of the actuator for the root joint is set large to handle heavyweight objects, then the robot can handle heavier workpieces and sensors, but the size and cost of the actuator increases
Solution Approach 1:
The patent applies dynamics by making the actuator configuration changeable - the in-machine robot can selectively connect to motors based on operational needs. When heavy workpieces need to be handled, the robot connects to high-power motors; when handling lighter objects or during positioning operations, it operates independently or connects to smaller motors. This dynamic reconfiguration allows the system to have high actuator power when needed while maintaining compact overall size.
2Power
If the power of the actuator for the root joint is set large, then the robot can handle heavier objects, but the cost of the actuator increases
Solution Approach 1:
The patent implements multi-functionality by designing the in-machine robot to serve multiple purposes: it can handle heavy workpieces by connecting to high-power motors, perform precise positioning operations independently, and adapt to different workpiece weights. The robot's ability to connect to different motors based on operational requirements means that expensive high-power actuators are only used when absolutely necessary, reducing overall system cost while maintaining capability.
3Power
If the size of the actuator is increased to provide sufficient power, then the robot can handle heavier objects, but the placement space required inside the machine tool increases
Solution Approach 1:
The patent applies segmentation by dividing the actuation system into multiple independent motors rather than using one large actuator. The in-machine robot can connect to different motors (spindle motor, table motor, etc.) depending on the operational requirements. This segmentation allows high power to be available when needed through motor connection, while the individual motors and robot can be compact in size, fitting within the limited machine tool space.
Data Source
AI summary
A machine tool includes a workpiece spindle that retains a workpiece or a tool, a spindle motor that rotates the workpiece spindle, an in-machine robot that is provided inside the machine tool and that is an articulated robot having one or more joints, and a plurality of gears that connect or disconnect a root joint which is placed, among the one or more joints, closest to a base end, and the spindle motor to or from each other.