Wire EDM Robot Hand for Automatic Workpiece Removal
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Solution Overview
Problem
Existing wire electric discharge machining systems face challenges in automatically removing machined workpieces that have dropped into the machining tank, as they interfere with movable components and cannot be collected by existing apparatuses due to their shape or position.
Innovation Solution
A wire electric discharge machining system equipped with a visual sensor to detect the position of cut machined workpieces within the machining tank, and a robotic arm with interchangeable hands to selectively grasp and remove workpieces based on their shape, material, and environment, using either electromagnets or chucks for secure handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robot with a hand is used to remove cut machined workpieces from the machining tank, then the workpieces can be automatically removed, but the system cannot handle workpieces that have dropped into the tank due to their shape or position
Solution Approach 1:
The hand is designed with movable fingers that can change their configuration dynamically. The fingers can move between a closed state for grasping workpieces and an open state for navigating around obstacles. This dynamic adaptability allows the hand to handle workpieces of various shapes and positions that have dropped into the machining tank, while still maintaining automated removal capability.
2Reliability
If the hand is designed to grasp workpieces securely, then workpieces can be removed automatically, but the hand cannot adapt to workpieces of different shapes and materials
Solution Approach 1:
The hand utilizes changes in physical parameters to adapt to different workpieces. By varying the contact force, finger positioning, and grasping posture based on the detected shape and material properties of the workpiece, the hand achieves secure handling across diverse workpiece types. The system adjusts grasping parameters dynamically rather than using a fixed grasping mechanism.
3Device complexity
If a single hand is used for both changing workpieces and removing machined workpieces, then the system structure is simplified, but the hand cannot be optimized for both functions simultaneously
Solution Approach 1:
The hand is designed as a universal gripper capable of performing multiple functions: both changing the workpiece to be machined and removing machined workpieces from the tank. The movable finger structure allows the same hand to adapt to different operational requirements, eliminating the need for separate hands for each function while maintaining ease of operation for both tasks.
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 the automatic and unattended removal of machined workpieces, reducing manual intervention and preventing damage to machinery, while ensuring accurate detection and handling of workpieces of varying shapes and materials.
Implementation Method 1
a visual sensor that detects a position of the machined workpiece
Implementation Method 2
pulls up a cut down portion by an electromagnet
Data Source
AI summary
A wire electric discharge machining system according to the present invention includes: a wire electric discharge machine that relatively moves a wire electrode and a workpiece to be machined according to a program, and subjects the workpiece to be machined to electric discharge machining by the wire electrode; at least one hand; a robot which mounts the hand on a head of an arm, and operates an object to be operated; and a visual sensor that detects a position of a machined workpiece in a machining tank, which has been cut from the workpiece to be machined by the electric discharge machining, wherein the robot performs an operation of removing the machined workpiece from the machining tank, based on the position of the machined workpiece, which has been detected by the visual sensor.