Robot machining apparatus, robot arm, and machining method using the robot machining apparatus
AssigneeSugino Machine Limited
InventorsNaoya MIWA, Yoshiteru KAWAMORI, Takuya MORIGUCHI
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Abstract
A robot machining apparatus includes: a multi-joint articulated robot arm including a plurality of joints, and a braking mechanism capable of braking rotation of at least one of the plurality of joints while the robot arm is servo-on; an end effector disposed at a distal end of the robot arm, the end effector including a rotatable spindle capable of mounting a tool; and a feed table configured to feed the spindle.
Claims20
A robot machining apparatus, comprising:
- a multi-joint articulated robot arm including
- a plurality of joints, and
- a braking mechanism capable of braking rotation of at least one of the plurality of joints while the robot arm is servo-on;
- an end effector disposed at a distal end of the robot arm, the end effector including a rotatable spindle capable of mounting a tool;
- and
- a feed table configured to feed the spindle.
A multi-joint articulated robot arm, comprising:
- braking mechanisms configured to respectively brake between two links connected to each of a plurality of joints.
A machining method using a multi-joint articulated robot arm having an end effector, the machining method comprising:
- stopping a position of the end effector by the robot arm;
- braking joints of the robot arm;
- rotating a spindle by the end effector for a feed table to feed the spindle to machine a workpiece;
- and
- releasing braking of the joints of the robot arm after machining is completed.
Dependencies are inferred from the claim text.