Active-Correction Machining Head for Fast Robotic Precision Drilling
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Solution Overview
Problem
Existing machining robots face challenges in achieving high precision and speed due to deformation of the robot or part under pressure, requiring extensive repositioning of the entire robot arm to correct positioning and angle errors, which is slow and inefficient.
Innovation Solution
A machining head with active correction, equipped with localized sensors and independent movement mechanisms, allows for precise correction of drilling position and angle without repositioning the entire robot, using video cameras and artificial vision for verification and correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot arm is repositioned to correct positioning and angle errors, then machining precision is improved, but processing speed deteriorates due to the slow movement of the entire robot arm
Solution Approach 1:
The system divides the correction function into two segments: the robot arm handles coarse positioning, while a separate local correction mechanism (spindle with independent axes) handles fine positioning and angle correction. This segmentation allows the heavy robot arm to move quickly to approximate positions while the lightweight spindle makes precise adjustments without moving the entire robot structure.
Solution Approach 2:
The invention adds local correction dimensions to the spindle by providing independent X and Y correction axes at the tool level, rather than relying solely on robot arm movements. This dimensional addition at the tool level enables precise position and angle correction without requiring the robot arm to reposition.
2Stability of the object's composition
If the robot presses the head against the part to maintain positioning, then positioning stability is improved, but deformation of the robot or part occurs due to pressure
Solution Approach 1:
The system continuously monitors the actual position and angle of the spindle relative to the part using sensors, and this feedback is used to calculate correction values. The control system applies these corrections in real-time to compensate for any deformation caused by pressing forces, maintaining both stability and precision.
Solution Approach 2:
The system dynamically adjusts the correction parameters (position offsets and angle corrections) based on the detected deformation. By changing these parameters in real-time according to the actual state of the system, the invention compensates for pressure-induced deformation and maintains machining precision.
3Manufacturing precision
If multiple correction iterations are performed to achieve required tolerances, then machining precision is improved, but processing time increases due to repeated robot repositioning
Solution Approach 1:
The correction process is segmented into a fast local correction phase (spindle movement on independent axes) and a slower robot repositioning phase. The system performs multiple iterations of fast local corrections without requiring the robot to move, achieving required tolerances through several quick adjustments rather than repeated slow robot repositioning.
Solution Approach 2:
The system dynamically switches between correction methods: using the lightweight spindle for rapid iterative corrections and the robot arm only for initial positioning and major adjustments. This dynamic approach allows multiple correction iterations to be performed quickly at the tool level without the time penalty of moving the entire robot arm repeatedly.
Data Source
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AI summary
Machining head with active correction, of the type used in association with a robot to carry out fast high-precision machining tasks, especially on parts for the aeronautical production industry, which has localised position and angular sensors, and a machining motor or spindle provided with localised movement with respect to the head casing, independent of the robot's movement, this movement being preferably both displacement and rotation with respect to both, allowing active correction of the machining position. The invention presented affords the main advantage of allowing errors by the robot or deformation of the part to be machined, in positioning for machining, to be corrected in a localised very fast and accurate way, without the need to re-position the robot.