Adaptive Gripping Device for Low-Rigidity Long Member Assembly
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Solution Overview
Problem
The challenge lies in holding long members with low rigidity, such as stringers in aircraft, in their original shape without using fixing jigs, especially when they have complex stereoscopic shapes with compound curves, as traditional methods require multiple jigs and complex jig designs.
Innovation Solution
An assembly body manufacturing device equipped with gripping parts, a drive part, a storage unit, and a control unit that adjusts the gripping parts to match the original shape of the long member, allowing precise positioning and fixation without external jigs, using a movable table and mounting robots for component assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If fixing jigs are used to hold long members with low rigidity, then the long member can be prevented from bending, but the device complexity and preparation time increase due to needing various types of jigs for different shapes
Solution Approach 1:
The fixing jig is transformed from a static, shape-specific device to a dynamic, adaptive system. The jig includes a plurality of support points that can be positioned at different locations along the long member, and the support heights are adjustable to match the original shape. This dynamic configuration allows the same jig to accommodate various long member shapes without requiring multiple specialized jigs.
Solution Approach 2:
The invention changes the parameters of the fixing jig by making the support point positions and support heights variable. Instead of having fixed geometries for each specific long member shape, the jig allows continuous adjustment of support parameters (positions and heights) to match the original shape of different long members, thereby reducing the need for multiple specialized jigs.
2Manufacturing precision
If multiple specialized fixing jigs are prepared for different long member shapes, then precise holding is achieved, but the manufacturing time and preparation effort increase
Solution Approach 1:
The fixing jig is designed as a universal device that can handle multiple types of long members with different shapes. By incorporating adjustable support points and variable support heights, a single jig configuration can serve multiple functions that previously required several specialized jigs, thereby reducing preparation time while maintaining positioning precision.
Solution Approach 2:
The system stores the original shape data of long members in advance. Before the fixing process, the control unit retrieves the stored shape information and pre-calculates the optimal support point positions and heights. This preliminary preparation of control parameters eliminates the need for time-consuming manual measurements and adjustments during actual assembly operations.
3Force
If traditional fixing methods are used, then long members can be held, but the gripping force may cause deformation of the low rigidity long member
Solution Approach 1:
The fixing jig applies gripping force locally at multiple discrete support points rather than through continuous clamping. Each support point provides localized support with controlled force, preventing excessive stress concentration that would cause deformation. The distributed support points allow the low rigidity long member to maintain its original shape while still being securely held.
Data Source
AI summary
To hold a long member in the original shape of the long member at a precise position, a long member assembling device has: a plurality of hand parts configured to grip a long member; arm parts and trunk parts configured to move the hand parts to adjust the positions of the plurality of hand parts gripping the long member; a storage unit in which the original shape of the long member is stored; and a control unit configured to, on the basis of the original shape of the long member stored in the storage unit, drive the arm parts and the trunk parts to adjust the positions of the plurality of hand parts gripping the long member such that the shape of the long member gripped by the plurality of hand parts matches the original shape of the long member stored in the storage unit.