Contour-Following Robotic Mounts Without Direct Part Contact
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Solution Overview
Problem
Existing robotic manufacturing systems for assembling large objects like airplanes face inefficiencies due to the time-consuming process of mounting movable tracks directly onto the manufactured item, which can cause damage and restrict access for tasks like painting and inspection.
Innovation Solution
A robotic manufacturing system with rigid track mounts that are fixed sympathetically to the underlying manufactured item without direct engagement, allowing for flexible movement of end effectors along paths that follow the item's contour, enabling various manufacturing tasks without damaging the item.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If movable tracks are mounted directly onto the manufactured item, then flexibility in positioning is improved, but setup time increases and risk of damage to the item worsens
Solution Approach 1:
The patent introduces an intermediary support structure (independent support system) that holds the track separate from the manufactured item. This mediator allows the track to be positioned flexibly near the item without requiring direct mounting, thereby reducing setup time and eliminating damage risk while maintaining positioning flexibility.
Solution Approach 2:
The system separates the track support function from the manufactured item by using independent support structures. This segmentation allows the track to be positioned flexibly in space without being constrained by or damaging the item, resolving the contradiction between flexibility and setup time/damage risk.
2Adaptability or versatility
If movable tracks are mounted directly onto the manufactured item, then flexibility in positioning is improved, but risk of damage to the item worsens
Solution Approach 1:
The independent support structure acts as a mediator that enables the track to be positioned flexibly near the manufactured item without direct contact. This eliminates the harmful effect of potential damage while preserving the flexibility needed for various manufacturing tasks.
Solution Approach 2:
The track support function is extracted from the manufactured item itself and placed on independent support structures. This extraction removes the source of potential damage (direct mounting) while maintaining the flexibility of track positioning through the independent support system.
3Strength
If tracks are mounted directly on the surface, then structural support is improved, but access for painting and inspection worsens
Solution Approach 1:
The track system is moved from a two-dimensional surface mounting to a three-dimensional spatial positioning using independent support structures. This allows the track to be positioned above or near the surface without contacting it, providing both structural support and unobstructed access for painting and inspection operations.
Solution Approach 2:
Independent support structures serve as intermediaries that provide structural support for the track while keeping it separated from the manufactured item surface. This mediator arrangement maintains track stability while allowing full access to the surface for coating and inspection activities.
4Productivity
If multiple end effectors are used simultaneously, then productivity is improved, but system complexity worsens
Solution Approach 1:
The independent support structure with sympathetic contouring provides a universal platform that can accommodate multiple end effectors simultaneously. The standardized support system reduces overall complexity by providing a common infrastructure that handles positioning for multiple tools, rather than requiring separate mounting systems for each effector.
Data Source
AI summary
A method of manufacturing with a robotic manufacturing system including a track extending along a length of a component of a partially manufactured item, wherein the component has a non-constant longitudinal shape, the track being supported independently of the partially manufactured item. The system includes a jointed member having an elongated arcuate shape, a mount longitudinally movable along the track and configured to receive the jointed member in an articulating manner, and an end effector movably mounted on the jointed member. The jointed member moves along a portion of the component length in a radial position sympathetic to the non-constant component longitudinal shape. The jointed member longitudinally moves relative to the mount along its elongated arcuate shape such that the jointed member moves in an arc spaced from and around an outer component surface. A portion of the end effector moves along a length of the jointed member.