Flat Angle Drill End Effector for Confined-Area Machining
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Solution Overview
Problem
Existing end effector configurations for robotic arms face difficulties in accessing confined areas or locations near obstructions, often requiring manual processing and increasing costs and cycle times due to the need for manual handling of workpieces.
Innovation Solution
The apparatus comprises an end effector with a pressure foot, a clamp, a flat angle drill, a spindle, and a translation platform, allowing for precise positioning and movement along a drilling axis to access and process workpieces in confined areas, including those near obstructions, by aligning the drilling axis with the workpiece and using linear actuators for controlled movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional end effector configuration is used, then the robotic arm can perform standard machining operations, but it cannot access confined areas or locations near obstructions
Solution Approach 1:
The end effector is divided into multiple independently controllable components: a clamp assembly with first and second clamps for securing the workpiece, a separate drill assembly with a drill bit for machining operations, and a translation platform that moves the entire assembly. This segmentation allows each component to be optimized for its specific function while working together to access confined areas that would be inaccessible to conventional rigid end effectors.
Solution Approach 2:
The end effector incorporates dynamic elements including linear actuators for moving the clamp assembly along the drilling axis, a spindle for rotating the drill bit, and a translation platform that can linearly move the entire assembly. These dynamic components enable the system to adapt its configuration and reach confined areas while maintaining automated operation, eliminating the need for manual intervention.
2Adaptability or versatility
If manual processing is used to access confined areas, then the workpiece can be processed in tight spaces, but cost and process cycle time increase
Solution Approach 1:
The end effector is designed to perform both clamping and drilling operations autonomously without requiring manual intervention. The linear actuators automatically position the clamp assembly, the spindle controls drill bit rotation and feed, and the translation platform moves the entire assembly into position. This self-service capability maintains high productivity by eliminating manual handling steps while achieving access to confined areas that would otherwise require manual processing.
3Extent of automation
If the end effector is designed with multiple movable components for precise positioning, then automated processing in confined areas is enabled, but device complexity increases
Solution Approach 1:
The end effector components are designed with multi-functionality to reduce overall complexity. The clamp assembly serves both to secure the workpiece and to provide a mounting structure for the drill assembly. The translation platform provides linear movement for the entire assembly while also serving as a support structure. The spindle both rotates the drill bit and controls its axial movement. This multi-functionality allows automated processing in confined areas while minimizing the number of separate components needed.
Data Source
Figure 1A
Figure 1B
Figure 2
AI summary
One example of the present disclosure relates to an apparatus for processing a workpiece along a drilling axis (A), the apparatus comprising an end effector (104). The end effector comprises a pressure foot (106), a clamp (108) linearly movable relative to the pressure foot along the drilling axis, and a flat angle drill (110) linearly movable relative to the pressure foot along the drilling axis.