Laser-Tracked Long Member Assembly for Precise Reference Alignment
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Solution Overview
Problem
The challenge lies in accurately detecting the position of long, low-rigidity members with complex shapes, such as aircraft stringers, which require precise gripping and mounting, as existing methods struggle with high degrees of freedom and positional errors when using fixing jigs or robots.
Innovation Solution
An assembly manufacturing device featuring gripping parts, a retaining part, a drive part, a detecting part, and a control unit that adjusts the gripping parts based on the detected position and stored original shape of the member, utilizing laser reflection for precise positioning and coordinate determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixing jig is used to hold the long member, then the long member can be prevented from bending, but various types of complex-shaped fixing jigs need to be prepared for different stringer shapes
Solution Approach 1:
The robot gripper system is designed to universally handle multiple types of long members with different shapes and sizes. The robot can adapt its gripping positions and orientations to accommodate various stringer configurations, eliminating the need for dedicated fixing jigs for each stringer type while maintaining reliable positioning and preventing bending during assembly operations
2Adaptability or versatility
If robots are used to grip the long member, then flexibility in handling different shapes is improved, but the degrees of freedom required increase and positional errors occur
Solution Approach 1:
The patent replaces mechanical measurement systems with laser-based optical measurement. A laser measuring device scans the long member and detects the actual positions of multiple points on its surface. This optical measurement system provides high precision position detection without the mechanical contact errors that would affect robot positioning, enabling accurate coordinate system establishment even for complex-shaped members
Solution Approach 2:
The system creates a digital copy of the long member's actual geometry by measuring multiple surface points with the laser device. This measured point cloud data is used to reconstruct the member's coordinate system and shape, allowing the robot to accurately follow the member's contours and maintain precise positioning without requiring complex mechanical sensing
3Measurement precision
If the position of the long member is detected, then the coordinate system can be set, but errors occur in detecting the actual position
Solution Approach 1:
Instead of attempting to measure the entire long member at once, the system segments the measurement process by detecting multiple discrete points along the member's length. The laser measuring device scans and records coordinates of numerous points, which are then processed to reconstruct the member's geometry and establish the coordinate system. This segmented approach reduces cumulative measurement errors and improves overall coordinate system accuracy
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution minimizes positional errors and enhances precision in gripping and mounting long, complex-shaped members by adjusting the gripping parts to match the original shape, ensuring accurate reference point setting and improved assembly precision.
Implementation Method 1
utilizing laser reflection for precise positioning and coordinate determination
Data Source
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AI summary
Abstract: The purpose of the present invention is to provide an assembly-manufacturing apparatus and an assembly-manufacturing method capable of reducing error when the actual position of a long member is to be detected and precisely setting a reference point and a coordinate system. The long member assembly apparatus (1) is provided with a plurality of hand units (8) for grasping a long member (10), an abutment plate (5) for securing one end of the long member (10) and limiting the movement of the long member (10) in the lengthwise direction, a laser tracker (7) for detecting the placement position of the abutment plate (5), and a reference determination unit for determining a reference coordinate or reference point to be used in position adjustment of the hand units (8) on the basis of the placement position of the abutment plate (5) detected by the laser tracker (7).