Long Member Assembly Device with Movable Grippers
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Long members with low rigidity, such as aircraft stringers, deform when gripped by robots due to tensile or compressive forces, and require complex fixing jigs for precise assembly, which are not always effective.
Innovation Solution
An assembly body manufacturing device with gripping parts that allow longitudinal movement of the long member and a drive part to adjust their positions, along with a fixing part to restrain the end portion, preventing deformation by releasing and re-gripping the member to avoid applied forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a fixing jig with high rigidity is used to hold the long member, then the long member can be prevented from bending, but the long member may deform due to tensile force or compressive force applied by the fixing jig
Solution Approach 1:
The gripping parts are configured to be movable along the longitudinal direction of the long member, allowing dynamic adjustment of gripping positions. This dynamic capability enables the system to adapt to the long member's shape variations without applying excessive force, thus preventing both bending and deformation simultaneously
Solution Approach 2:
The system changes the gripping parameters by adjusting the positions of multiple gripping parts along the longitudinal direction. By optimizing the gripping positions and forces, the system achieves stable holding without deforming the long member
2Adaptability or versatility
If multiple types of fixing jigs are prepared for different stringer shapes, then various stringers can be held, but the device complexity increases
Solution Approach 1:
Multiple gripping parts are designed with the same basic structure but can be positioned at different locations along the longitudinal direction. This universal design allows a single type of gripping part to handle various stringer shapes by adjusting positions, eliminating the need for multiple specialized fixing jigs
Solution Approach 2:
The movable configuration of gripping parts along the longitudinal direction provides dynamic adaptability to different stringer shapes, replacing the need for multiple static fixing jigs with different geometries
3Stability of the object's composition
If the gripping parts are fixed in position, then the long member can be held stably, but tensile force or compressive force is applied causing deformation
Solution Approach 1:
The gripping parts are configured to be movable along the longitudinal direction, transforming from a fixed to a dynamic system. This movement capability allows the gripping parts to accommodate the long member's natural shape variations without applying deforming forces, while maintaining stable holding through controlled positioning
Data Source
AI summary
In order to hold a long member without using a fixing jig and without deforming the long member in holding the long member, a long member assembling device is provided with: multiple hand parts for gripping a long member; and arm parts and trunk parts for moving the hand parts to adjust the positions of the hand parts gripping the long member. The hand parts have a configuration such that, when the positions thereof are adjusted by the arm parts and the trunk parts, the hand parts are capable of moving in the longitudinal direction of the long member while gripping the long member.