Mobile Manipulator With Sliding Rams For Precision Milling
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Solution Overview
Problem
Existing methods for working large-sized pieces, such as aircraft parts, are inadequate for high-precision operations like peripheral milling and require costly infrastructure, particularly in aeronautical and railway fields, as they rely on stationary workpieces and anthropomorphic robots that are not suitable for generating considerable reaction forces and vibrations.
Innovation Solution
A mechanical manipulator with sliding rams that provides structural rigidity and precision, allowing the working head to maintain firm positioning during operations, and a handling trolley system with pneumatic wheels and a manual transport mechanism to reduce costs and enhance mobility and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If anthropomorphic robots are used to work large-sized pieces, then mobility is improved, but manufacturing precision deteriorates due to inability to maintain firm positioning during high-reaction operations
Solution Approach 1:
The system is segmented into a mobile support unit and a separate manipulator unit. The support unit provides mobility and positioning, while the manipulator unit provides precision working operations. This separation allows each component to be optimized for its specific function without compromise.
Solution Approach 2:
A rigid support structure with sliding rams acts as an intermediary between the mobile platform and the working tools. This intermediary provides the necessary stability and precision for high-reaction operations while allowing the entire system to remain mobile and repositionable.
2Manufacturing precision
If stationary workpiece method is used, then manufacturing precision is improved, but device complexity increases due to requirement of costly fixed infrastructure
Solution Approach 1:
Instead of making the workpiece stationary and moving the tools around it using complex fixed infrastructure, the invention inverts the approach by making the entire tool system mobile while maintaining precision through the rigid support structure with sliding rams. This eliminates the need for costly fixed infrastructure.
Solution Approach 2:
The invention replaces the complex mechanical infrastructure of stationary systems with a mobile system using pneumatic or hydraulic sliding rams on a movable support unit. This substitution maintains precision while reducing infrastructure complexity and cost.
3Adaptability or versatility
If anthropomorphic robots are used, then adaptability is improved, but reliability deteriorates due to deformability under reaction forces and vibrations
Solution Approach 1:
The system separates the adaptive mobile support function from the precision working function. The support unit can be moved and repositioned adaptably, while the manipulator unit mounted on the rigid support structure maintains stability and reliability during operations.
Solution Approach 2:
The rigid support structure with sliding rams serves as an intermediary that isolates the working tools from the mobile platform. This intermediary absorbs and manages reaction forces and vibrations, protecting the precision components while allowing the platform to remain adaptable and mobile.
Data Source
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AI summary
Equipment including a movable working unit equipped with a mechanical manipulator (3), a handling trolley (5) and a working head (7) mounted on the trolley (5). The mechanical manipulator (3) is equipped with one or more sliding rams (9, 15, 17) arranged to move the working head (7) by means of their sliding movements, and it is displaceable from one working station to another by being transported on the trolley (5). The invention also concerns a working method using the equipment.