Multi-Robot Stringer Joining for Precise Adhesive Positioning
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Solution Overview
Problem
Current joining technologies in aircraft and vehicle construction, such as robot-guided tools, face limitations in positioning accuracy, process reliability, and flexibility when attaching elongated components like stringers to flexible surface structures, particularly in creating precise and reproducible adhesive connections.
Innovation Solution
A joining tool and method that employs multiple industrial robots with a gripper, counterholder, and heating device to precisely position and align components, allowing for simultaneous joining at multiple discrete points along the component's length, with controlled force and heat application, enabling flexible adaptation to varying component contours and workpiece shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a rolling joining tool is used to join components to workpieces, then the joining process can be automated and continuous motion is achieved, but positioning accuracy and the ability to create precise adhesive connections deteriorate
Solution Approach 1:
The continuous joining process is segmented into discrete joining points along the component length. The joining tool moves to specific predetermined locations and performs joining operations at each point sequentially or simultaneously, rather than attempting continuous joining. This segmentation allows precise positioning at each discrete point while maintaining automated operation through robot control.
Solution Approach 2:
The joining tool incorporates movable elements including the heating device that can extend and retract, and the gripper that can adjust its position. These dynamic components allow the tool to adapt to varying component contours and maintain precise positioning accuracy at each joining point while moving between locations automatically.
2Manufacturing precision
If discrete joining points are used instead of continuous joining, then positioning accuracy and adhesive bond quality improve, but the number of joining operations and time required increase
Solution Approach 1:
Multiple joining operations are merged into simultaneous execution. The joining tool is equipped with multiple heating devices and grippers that can perform joining operations at multiple discrete points simultaneously, rather than sequentially. This combines the precision of discrete point joining with the productivity of parallel processing.
Solution Approach 2:
The joining process maintains continuity through automated robot movement between discrete joining points. While the actual adhesive application and heating occur at discrete points, the robot moves continuously between points without interruption, and multiple points are processed in parallel, maintaining overall process continuity and high productivity.
3Reliability
If multiple industrial robots with joining tools are used, then positioning accuracy and process reliability improve, but device complexity and cost increase
Solution Approach 1:
Each joining tool is designed as a multi-functional unit that integrates gripping, positioning, heating, and pressing capabilities. The same tool can perform multiple operations at different joining points, reducing the need for separate specialized devices and simplifying the overall system while maintaining high reliability through consistent multi-functional performance.
4Strength
If the joining tool applies force and heat simultaneously at discrete points, then adhesive bond strength and quality improve, but the complexity of controlling force and temperature increases
Solution Approach 1:
The joining tool incorporates sensors that provide feedback on force application and temperature at each joining point. This feedback is used by the control system to automatically adjust parameters in real-time, ensuring consistent adhesive bond quality without requiring complex manual control. The feedback loop simplifies the control task by providing real-time data for automatic parameter adjustment.
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 approach enhances positioning accuracy, process reliability, and flexibility, allowing for faster and more cost-effective joining with improved quality and reproducibility of the joint connections, suitable for components of any length and complex shapes.
Implementation Method 1
the component and the workpiece are heated in the joining area
Implementation Method 2
The component is held by a suction gripper
Data Source
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AI summary
The invention relates to a joining tool (7), a joining device (2) equipped therewith and a joining method for joining stringers (9) to flexible workpieces (8). A plurality of industrial robots (3 to 6) are equipped with joining tools (7) and handle and join the stringer (9) jointly. The joining tools (7) are heated and grip the stringer (9) by means of a gripper tool (25) on the upper face (30) of the structural unit, using a controlled suction gripper (26), a heated counter-holder (29), which is arranged next to the gripper tool, likewise acting upon the upper face (30) of the structural unit.