Multi-Robot Workpiece Holding for Precise Large-Part Machining
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Solution Overview
Problem
Existing workpiece holding systems struggle to maintain precise control and stability for large components during machining operations, particularly in industries requiring tight dimensional tolerances, such as aerospace, where traditional methods fall short in handling and positioning of larger workpieces.
Innovation Solution
A workpiece holding system featuring multiple robots with multi-axis movers, such as hexapod movers, mounted on a table, controlled by a coordinated controller to provide six degrees of freedom, allowing for precise positioning and orientation of workpieces within tight tolerances, combined with a handling scheme using trolleys for efficient movement and secure holding during machining.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional workpiece holding systems are used for large components, then the system structure is simple, but the positioning precision and stability deteriorate when machining large workpieces
Solution Approach 1:
The workpiece holding system is segmented into multiple independent robots (at least three) mounted on the table, each capable of independent movement and positioning. This segmentation allows each robot to contribute to the overall positioning precision of the workpiece while maintaining individual control, resolving the contradiction between precision and complexity by distributing the positioning function across multiple simpler units rather than one complex holding system
Solution Approach 2:
The robots serve multiple functions: they position the workpiece, hold it securely during machining, and can be coordinated to accommodate workpieces of varying sizes and shapes. This multi-functionality improves positioning precision for large components without requiring a completely separate complex holding system, as the same robotic units adapt to different machining requirements
2Stability of the object's composition
If multiple robots with multi-axis movers are used to hold large workpieces, then positioning precision and stability improve, but the device complexity increases
Solution Approach 1:
Multiple robots are merged into a coordinated system where they work together as a unified holding mechanism. The controller synchronizes the movement and positioning of all robots, allowing them to collectively stabilize large workpieces. This merging approach improves workpiece stability by distributing the holding force across multiple robots while managing complexity through centralized coordination
Solution Approach 2:
The controller acts as an intermediary that manages the complexity of coordinating multiple robots. It processes positioning data, calculates coordinated movement paths, and synchronizes robot actions to maintain workpiece stability. This intermediary component handles the computational complexity, allowing the robotic system to achieve high stability without requiring complex mechanical linkages between robots
3Productivity
If traditional workpiece handling methods are used, then the handling process is simple, but productivity and efficiency deteriorate for large components
Solution Approach 1:
The workpiece handling system is made dynamic through the use of controllable robots that can adapt their positioning and holding forces in real-time. The controller enables dynamic adjustment of robot positions and gripper forces based on workpiece characteristics and machining requirements. This dynamic capability increases productivity by optimizing the handling process for each specific workpiece while managing complexity through software control rather than fixed mechanical structures
Data Source
AI summary
The machining station can include a table; at least three robots each having a multi-axis mover secured to the table, and a gripper opposite the table, the robots being interspaced from one another on the table; and a controller. The controller controls the robots to hold a workpiece in a coordinated manner. The computer numerical command (CNC) machine-tool system machines the workpiece while the workpiece is held by the robots. The workpiece can be moved into and out from the machining station with a trolley which slidingly engages a trolley path formed within the table.