Quill End Effector Micro Positioner Precision
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Solution Overview
Problem
Conventional machine tools face limitations in precision positioning and tool accuracy due to the size and mass of machinery, as well as temperature conditions and lash from active joints and bearings, making it difficult to achieve precise machining tolerances on large parts and assemblies.
Innovation Solution
A quill style drilling/milling end effector with a micro positioner that provides high tool positioning accuracy, featuring two perpendicular slides for additional positioning axes, a pressure foot with fast force and displacement feedback, and automatic mounting and dismounting, along with coolant delivery through the tool, to eliminate imprecision and stabilize the robot arm relative to the workpiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional large machine tools are used for machining large parts, then the equipment can handle large workpieces, but the positioning accuracy and machining precision deteriorate due to the size and mass of machinery, temperature conditions, and lash from active joints and bearings
Solution Approach 1:
The system is divided into two distinct positioning subsystems: a macro-positioning carrier (robot or gantry) for coarse positioning and a micro-positioner for fine positioning. This segmentation allows each subsystem to be optimized for its specific function, with the micro-positioner providing the necessary precision without requiring the entire system to be large and heavy.
Solution Approach 2:
The micro-positioner acts as an intermediary device between the macro-positioning carrier and the tool spindle. It mediates the positioning function by taking the coarse position from the carrier and adding fine adjustments to achieve the required precision, thereby eliminating the need for the entire system to be oversized for precision requirements.
2Weight of moving object
If a robot arm is used to position the end effector, then the equipment can be compact and low in mass, but the positioning accuracy deteriorates due to the size and mass limitations of the robot
Solution Approach 1:
The positioning function is segmented into macro-positioning (handled by the lightweight robot) and micro-positioning (handled by the precision micro-positioner). This allows the robot to remain compact and lightweight while the micro-positioner provides the necessary precision corrections.
Solution Approach 2:
The system replaces the need for a large, heavy precision machine tool with a combination of a lightweight robot and a precision micro-positioner mechanism. The micro-positioner uses precision mechanical elements (slides, screws) to achieve accurate positioning without the mass and complexity of conventional large machine tools.
3Manufacturing precision
If a pressure foot is added to stabilize the robot arm before tool deployment, then the positioning accuracy improves, but the device complexity increases
Solution Approach 1:
The pressure foot acts as an intermediary element that couples the robot arm to the workpiece, providing stabilization and reference for the micro-positioner. It mediates between the lightweight robot and the precision requirements by providing a stable mounting surface without requiring complex rigid structures.
Data Source
AI summary
A quill style drilling/milling end effector with high tool positioning accuracy, a pressure foot with fast response in force and displacement feedback, and with automatic mounting and dismounting, normality sensing, and through the tool coolant delivery.