Robot-Guided Drilling With Workpiece Support for Precision Boreholes
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Solution Overview
Problem
Articulated-arm robots with serial kinematics face challenges in high-precision drilling due to low system rigidity, leading to vibrations and accuracy issues when processing large workpieces with free-form surfaces, limiting processing speed and accuracy.
Innovation Solution
Mechanical support is provided to the articulated-arm robot by establishing a detachable connection between the robot and the workpiece, using a laser tracking system for precise positioning, and elastic or resilient designs to minimize vibrations, allowing for improved processing quality and speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articulated robot with serial kinematics is used for machining large workpieces, then flexibility and cost-effectiveness are improved, but system stiffness decreases leading to vibrations and low machining accuracy
Solution Approach 1:
The patent combines the flexibility of articulated robots with the precision of machine tools by integrating the robot into a hybrid machining system. The robot handles positioning and approach movements while a stationary machining center performs the actual high-precision machining operations, thus merging the advantages of both systems.
Solution Approach 2:
The patent introduces an intermediary positioning system that includes laser tracking devices and measurement systems. These intermediaries bridge the gap between the robot's low precision and the workpiece's required high precision by continuously monitoring and compensating for positional deviations during the machining process.
2Adaptability or versatility
If an articulated robot with serial kinematics is used for machining, then flexibility and cost-effectiveness are improved, but system stiffness decreases causing vibrations during machining
Solution Approach 1:
The patent extracts the high-precision machining function from the mobile robot system and assigns it to a stationary machining center. This separation removes the source of vibrations (the robot's flexible structure) from the critical machining operation, allowing the robot to handle only non-critical positioning tasks.
Solution Approach 2:
The patent introduces damping elements and vibration isolation mechanisms as intermediaries between the robot and the machining system. These elements absorb and dissipate vibrations, preventing them from affecting the machining quality while allowing the robot to maintain its flexible positioning capabilities.
3Productivity
If a robot-guided drilling tool is positioned rapidly using only robot kinematics, then processing speed is improved, but positioning accuracy decreases
Solution Approach 1:
The patent performs preliminary high-precision positioning using the robot's rapid movement capabilities, then applies post-positioning corrections using the stationary machining center and measurement systems. This two-stage approach allows rapid initial positioning followed by precision adjustment, combining speed and accuracy.
Solution Approach 2:
The patent implements a closed-loop feedback system where laser tracking devices continuously monitor the robot's position and provide real-time correction data to the control system. This feedback mechanism allows the system to maintain high positioning accuracy despite the robot's inherent positioning limitations, while still benefiting from its rapid movement capabilities.
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 the stability and accuracy of the drilling process, enabling high-precision borehole creation on large workpieces with complex surfaces by reducing vibrations and maintaining high processing quality and speed.
Implementation Method 1
a laser tracking system for detecting a correct spatial position and orientation of the articulated robot-guided drilling tool relative to the workpiece
Data Source
Figure 1
Figure 2a~2b
Figure 2c
AI summary
The invention relates to a method and an arrangement for introducing boreholes into a surface of a workpiece (W) mounted in a stationary manner using a boring tool which is attached to the end face of an articulated-arm robot (KR) and which can be spatially positioned by said robot. The method has the following method steps: - positioning the articulated-arm robot-guided boring tool at a spatial position which lies opposite a specified machining location on the workpiece surface at a specified distance therefrom, - producing a rigid mechanical connection which supports the end face of the articulated-arm robot (KR) on the workpiece and which can be released from the workpiece surface, and - machining the surface by moving the boring tool towards the machining location and subsequently engaging the boring tool with the workpiece (W) at the machining location on the workpiece surface while the end face of the articulated-arm robot (KR) is connected to the workpiece. The invention is characterized by the combination of the following method steps: the boring tool is moved towards the workpiece (W) by means of an NC advancing unit attached to the end face of the articulated-arm robot (KR), the boring process is monitored on the basis of information obtained using a sensor system which detects the position of the boring tool relative to the workpiece surface and which is attached to the end face of the articulated-arm robot (KR), and the boring process is terminated upon reaching a specified boring depth.