Robotic Arm Workpiece Handling and Milling System
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Solution Overview
Problem
Current wood panel milling technologies in timber construction are inefficient due to the need for significant human labor, elongated footprints, and inability to accommodate panels of different geometries, limiting automated and adaptable manufacturing workflows.
Innovation Solution
A system comprising robotic arms, including a workpiece handling robotic arm and spindle robotic arms, with a milling platform and vacuum pod positioning system, enables precise, rapid, and space-efficient handling and milling of wood panels, accommodating various geometries, and integrating with assembly lines for higher automation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If conventional milling machines are used in timber construction, then the milling operation can be performed, but the system requires significant human labor and elongated footprint
Solution Approach 1:
The patent combines the workpiece handling function and milling function into a single integrated system. The robotic arm serves dual purposes: transporting panels between staging areas and positioning them on the milling platform, while the milling machine processes the panels. This merging eliminates the need for separate handling equipment and reduces the overall system footprint while maintaining full automation capability.
Solution Approach 2:
The milling platform is designed to serve multiple functions: it acts as a transfer surface for panels moved by the robotic arm, a positioning surface for precise milling operations, and a support structure during processing. This multi-functionality reduces the need for dedicated equipment for each operation, thereby reducing the overall space requirement while maintaining automated operation.
2Adaptability or versatility
If milling machines are configured for specific panel geometries, then precise milling can be achieved, but the system cannot accommodate panels of different geometries
Solution Approach 1:
The system employs dynamic positioning and control mechanisms that allow the milling machine to adapt to different panel geometries in real-time. The robotic arm can precisely position panels of varying sizes and shapes on the milling platform, and the control system adjusts milling parameters accordingly. This dynamic adaptability maintains manufacturing precision across different panel types without requiring reconfiguration of the milling machine hardware.
Solution Approach 2:
The control system modifies milling parameters such as cutting depth, speed, and tool path based on the detected geometry of each panel. By changing these parameters dynamically according to the specific panel being processed, the system maintains high precision for each geometry type while accommodating a wide variety of panel designs without physical reconfiguration.
3Productivity
If manual handling and post-processing are used, then flexibility in operation is maintained, but production time and cost increase
Solution Approach 1:
The system is designed to be self-sufficient in its automated workflow. The robotic arm automatically transports panels between staging areas and the milling platform without human intervention. The milling machine automatically processes panels based on programmed parameters. This self-service capability eliminates the need for manual handling and post-processing operations, significantly increasing production speed and efficiency while the initial automation complexity is justified by the elimination of ongoing manual labor requirements.
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
The system significantly reduces production time and cost by automating the handling and milling of wood panels, allowing for efficient processing of panels with different geometries and enabling large-scale, automated workflows in timber construction.
Implementation Method 1
a vacuum pod (66) of the milling platform (60)
Data Source
AI summary
A system for processing a workpiece includes a milling platform, a workpiece handling robotic arm (WHRA), and a spindle robot arm (SRA). The WHRA has a holding tool adapted to move the workpiece from an input staging area to the milling platform, and from the milling platform to an output staging area. A base of the WHRA, the input staging area, the output staging area are all positioned on a same side of the milling platform. The SRA has a milling tool and is adapted to mill the workpiece when supported on the milling platform. The system may include a processor configured to control the WHRA to move the holding tool to a release position or orientation based on positional data of the workpiece generated by contact position sensors, and to move a robotic arm to position vacuum pods on the milling platform, based on the geometry of the workpiece.