Robotic Tool Clamping System for Drilling Force Reaction
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Solution Overview
Problem
Robotically operated tools face a conflict between the need for a lightweight robotic arm that is easily installable and reconfigurable, and the requirement for stiffness to sustain reactive forces during operations like drilling or riveting, which can lead to position slippage if not adequately supported.
Innovation Solution
A clamping system comprising a tool support with adjustable clamping modules, including vacuum cups or other clamping devices, and an adjustment mechanism that allows precise positioning and locking of the tool support relative to the workpiece, reducing the load on the robotic arm and enabling it to maintain position and orientation during operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robotic arm is made lightweight for easy installation and reconfiguration, then the ease of operation and adaptability improve, but the stiffness and load-bearing capacity deteriorate, causing position slippage during tool operations
Solution Approach 1:
A clamping device is introduced as an intermediary between the robotic arm and the tool. This clamping device reacts the forces generated during tool operation against the workpiece itself, rather than transmitting them to the robotic arm. The clamping device includes clamping elements that secure the tool to the workpiece and reaction force elements that provide stable support during operation, effectively mediating the force transmission path.
2Weight of moving object
If the robotic arm is made lightweight, then the weight of the moving object decreases, but the ability to sustain reactive forces during drilling or riveting deteriorates
Solution Approach 1:
The clamping device serves as a mediator that transfers reactive forces from the tool directly to the workpiece. The clamping elements secure the tool while the reaction force elements engage with the workpiece to react the forces generated during operations like drilling or riveting, allowing the robotic arm to remain lightweight without compromising force sustainment capability.
Solution Approach 2:
The system is segmented into distinct functional components: the robotic arm for positioning, the clamping device for force reaction, and the tool for operation. This segmentation allows each component to be optimized independently - the robotic arm can be lightweight while the clamping device provides the necessary force reaction capability through its separate structure with clamping and reaction force elements.
3Force
If clamping devices are added to reduce loads on the robotic arm, then the force sustainment improves, but the device complexity increases
Solution Approach 1:
The clamping device is designed with multi-functionality to reduce complexity. The same clamping device structure serves multiple purposes: positioning the tool, securing it to the workpiece, and reacting the forces during operation. The reaction force elements are integrated into the clamping device structure itself, allowing a single component to perform multiple functions rather than requiring separate systems for each function.
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 effectively reduces the loads on the robotic arm, allowing it to operate with a lower nominal payload while maintaining the necessary position and orientation, enabling efficient execution of tasks like drilling on varied workpiece surfaces without slippage.
Implementation Method 1
For example, it may be a vacuum cup
Implementation Method 2
or it may be a van der Waals clamp
Implementation Method 3
or an electromagnet if the workpiece is ferromagnetic
Data Source
AI summary
An apparatus for clamping a robotically controlled tool to a workpiece comprises a tool support mountable on a robotic arm and configured to support the tool, a plurality of clamping modules, each of which includes at least one vacuum cup arranged to clamp the tool support to the workpiece, and an adjustment mechanism configured to adjust the position of the tool support relative to the workpiece.