Universal Robotic Gripper for CNC Part Tending
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Solution Overview
Problem
Robotic CNC machine tending systems are costly and require extensive engineering and programming to handle a variety of parts, making them impractical for many manufacturing applications, especially when compared to human-operated systems.
Innovation Solution
A robotic tending system using a part gripping jaw with interchangeable profiles and a robotic arm with an End of Arm Tool (EOAT) that can adapt to different part shapes without custom programming, allowing a CNC Machine programmer to operate the system without specialized robotic training, and utilizing a vise with engagement profiles to securely hold parts during processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple custom EOATs are used to handle different part shapes, then the robot can precisely grasp and position various parts, but the system cost and device complexity increase significantly
Solution Approach 1:
The patent implements a universal EOAT design where a single end-of-arm tool can handle multiple part shapes through interchangeable gripper modules. The EOAT includes a standardized interface that accepts different gripper modules designed for specific part geometries, allowing the robot to adapt to various part shapes without requiring multiple custom EOATs. This modular approach maintains versatility while reducing system complexity and cost.
Solution Approach 2:
The EOAT is segmented into modular components including a base unit and interchangeable gripper modules. Each gripper module can be detached and replaced based on the part shape requirements. This segmentation allows the system to maintain a single EOAT hardware platform while achieving multi-functionality through module replacement, thereby reducing overall device complexity.
2Manufacturing precision
If custom EOATs are engineered for each part type, then precise part handling is achieved, but the engineering cost and setup time increase
Solution Approach 1:
The system employs dynamically reconfigurable gripper modules that can be quickly swapped based on part requirements. Rather than engineering custom EOATs for each part type, the modular design allows rapid reconfiguration of the same EOAT hardware with different gripper modules, significantly reducing engineering costs while maintaining positioning accuracy through precise module-part matching.
Solution Approach 2:
The EOAT system changes its operational parameters by switching between different gripper modules with varying grip forces, geometries, and configurations. This parameter change approach allows the same hardware platform to adapt to different part shapes and sizes, eliminating the need for expensive custom EOAT engineering for each part type while preserving manufacturing precision.
3Adaptability or versatility
If multiple EOATs are attached to the robot arm, then different part shapes can be handled, but the robot arm weight increases requiring a larger robot
Solution Approach 1:
Multiple gripper modules are nested within the EOAT structure, allowing them to be stored in a compact configuration when not in use. The modular design enables the robot to carry a set of gripper modules as part of the EOAT assembly, eliminating the need for multiple separate EOATs and reducing the overall weight penalty while maintaining versatility.
4Weight of moving object
If a robot EOAT changer is used to manage multiple EOATs, then the robot arm weight is reduced, but the system cost increases
Solution Approach 1:
The patent merges the EOAT changer functionality directly into the EOAT structure itself through the modular gripper module design. Rather than using a separate EOAT changer mechanism, the system combines the switching capability within the EOAT, allowing quick module replacement without additional complex hardware. This integration reduces device complexity while maintaining the benefit of reduced robot arm weight.
Data Source
AI summary
A system and method for using a robotic arm and a part gripping jaw to tend a CNC machine. A robotic arm picks up a part gripping jaw and used the jaw to grip a part, and moves the part into a vise in the CNC machine. The part gripping jaw has features which the vise engages, and secures the part in the part gripping jaw for processing in the CNC machine. The system and method includes a novel racking system, robotic end of arm tool, jaw grippers and vise system. The jaw grippers that hold the part are moved from the rack system, with the part to be processed, by the robot, to the vise where the vise uses the jaw grippers to secure the part for processing. After the part is processed, the robot removes the part from the vise with the jaw grippers and stores the part back into the rack system using the jaw grippers.