BACKGROUND
Universal fixtures, or flexible tooling, for holding and supporting contoured workpieces during machining operations have been disclosed in U.S. Pat. Nos. 4,684,113 and 5,722,646. In the case of U.S. Pat. No. 4,684,113 multiple workpiece engaging rods are actuated by motor driven screws, while with U.S. Pat. No. 5,722,646 multiple workpiece engaging rods are actuated fluidically. Substantially all universal tooling systems utilized in the aerospace industry for holding contoured workpieces are based on one of these types of active systems.
While these types of active flexible tooling systems addressed certain problems associated with non-universal tooling, in many cases they have proven unreliable, particularly in wet environments such as waterjet cutting of composite workpieces. Common malfunctions include complete operational failure of individual actuators, which may be visually apparent and can be addressed by replacing the malfunctioning actuator. Even greater complications may occur when actuators misposition with amounts too small for visual detection, resulting in workpieces being machined out of tolerance.
Most known flexible tooling systems utilize workpiece engaging end effectors which pivot freely, making position detection and verification by automated methods impossible. The resulting conundrum is that these systems may not always position properly, and there is no good way to tell if that has happened.
The present invention utilizes configurable workpiece support assemblies that are designed to provide accurate and verifiable support of workpieces. Exposure to water, even for extended periods of time, will have no effect on the performance of the present invention since the workpiece support assemblies contain no electronic components, motors, or valves. The present invention incorporates fully immobilized fixture elements, allowing automated position verification and qualification to be performed with known devices including spindle probes, coordinate measuring machines, and laser scanning systems.
SUMMARY
The invention is directed to a workpiece support assembly. The assembly comprises a pedestal, a support tube, an offset arm, and a fixture element. The support tube is carried by the pedestal and has a longitudinal axis. The offset arm is carried by the support tube and selectively rotatable about the longitudinal axis. The arm has a rectilinear channel formed therein. The fixture element is supported above the channel and movable along a line parallel thereto. The fixture element has at least two degrees of rotational freedom.
In another aspect, the invention is directed to a system. The system comprises a plurality of unpowered support assemblies and a robotic unit. Each support assembly has a fixture element that has at least five selectable degrees of kinematic freedom. The robotic unit is positionable in operative engagement with each of the plurality of support assemblies. The robotic unit carries one or more installation elements collectively having at least five degrees of kinematic freedom.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view showing a workpiece support assembly according to the present invention, together with three types of fixture elements which can be attached thereto.
FIG. 2 is a perspective view showing support pallets together with an overhead fixture building robot.
FIG. 3 is an exploded view of FIG. 2 with detail views showing a plurality of workpiece support assemblies together with detail views showing the robotic gantry and robotic end effectors utilized for transporting and adjusting the workpiece support assemblies.
FIG. 4 is a perspective view showing a plurality of workpiece holding pallets each loaded with a plurality of workpiece supports.
FIG. 5 is a perspective view showing a plurality of workpiece holding pallets shown in FIG. 4 abutted together for holding a large workpiece such as an aerospace wing skin.
FIG. 6 is a top view of a workpiece support in a working position.
FIG. 7 is a front view of the workpiece support of FIG. 6.
FIG. 8 is a top view of a workpiece support in a storage position.
FIG. 9 is a front view of the workpiece support of FIG. 8.
FIG. 10 is a top view of a workpiece support having a cross-bar and two end surfaces, in a working position.
FIG. 11 is a front view of the workpiece support of FIG. 10.
FIG. 12 is a top view of the workpiece support of FIG. 10 in a storage position.
FIG. 13 is a front view of the workpiece support of FIG. 12.
FIG. 14 is a top view of a workpiece support having a contoured fixture element, in a working position.
FIG. 15 is a front view of the workpiece support of FIG. 14.
FIG. 16 is a top view of the workpiece support of FIG. 14 in a storage position.
FIG. 17 is a front view of the workpiece support of FIG. 16.
FIG. 18 is an exploded perspective view of a workpiece support assembly as shown in FIGS. 6-9.
FIG. 19 is an exploded perspective view of the fixture element for use with the support assembly of FIG. 18.
FIG. 20 is an exploded perspective view of the workpiece support assembly as shown in FIGS. 10-13.
FIG. 21 is an exploded perspective view of the workpiece support as shown in FIGS. 14-17.
FIG. 22 is a top view of a workpiece support assembly.
FIG. 23 is a front section view of FIG. 22.
FIG. 24 is a top view of a fixture element.
FIG. 25 is a front section view of FIG. 24.
FIG. 26 is a top view of a fixture element.
FIG. 27 is a front section view of FIG. 26.
FIG. 28 is a top view of a fixture element.
FIG. 29 is a front section view of FIG. 28.
FIG. 30 is an exploded perspective view with associated detail views showing the interface between end effector assembly and a fixture element.
FIG. 31 is a front view of end effector assembly prior to interfacing with a fixture element.
FIG. 32 is a right section view of FIG. 31.
FIG. 33 is a front view of an end effector assembly interfacing with a fixture element.
FIG. 34 is a right section view of FIG. 33.
FIG. 35 is a perspective view with associated detail view showing workpiece support assembly in the process of being detached from a storage pallet with the fixture building robot.
FIG. 36 is a perspective view with a portion of the stationary framework removed for clarity, together with associated detail view showing angular adjustment of the end effector assembly.
FIG. 37 is a perspective view with associated detail view showing placement of a workpiece support using the fixture building robot.
FIG. 38 is a perspective view with associated detail view showing adjustment of a lock screw with the fixture building robot.
FIG. 39 is a perspective view with associated detail view showing attachment of the end effector assembly to the fixture element.
FIG. 40 is a perspective view with associated detail view showing adjustment of the fixture element along the z-axis by the fixture building robot.
FIG. 41 is a perspective view with associated detail view showing rotation of an offset arm on the workpiece support by the fixture building robot.
FIG. 42 is a perspective view with associated detail view showing rotation of the end effector assembly to provide for movement of the fixture element along the offset arm.
FIG. 43 is a perspective view with associated detail view showing movement of the fixture element in the X-Y plane within a groove along the offset arm.
FIG. 44 is a perspective view with associated detail view showing rotation of the end effector assembly to provide for immobilization of the fixture element within the offset arm.
FIG. 45 is a perspective view with associated detail view showing the tilting of the end effector within the A and B axes.
FIG. 46 is a perspective view with associated detail view showing workpiece support after adjustment to workpiece holding position has been completed.
FIG. 47 is a perspective view of workpiece supports engaging a highly contoured section of a workpiece.
FIG. 48 is a perspective view of workpiece supports engaging a highly contoured section of a workpiece.
FIG. 49 is a top view of workpiece supports engaging a highly contoured section of a workpiece.
FIG. 50 is a sectional side view of workpiece supports having a transverse fixture, with a detail view included thereof.
FIG. 51 is a perspective view of a highly contoured workpiece engaged by multiple varieties of fixtures.
FIG. 52 is a perspective view of a locating fixture in use on a workpiece support.
FIG. 53 is a top view of the fixture and system of FIG. 51, with the workpiece made transparent, excepting its outline, and the pallet removed, so that engagement between the workpiece and various fixture elements is shown.
FIG. 54 is a view of section A-A from FIG. 53, with a transverse fixture element shown.
FIG. 55 is a view of section B-B from FIG. 53, with a dual member fixture element shown.
FIG. 56 is a view of section C-C from FIG. 53, with a contoured fixture element shown.
FIG. 57 is a view of section D-D from FIG. 53, with a contoured fixture element shown.
FIG. 58 is a view of section E-E from FIG. 53, with a fixture element shown.
FIG. 59 is a front right top view of a machining apparatus including an overhead gantry and an alternative fixture building robot, for use with an alternative workpiece support. An operator is shown for scale.
FIG. 60 is a bottom front left view of the robotic assembly of FIG. 59. An umbilical cable is retracted within the assembly, and a gripping attachment is utilized with the robotic assembly.
FIG. 61 is a bottom left front view of the robotic assembly of FIG. 60, with a center section rotated ninety degrees.
FIG. 62 is a front sectional view of the robotic assembly. The center section is in the orientation shown in FIG. 60.
FIG. 63A is a perspective view of a storage and deployment of an umbilical with spools apart.
FIG. 63B is a perspective view of the umbilical of FIG. 63A with spools together, as would occur during deployment of the umbilical.
FIG. 64A is a bottom left front view of the robotic assembly of FIG. 60, with a camera attachment utilized with the robotic assembly.
FIG. 64B is a bottom left front view as in FIG. 64A, but with the camera replaced with a nutrunner.
FIG. 65 is a bottom left front view of the robotic assembly of FIG. 60, with a spindle attachment utilized with the robotic assembly.
FIG. 66 is a top front left view of the robotic assembly of FIG. 60 engaged with an alternative workpiece support, with the umbilical attached to a connection port of the workpiece support.
FIG. 67 is a top front left view thereof with the gripper assembly of the robotic assembly adjusting a portion of the workpiece support.
FIG. 68 is a top front left view thereof, with the umbilical attached and the gripper placing the workpiece support in an orientation with the end effector in line with the workpiece support.
FIG. 69A is a sectional view of a connection apparatus disposed at an end of the umbilical, with a connection cylinder retracted.
FIG. 69B is a sectional view of the connection apparatus of FIG. 69A with the connection cylinder extended.
FIG. 70A is a perspective view of the connection apparatus with the connection cylinder extended, adjacent to the connection point of the workpiece support.
FIG. 70B is a perspective view of the connection apparatus with the connection cylinder retracted and the umbilical connected to the connection point.
FIG. 71 is a sectional view of the workpiece support.
FIG. 72 is a sectional view of a top section of the workpiece support, with a hydraulic supply for an upper pivotal frictional device and internal vacuum passageways shown.
FIG. 73 is a sectional view of the pedestal for use with the workpiece support.
FIG. 74 is a sectional view of the workpiece support taken through the connection point, showing a gripper apparatus. Upper portions of the workpiece support are removed for clarity.
DETAILED DESCRIPTION
The present invention consists of a plurality of workpiece support assemblies which are mounted to a common table structure. Each workpiece support assembly carries a fixture element, together with a means to provide vacuum to hold the workpiece against the fixture element. Each fixture element can be adjusted with up to six degrees of kinematic freedom, and then immobilized rigidly in the desired position with extreme precision. At the heart of the invention are a combination of joints, slides and pivots, which, working in concert, provide an unprecedented freedom of movement, while retaining the capability for the workpiece engaging surface to be immobilized securely in a practically unlimited number of positions.
Prior tooling systems of the types disclosed in U.S. Pat. Nos. 4,684,113 and 5,722,646 are commonly used in the aerospace industry. The workpiece support assemblies in these systems are typically limited to three degrees of kinematic freedom, comprised of the vertical axis, commonly referred to as the Z axis, for the first degree of freedom, and the fixture element which rotates on a ball joint resulting in two additional degrees of kinematic freedom referred to as the AB axes.
The present invention has utility because of its unique combination of simplicity, flexibility, lockability, and automatability. The absence of any one of these characteristics greatly reduces the utility of the invention. Regarding simplicity, complicated systems are inherently less reliable and more costly than simple systems, and if the operating environment is wet the probability of failure is further increased. Regarding flexibility, known flexible tooling systems for contoured workpieces commonly provide three degrees of adjustability, compared to the present invention which provides six degrees of kinematic freedom.
Regarding lockability, the positions and accuracies of known systems with hundreds of workpiece support assemblies that cannot be fully immobilized are practically impossible to verify, which can result in workpieces worth hundreds of thousands of dollars being improperly machined.
Regarding automatability, an adjustable extension attachment is disclosed in U.S. Pat. No. 5,722,646 with regard to FIGS. 14 and 15 which adds two degrees of adjustability in the XY axes. However, the limitation of this method is that the adjustment has to be performed manually. Manual adjustment has significant disadvantages in a production manufacturing environment, including the amount of time required to manually adjust each attachment, the difficulties of access that occurs when installing attachments in the middle of a large group of workpiece support assemblies, and the probability of human error occurring, including installation of attachments in incorrect locations and inaccurate adjustment of these attachments.
Referring now to the figures, and FIGS. 2-5 in particular, a flexible tooling adjustment cell 100 is shown therein. The cell 100 comprises a stationary framework of columns and beams 8 along which robotic gantry assembly 5 is movably attached. The assembly 5 is further comprised of workpiece holding pallet 6 containing a plurality of movable workpiece supports 1. The pallet 6 and workpiece supports 1 are supported by stationary pallet support rails 9.
Storage pallets 7 may also be used to store the workpiece supports 1. As shown, workpiece supports 1 are in a work position when on the holding pallet 6, and in a storage position when on the storage pallet 7.
One or more workpiece holding pallets 6 and storage pallets 7 may be detached from stationary pallet support rails 9 and moved to and from the cell by material handling vehicles and systems including Automated Guided Vehicles, wheeled transporters, and overhead cranes (not shown).
In FIG. 1, the flexible tooling adjustment cell 100 may be configured according to operational needs. When used in conjunction with multiple support assemblies 1, as best shown in FIGS. 4 and 5, the assemblies can support a complicated three-dimensional workpiece.
The workpiece support 1 may be attached to one or more fixture elements 2, 3, 4 which may be attached thereon. The attachment may be threaded. Workpiece supports 1 in conjunction with fixture elements 2, 3, 4 can be adjusted to a practically unlimited number of working positions, one of which is shown in FIG. 6. Storage positions are shown in FIGS. 8-9. Adjustment positions are shown in FIG. 40.
Fixture element 2 has a round sealing surface and is the preferred support for holding workpieces with gradual contours such as aircraft wing skins. Fixture element 3 is comprised of at least two supports 2 connected with crossbar 40 and is the preferred support for holding contoured workpieces which are predominantly cylindrical such as aircraft nacelle covers. If higher density is desired, a fixture element 3 with three supports 2 may be utilized.
Fixture element 4 is comprised of a contoured workpiece engaging block 41 which is affixed to block attachment plate 42 and is the preferred support for holding sharply contoured aircraft workpieces such as wing leading edges. The block 41 may be dedicated tooling shaped to conform specifically to a feature of the workpiece having a specific contour. The block 41 may be concave, convex, or a combination of concave and convex. The plate 42 may of a number of different sizes and shapes and adapted for attachment to a number of blocks 41 each having a different contour.
It should be understood that workpiece supports 1 can be used in combination with many of the different fixture elements 2, 3, 4. These fixture elements 2, 3, 4 can be adjusted and immobilized with six degrees of kinematic freedom along linear axes XYZ, and around linear axes XYZ as indicated by corresponding rotary axes ABC, as best shown in FIG. 1. It should be understood that rotary axis A is rotation about the X axis, rotary axis B is rotation about the Y axis, and rotary axis C is rotation about the Z axis.
Each workpiece support 1 comprises a support tube 23 and an offset arm 19. The support tube 23 moves the offset arm (and the fixture elements 2, 3, 4) along the Z axis. The offset arm 19 is rotatable about an axis of the support tube 23 to move the fixture elements 2, 3, 4 relative to the X and Y axes.
Referring now to FIG. 3 showing an exploded view of FIG. 2 and detail views showing a plurality of workpiece support assemblies 1. The robotic gantry assembly 5 supports a fixture building robot 102. The fixture building robot comprises a number of installation elements collectively having at least the six degrees of kinematic freedom possessed by the fixture elements 2, 3, 4. As shown, the installation elements may comprise a vertical nutrunner assembly 10, a rotating housing 11 supporting an end effector assembly 12, a gripper assembly 13, and a horizontal nutrunner assembly 14. Each of these subassemblies are shown in use in FIGS. 35-46. A nutrunner generally is a torque transmission device on an extendable spindle.
The fixture building robot 102 is controlled such that it can move workpiece supports 1 and corresponding fixture elements 2, 3, 4 along axes XYZ and corresponding rotary axes ABC. These assemblies perform various tasks without human intervention including detaching workpiece supports 1 from their storage position on storage pallet 7 and transporting to workpiece holding pallet 6. Operations further include attaching workpiece support assemblies in storage position to workpiece holding pallet 6, and adjusting and immobilizing workpiece support assemblies to the positions required to hold a large workpiece such as an aerospace wing skin 16 as shown in FIG. 5 for manufacturing operations. A plurality of workpiece supports 1 in working position which are required to hold workpieces of varying sizes may thus be detached, transported, attached and adjusted sequentially.
The positions of fixture elements 2, 3, 4 may be individually plotted and placed in a processor, or may be determined by the processor itself to match a particular contoured workpiece. In either case, the workpiece supports 1 are each individually moved by the fixture building robot 102. The workpiece supports 1 contain no internal mechanisms, motors, or electronics capable of moving on its own.
Once manufacturing operations have been completed the fixture building robot 102 may return workpiece support assemblies in working position back to storage position, detach them from workpiece holding pallet 6, transport them back to storage pallet 7 and re-attach them to storage pallet 7. Further details relating to the workpiece support 1 adjustment sequence are provided in FIGS. 40-45.
Referring now to FIGS. 4-5, a plurality of workpiece holding pallets are moved by an automated guided vehicle 15 between stationary pallet support rails 9. Each workpiece holding pallet 6 supports a plurality of workpiece supports 1 in working position that have been previously adjusted and immobilized by the fixture building robot (FIG. 3).
Once pallets 6 are in position, a large contoured workpiece 16 may be held in place for machining operations. These machining operations may include waterjet trimming and drilling. The quantity and arrangement of stationary pallet support rails 9 and workpiece holding pallets 6 can be changed for each installation to accommodate wide and long workpieces as shown which require multiple holding pallets 6 abutted end to end and side to side, or long narrow workpieces which require multiple holding pallets 6 abutted end to end. In addition, smaller workpieces which might fit upon a single holding pallet 6.
With reference to FIGS. 6-9, a workpiece support 1 is shown in its working position and storage position. Each figure shows a fixture element 2. The centerline of the fixture element 2 can be adjusted in the XY axis directions as shown in FIG. 1 by rotation of offset arm 19. As shown, the offset arm 19 has an internally-disposed channel within which the fixture element 2 can traverse. As shown, the fixture element 2 comprises a dovetail block 20 (FIGS. 18, 20) which is complementary to the channel, which is a dovetail-shaped groove.
The height and angularity of the fixture element 2 can be adjusted by moving it along the Z axis and rotating it around the AB axes until desired locations are obtained. Since the fixture element 2 is of a circular shape the adjustment of C axis rotational angularity is normally not required.
In the storage position, the centerline of the fixture element 2 may be adjusted in the XY axes by rotating rotation of offset arm 19 to, for example, the 3:00 position. The fixture element 2 may also be moved along the channel in offset arm 19 until the fixture element 2 is concentric with support tube 23 as shown in FIG. 9.
Referring now to FIGS. 10-13, a fixture element 3 is shown in the working position and storage position. This embodiment incorporates two fixture elements 2 which are movably connected to channels shown in crossbar 40. Such connection allows these fixture elements 2 to be adjusted independently along linear axes XY and rotary axes AB, together with crossbar 40 which can be adjusted independently along linear axes XYZ and rotary axes ABC.
Since two fixture elements 2 are mounted on crossbar 40 which also can be rotated around the ABC axes, dual fixture element assembly 3 provides an additional angular adjustment range which allows it to hold contoured workpieces which are predominantly cylindrical, such as aircraft nacelle covers, with all workpiece support assemblies mounted on the same plane.
The storage position may require the centerline of the dual fixture element assembly 3 to be adjusted in the XY axes as shown in FIG. 1 by rotating the offset arm 19 to, for example, the 3:00 position as shown in FIGS. 10 and 13, together with moving the dual fixture element assembly 3 along the channel in offset arm 19 until the workpiece engaging end effector assembly 3 is concentric with support tube 23. Storage position may require that crossbar 40 be rotated so it is parallel to said offset arm 19.
Referring now to FIGS. 14-17, the workpiece support 1 is shown with a contoured fixture element 4. The centerline of the contoured fixture element 4 can be adjusted in the XY axis by rotating the offset arm 19 as shown in FIG. 1. Further, the contoured fixture element 4 may be moved along the channel in offset arm 19 to the desired location.
Referring now to FIGS. 18 and 23, the support assembly comprises the support tube 23 within a pedestal 26. The height of support tube 23 can be adjusted along the ZC axes at multiple heights and angles. Support tube 23 can be immobilized relative to pedestal 26 by tightening the support tube lock screw 25. Offset arm 19 is attached to support tube 23. The workpiece support 1 comprises an upper vacuum tube 22 and lower vacuum tube 24. The upper vacuum tube 22 is permanently attached to offset arm 19 and movably connects to lower vacuum tube 24 which is attached to the pedestal 26. The lower vacuum tube 24 is connected to a vacuum system within the workpiece holding pallet 6. As best shown in FIG. 23, a flexible vacuum tube 17 is attached to the support tube 23 and the dovetail block 20 such that the vacuum tubes 24, 22 are in communication with an internal passage 18 within offset arm 19.
The fixture element (whether type 2, 3, or 4) is attached to the dovetail clamp block 20 by pivot ball 37. A clamp disk 21 may be acted upon by the pivot ball 37 which further acts upon dovetail clamp block 20 causing it to be wedged frictionally within offset arm 19. This causes immobilization of the fixture element 2, 3 or 4 relative to offset arm 19.
Conversely the fixture element 2, 3 or 4 may be rotated to remove frictional force between dovetail clamp block 20 and offset arm 19. As a result, the dovetail clamp block 20 may be mobilized relative to the dovetail groove in the top of offset arm 19. The pivot ball 37 comprises an internal passage such that vacuum pressure from tube 17 is applied at a surface of the fixture element 2, 3, 4.
Attachment screws 28 interact with the pedestal 26 to locate it on the pallets 6.
FIGS. 19, 20, and 21 show components of fixture elements 2, 3, and 4, respectively. Each of these fixture elements can be internally mobilized, which is the state in which workpiece engaging surfaces 53 can be rotated freely around ABC axes relative to pivot ball 37. The fixture elements 2, 3, 4 can be internally immobilized, which refers to the state in which the workpiece engaging surfaces 53 is fixed in position relative to the pivot ball 37 at the orientation provided prior to immobilization.
Referring now to FIGS. 19-21, internal immobilization of fixture elements 2, 3, 4 is achieved by tightening three adjustment clamp screws 30. The screws 30 are attached to a clamp flange 39.
Each of the fixture elements 2, 3, 4 has nine holes located in the workpiece engaging surface 53. These holes each engage with an element of the end effector assembly 12 disposed on the fixture building robot 102 (FIGS. 30-46). Preferably, there are three sets of three holes, with the clamp screws 30 located in one such set.
With reference to FIGS. 18, 19, 24, and 25, fixture element 2 is shown in detail. The clamp screws 30 may be actuated to cause a datum reference flange 31 to act upon a socket flange 33 and further causing clamp flange 39 to act upon conical clamp ring 38. This further causes the socket flange 33 and conical clamp ring 38 to act upon pivot ball 37 which frictionally immobilizes the position of socket flange 33 relative to the position of pivot ball 37.
Internal mobilization is achieved by loosening the three adjustment clamp screws 30.
Alignment dowels 34 allow torsional loads to be applied to datum reference flange 31 and socket flange 33 while maintaining alignment with clamp flange 39. An O-ring seal 36 prevents leakage of vacuum between socket flange 33 and pivot ball 37.
In FIGS. 20, 26, and 27, a dual member fixture element 3 may be similarly immobilized. Internal immobilization of the crossbar 40 assembly is achieved by tightening three adjustment clamp screws 30 which are attached to clamp flange 39 causing datum reference flange 31 to act upon crossbar 40. This further causes clamp flange 39 to act upon conical clamp ring 38 and further causing crossbar 40 and conical clamp ring 38 to act upon pivot ball 37 which frictionally immobilizes the position of crossbar 40 relative to the position of pivot ball 37. Internal mobilization is achieved by loosening three adjustment clamp screws 30 which releases frictional clamping force and allows the position of crossbar 40 to be mobilized relative to the position of pivot ball 37.
Alignment dowels 34 allow torsional loads to be applied to datum reference flange 31 and crossbar 40 while maintaining alignment with clamp flange 39. O-ring seal 36 prevents leakage of vacuum between flexible vacuum tubes 17 connected to crossbar vacuum hole 54 and pivot ball 37. Two fixture elements 2 are attached to dovetail clamp block 20 by pivot ball 37 with, for example, right-hand threads thereby allowing right-hand rotation applied to an internally immobilized fixture element 2 around the C axis (FIG. 1) to be transferred through pivot ball 37. The pivot ball 37 acts upon clamp disc 21 which causes the dovetail clamp block 20 to be wedged frictionally within crossbar 40, immobilizing the fixture element 2 relative to crossbar 40. Conversely the application of left-hand rotation to the fixture element 2 removes frictional force between dovetail clamp block 20 and crossbar 40 thereby allowing dovetail clamp block 20 to be mobilized relative to crossbar 40.
In FIGS. 21, 28, and 29, a contoured fixture element 4 is similarly constructed. Internal immobilization is achieved by tightening of three adjustment clamp screws 30 which are attached to clamp flange 39. This causes the datum reference flange 31 to act upon a block attachment plate 42. As a result, clamp flange 39 acts upon conical clamp ring 38 and causes the block attachment plate 42 and conical clamp ring 38 to act upon pivot ball 37. This frictionally immobilizes the position of block attachment plate 42 relative to the position of pivot ball 37. Internal mobilization is achieved by loosening three adjustment clamp screws 30 which releases frictional clamping force and allows the position of block attachment plate 42 to be mobilized relative to the position of the pivot ball 37.
Alignment dowels 34 allow torsional loads to be applied to datum reference flange 31 and block attachment plate 42 while maintaining alignment with clamp flange 39. O-ring seal 36 prevents leakage of vacuum between block attachment plate 42 and pivot ball 37.
Referring now to FIGS. 22-23, the offset arm 19 is permanently attached to support tube 23. Internally, the upper vacuum tube 22 is permanently attached to offset arm 19 and movably connects to lower vacuum tube 24 which is permanently attached to pedestal 26. The upper vacuum tube 22 and lower vacuum tube 24 are internally sealed, and may telescope. As shown, the upper vacuum tube 22 surrounds a portion of the lower vacuum tube 24, but other configurations are anticipated. The internal passage 18 is in communication with a flexible tube 17. The flexible tube attaches to the dovetail clamp block 20 at all positions within the channel of the offset arm 19.
Referring now to FIGS. 30-46, the process of orienting the fixture element 2 on a workpiece support 1 is shown. It should be understood that while a type 2 fixture element is shown, a type 3 or 4 support would be oriented in a similar way.
The fixture building robot 102 comprises an inner housing 50 and the outer housing 11. Clamp cylinders 48 are attached to a flange ring 49. The flange ring 49 is swivably supported by the inner housing 50. The end effector assembly 12 is attached to the flange ring 49.
The clamp cylinders 48 frictionally immobilize flange ring 49 relative to robotic end effector inner housing 50 when pressurized and allow flange ring 49 to be rotated within robotic end effector inner housing 50 when depressurized.
The robot 102 further comprises three attachment nutrunner motors 47A and three adjustment nutrunner motors 47B. Each attachment nutrunner motor 47A is attached to a corresponding attachment spindle 51A. Each adjustment nutrunner motor 47B is attached to a corresponding adjustment spindle 51B.
As the robotic end effector assembly 12 begins interfacing with fixture element 2, three nutrunner alignment dowels 46 in the robotic end effector assembly 12 are inserted into corresponding alignment holes in fixture element 2 thereby allowing torsional forces to be transferred from the robotic end effector assembly 12 to the fixture element 2, 3, or 4.
The attachment nutrunner motors 47A rotate the three attachment nutrunner spindles 51A. The spindles may be attached to attachment drivers 43, and distally attached screws 45, all in alignment with nutrunner motors 47A. The three attachment screws 45 are threadedly inserted into fixture element 2 at attachment holes 55 as shown in FIGS. 32 and 34.
Three adjustment nutrunner motors 47B are connected with the three adjustment nutrunner spindles 51B. These are connected to adjustment drivers 44 in alignment with adjustment nutrunner motors 47B. The drivers 44, when the end effector assembly 12 is attached to the fixture element 2, are aligned with the three adjustment clamp screws 30 located on top of fixture element 2. This allows clamp screws 30 to be tightened to immobilize the fixture element 2 or loosened to mobilize the fixture element 2.
The gripper assembly 13, as best shown in FIG. 35, interfaces with transport studs 27 to lift and carry a workpiece support 1 from the storage pallet 7 to the workpiece pallet 6. In addition, the vertical nutrunner assembly 10 loosens four attachment screws 28 disposed at the base of the pedestal 26. After the screws 28 are loosened, the gripper 13 interfaces with transport studs 27 to lift and move the workpiece support 1.
In FIG. 36, a portion of the stationary framework of columns and beams 8 is removed for clarity. Fluidic clamp cylinders 48 are attached to robotic end effector inner housing 50 and allow flange ring 49 to be rotated within robotic end effector inner housing 50 when fluidic clamp cylinders 48 are depressurized and robotic end effector assembly 12 is attached to datum reference flange 31 by tightening three attachment screws 45 using the attachment nutrunner motors 47A and then rotating the outer housing 11. Once the desired angle for robotic end effector assembly 12 is reached, fluidic clamp cylinders 48 are pressurized to immobilize robotic end effector assembly 12 relative to robotic end effector inner housing 50.
In FIG. 36, the workpiece support 1 is shown in transit, being held by the gripper 13.
In FIG. 37, the workpiece support assembly 1 is in the process of being attached to workpiece holding pallet 6. This process includes moving robotic vertical nutrunner assembly 10 to a desired table location as corresponding to a plurality of threaded table holes 52. The four attachment screws 28 are tightened by the vertical nutrunner assembly 10 and the gripper assembly 13 is detached from the workpiece support 1.
In FIG. 38, the robotic horizontal nutrunner 14 is interfacing with the workpiece support 1 to allow mobilization for adjustment of the end surface 2. This process includes moving robotic gantry assembly 5 until the horizontal nutrunner 14 is in alignment with support tube lock screw 25. The horizontal nutrunner 14 loosens the lockscrew 25, allowing the support tube 23 to extend relative to the pedestal 26 (FIG. 7).
In FIG. 39, the end effector assembly 12 is interfacing with fixture element 2 as described above, to grip and mobilize the fixture element 2. This process includes moving robotic end effector outer housing 11 until robotic end effector assembly 12 is coincident with fixture element 2. The three attachment screws 45, as shown in FIG. 30, are tightened with three attachment nutrunner motors 47A acting upon three attachment nutrunner spindles 51A further acting upon three attachment drivers 43 as shown in FIG. 30. This causes the end effector assembly 12 to be attached to the fixture element 2, such that its position can be edited.
In FIG. 40, the fixture element 2 has been moved to its final Z axis workpiece holding position by the end effector assembly 12. This process includes loosening support tube lock screw 25 with the robotic horizontal nutrunner assembly 14. The support tube 23 telescopes out of the pedestal 26 (FIG. 7).
In FIG. 41, the offset arm 19 has been rotated by the robotic end effector assembly 12. This process includes rotation of the outer housing 11 which is attached to the end effector assembly 12, which in turn is attached to the fixture element 2. Rotation of the fixture element 2 causes the support tube 23 to rotate within the pedestal 26, changing the relative angle of the offset arm 19. Once the desired rotation angle has been reached, the horizontal nutrunner assembly 14 tightens the support tube lock screw 25 thereby immobilizing support tube 23 and thereby immobilizing offset arm 19 at the desired rotation angle and height.
In FIG. 42, the fixture element 2 is being rotated by the end effector assembly 12 to mobilize the fixture element 2 and the dovetail clamp block 20 as shown in FIG. 18. This process includes rotation of the outer housing 11 which is attached to robotic end effector assembly 12. This rotates the fixture element 2 relative to the dovetail clamp block 20 in a loosening direction, releasing frictional clamping pressure between clamp disc 21 as shown in FIG. 18 and offset arm 19. The dovetail clamp block 20 is thereby mobilized, allowing the block 20 and fixture element 2 to be moved slidably along dovetail groove in top of offset arm 19.
In FIG. 43, the fixture element 2 has been slidably moved along dovetail groove in top of offset arm 19 with the end effector assembly 12. This process includes moving the end effector assembly 12 with the robotic gantry assembly 5 to its desired XY axis positions as shown in FIGS. 2-3 relative to workpiece holding pallet 6.
In FIG. 44, the fixture element 2 is being rotated by the end effector assembly 12 to immobilize the dovetail clamp block 20 as shown in FIG. 18. This process includes rotating the outer housing 11, and end effector assembly 12 while attached to the fixture element 2 in a tightening direction. This creates frictional clamping pressure between clamp disc 21 as shown in FIG. 18 and the offset arm 19.
In FIG. 45, the fixture element 2 is being rotated by the end effector assembly 12 to its final working position. The rotation of the fixture element 2 is mobilized by threadedly loosening the three adjustment clamp screws 30 with the three adjustment drivers 44 as shown in FIG. 30. The end effector assembly 12 is moved to the desired AB axis positions. The fixture element 2 is immobilized by tightening the adjustment clamp screws 30 with adjustment drivers 44 as shown in FIG. 30.
The end effector assembly 12 is then detached from the fixture element by loosening attachment screws 45 with the attachment drivers 43 as shown in FIG. 30.
In FIG. 46, workpiece support 1 is shown in its working position having been installed on the workpiece holding pallet 6. The process is then repeated until the required plurality of workpiece support assemblies have been installed on workpiece holding pallet 6 in required locations and adjusted to required positions to hold desired contoured workpiece.
With reference to FIG. 47, a workpiece 16 having a deeply contoured concave region shown being engaged by a support 1 having a fixture element 3. As shown, the fixture element 3 can pivot to approximately ninety degrees relative to the longitudinal axis of the workpiece support 1. Likewise, in FIG. 48, a convex region of a workpiece 16 is being engaged similarly by fixture element 3.
In FIGS. 49 and 50, a workpiece support 1 having a transverse fixture element 61 is shown. The transverse fixture element 61 is similar to fixture element 2 (FIGS. 6-9), but is disposed in its default condition at a transverse angle to the longitudinal axis of the workpiece support 1. As a result, transverse fixture element 61 likewise comprises adjustment clamp screws 30 utilized to immobilize the fixture element 61 relative both to the support arm 23 and pivot ball 37. The transverse fixture element 61 can likewise traverse a dovetail groove.
In FIGS. 49 and 50, a deeply contoured fixture 16 is shown. This workpiece 16 has side walls set almost perpendicularly to the pallet 6. Transverse fixture elements 61 are helpful in maintaining support for such a workpiece 16.
With reference to FIG. 52, a locating fixture 80 is shown. The locating fixture 80 is similar to fixture 2, but utilizes a locating pin 65. The locating pin 65 may be placed through a corresponding hole in a workpiece 16. As shown in FIGS. 48 and 51, the locating fixture is engaging the workpiece 16 to establish its position. As with other fixtures 2, 3, 4, 61, the locating fixture 80 may be manipulated about five or six degrees of freedom by translation in a dovetail groove, manipulation of the support tube 23 relative to the pedestal, etc.
It may be advantageous, after locating the workpiece 16 and ensuring it is well-supported on the plurality of fixtures 2, 3, 4, 61 to remove the locating fixtures 80 and pins 65 prior to beginning machining operations.
FIG. 51 and FIG. 53 show a plurality of fixtures 2, 3, 4, 61 in use on workpiece supports 1 on a deeply contoured, complex workpiece 16. FIG. 51 shows the assembly in perspective, while FIG. 53 is a top view, with the workpiece 16 made transparent so that different fixtures 2, 3, 4, 61 may be shown engaging the bottom surface of the workpiece. The pallet 6 is omitted from the view of FIG. 53 for clarity.
Various cross-sectional views in FIGS. 54-58 show how the workpiece 16 is supported in FIG. 53. Each of fixtures 2, 3, 4, and 61 are being utilized. Additionally, FIG. 56 is a contoured fixture 4 engaging a concave section of the workpiece 16, while FIG. 57 is a contoured fixture 4 with a different engaging block 41 engaging a convex section of the workpiece.
An alternative embodiment of a workpiece support mechanism 300 and robotic adjustment mechanism 202 is shown in FIGS. 59-74. While the important geometric adjustments discussed in the above specification are common between the embodiments, the adjustment mechanism 202 and work support 300 are distinct and perform the various adjustments in another manner. It should be appreciated that some features, such as storage pallets 7 and workpiece holding pallets 6 may be common, as well as the columns and beams 8 of a robotic gantry assembly 5.
The gantry assembly 5 in FIG. 59, as with that of FIG. 2, allows movement of the robotic adjustment mechanism 202 along three cartesian axes. The particular adjustment mechanism 202 shown in FIGS. 60-68 may further be rotated about an axis of the gantry 5. However, as best shown in FIGS. 60-65, the adjustment mechanism 202 is modular, accommodating a plurality of tools.
With reference to FIG. 60, the adjustment mechanism 202 comprises a first section 204, a second section 206, and a third section 208. The first section 204 is rotatable about a substantially horizontal axis relative to the second 206 and third 208 sections. In FIG. 61 the first section 204 is rotated ninety degrees relative to the second 206 and third 208 sections.
In FIGS. 60-62, the adjustment mechanism 202 is supporting a gripper subassembly 210. The gripper subassembly 210 comprises a first gripper 212, a second gripper 214, a rotatable turret 216, and an umbilical 218. The umbilical 218 includes a number of electrical, hydraulic, pneumatic, and/or other similar conduits and terminates in a connector 220. The second gripper 214 is disposed proximate the connector 220 of the umbilical 218 and may hold the umbilical in place during deployment of the umbilical.
The first gripper 212 is rotatable about a rotational axis of the turret 216. Between rotation of the turret 216 and rotation of the first section 204, the position of the first gripper 212 may be manipulated. The first gripper 212 terminates in a claw 222 which is configured to interface with the work support 300 and the connector 220 of the umbilical.
With reference to FIG. 62, internal components of the adjustment mechanism are shown in section. While the second section 206 is shown on the left and the third section 208 on the right, it should be understood that these sections could be on either side of the first section 204 and that the right/left perspective changes as the adjustment mechanism 202 is rotated about a turret 230 relative to gantry 5. The second section 206 comprises an internal motor 232. The motor 232 rotates the first section 204 about the substantially horizontal axis to position the tool being held by the second section.
The motor 233 contained within section 204 rotates shaft 231 which enables the turret 216 to be positioned with six degrees of freedom.
The third section 208 comprises a connectivity coupling 234. This coupling 234 receives various inputs at input ports 235 which are connected to input lines (not shown). The inputs may be electrical, hydraulic, pneumatic, and otherwise. The coupling 234 further comprises a plurality of output ports 236 disposed within the first section 204. These outputs 236 may then be connected to the umbilical 218 for use in adjusting the work support 300. The coupling 234 allows passage of electrical, hydraulic, pneumatic and other signals through the gantry 5 into the umbilical 218 while keeping input lines from tangling or otherwise becoming damaged or blocked by rotation of the first section 204. A similar coupling may be used with turret 230.
Within the first section 204, the umbilical 218 is disposed around an adjustable spool 238, as best shown in FIG. 62-63B. The adjustable spool 238, as shown, has five individual spool members 240 about which the umbilical 218 is disposed. As shown, three of the spool members 240A are adjustable within the first section 204 relative to two of the spool members 240B, which are fixed. The distance between the spool members 204 is adjusted by a linear actuator 242, such as an air cylinder. Because the umbilical travels to the movable spool members 240 three times, the amount of length in the umbilical 218 as it is deployed is significantly longer than the amount of adjustability in the adjustable spool 238. In FIG. 63B, the movable spool members 240A are shown with linear actuators 242 fully retracted, resulting in the minimum distance between the spool members 240A, 240B, and thus the longest length of deployed umbilical 218.
Multiple tools can be used with the first section 204. For example, in FIGS. 64A-64B, a camera probe 245A or nutrunner 245B replaces the first gripper. Probing operations may be advantageous, both for determining the precise shape of a formed workpiece, or for verifying the location of workpiece supports 300 used to hold such workpieces. Nutrunner devices may be used to verify torque of threaded fasteners installed on workpieces. In FIG. 65, a motorized spindle 246 is utilized with a rotating cutting tool 247. Many tools can be used as the first section 204 without changing the second 206 or third 208 section of the adjustment apparatus 202. Six degrees of freedom rotatable turret 216 together with mounting adapters 217 enable such tools to interface with the workpiece with complex curved surfaces. The sections 208, 206 may be moved apart from one another to enable the first section 204 to be replaced or fitted with a change of tools.
With reference to FIGS. 66-68, different uses for the first gripper 212 are shown. In FIG. 66, the first gripper 212 is disposed about the connector 220 of the umbilical 218 and can be used to transport work support 300 from storage pallet 7 to required position on workpiece holding pallet 6.
The work support 300 comprises an adjustable head 302, or “end effector”. The end effector 302 is pivotally mounted on a first section 304 of the work support 300. The first section 304 may nest inside a second section 306. A connection point 308 allows for the addition of hydraulic and/or pneumatic flow from the connector 220 of the umbilical 218.
The second section 306 is attached to a pedestal 310, which provides a stable base for the work support 300 and may include magnetic actuators as described in FIG. 72. The first gripper 212 is sized such that it mates with associated grooves or contact points both on the connector 220 of the umbilical 218 and the end effector 302. As a result, the tines of the first gripper 212 may manipulate a position and orientation of these features.
The connector 220 is shown in more detail in FIGS. 69A and 69B. One material transmitted by the umbilical 218 is hydraulic or pneumatic flow for operating a connection cylinder 260. The connection cylinder 260 comprises a barrel 262, a piston 264, and a flanged end 266. In operation, the cylinder 260 is in its extended position, as shown in FIG. 69B. in this manner, the flanged end 266 is extended such that it provides clearance for the proper location of various supply ports 268 and locator tabs 270 disposed on the connector 220.
With reference to FIG. 70A, the flanged end 266 is configured to mate with a slot 311 on the connection point 308 of the work support 300. The connection point 308 comprises a plurality of receiver ports 312 and locator ports 314. As the connector 220 is placed next to the connection point 308 with the piston 264 of cylinder 260 extended, the connector is positioned such that its location tabs 270 are next to locator ports 314. Then fluid can be applied to the opposite side of piston 264 thus pulling the connector 220 (and thus the connections offered by umbilical 218) onto the connection point 308. Various supply ports 268 mate with known receiver ports 312 in a known, repeatable way, as the locator tabs 270 are capable of only one arrangement with respect to properly sized locator ports 314. When fully retracted, as shown in FIG. 70B, the umbilical 218 can supply hydraulic and/or pneumatic pressure through supply lines 330 to various points on the work support 300.
Preferably, the ports 268, 312 are dripless. While the Figures indicate male ports on the connector 220 and female ports on the connection point 308, this orientation can be reversed or, alternatively, some number of ports on each are male and the others female.
With reference to FIG. 71, the work support 300 is shown in section, with detail of the various latching mechanisms and adjustment mechanisms visible. A central supply line 332 runs through the first 304 and second 306 sections of the work support. This central supply line 332 may be telescoping to allow fluid to be transported when the work support 300 is adjusted in a “z” direction. The central supply line exits the first section 304 near the end effector 302, before entering an outside section of a locking joint 334. The locking joint 334 provides frictional force to a pivotal joint 336 between the end effector 302 and first section 304 when no pressure is applied.
The pivotal joint 336 is shown in more detail in FIG. 72. The first section 304 is omitted from the figure for clarity. In FIG. 72, the central supply line 332 is outside of the work support 300 structure, but enters again at a first joint port 338. In the absence of pressure, applied through the central supply line 332, a set of disc springs, such as Belleville washers 340, hold a frame structure 341 such that it cannot rotate about a pin 342. Addition of pressurized hydraulic fluid to the pivotal joint 336 through the central supply line 332 moves a piston 344 very slightly—perhaps as little as a few microns.
The movement of the piston 344 depresses the Belleville washers 340, which releases the frame structure 341. The resulting lack of force applied to the frame structure 341 allows it to be rotated about the pin 342 due to manipulation of the end effector 302 by the gripping apparatus 202.
With reference again to FIG. 71, other lines, such as line 350, may provide hydraulic or pneumatic pressure. For example, in FIG. 73, a number of magnetic discs 352 are provided on a grid. In the absence of a hydraulic pressure, the discs 352 may be active, holding the work support 300 in place on a pallet 6 (FIG. 2). However, the addition of a hydraulic pressure may move the discs 352 just enough to deactivate the magnetic grid, allowing the work support 300 to be moved from one location to another. Such an arrangement would allow the work support 300 to be fixed in the X-Y direction when not directly manipulated by the gripper assembly 212. Alternatively, the magnetic discs 352 may require a pressure to activate, or be able to hold a pressure (i.e., be turned on and off) without the umbilical 218 being connected to the work support 300.
FIGS. 74 and 70A-B show a longitudinal joint 360 attached to supply line 330. The longitudinal joint 360, when inactive, cooperates with static grippers 362, each spaced at one hundred twenty degrees from the others about the first section 304, to hold the first section 304 in place relative to the second section 306. This condition effectively locks the “z” position of the end effector 302 in place.
Hydraulic or pneumatic pressure from supply line 330 enters the longitudinal joint 360 through port 364. When pressure is applied, a piston 368 moves against Belleville washers 366, flattening the washers 366 and allowing the “z” position of the workpiece support 300 to be adjusted and the first section 304 to rotate relative to section 306, allowing precise orientation of the end effector 302 (FIG. 71). Once the workpiece support is in the desired position, pressure is removed, the Belleville washers (or other similar disc springs) 366 are active, and the joint 360 cooperates with static grippers to hold the first section 304 in place.
Thus, both the longitudinal joint 360 and the pivotal joint 336 operate with a “spring held, hydraulically released” philosophy, fixing the orientation of the workpiece support when not connected to the umbilical 218.
One of skill in the art will understand that it is advantageous to apply a vacuum pressure at the end effector 302 to hold fixtures in place during machining operations. As best shown in FIG. 71, a conduit for the application of such a pressure is shown. Unlike the other modification operations discussed herein, vacuum must be applied at all times, and thus comes from the pallet 6, rather than the umbilical 218.
A vacuum entry point 370 is disposed through the base 310, and open to the interior of the second section 306. A small port 372 between the first 304 and second 306 sections conveys the vacuum pressure into the interior of the second section 306. A passageway 374 is then formed through the locking joint 334, allowing a continuous passage to terminate in the vacuum tube 376 at the end effector 302. In this way, a continuous vacuum passage may originate at the pallet 6 and terminate at the end effector 302 no matter what orientation the work support 300 is in.
The connection between connector 220 and connection point 308 allows for a single robotic adjustment mechanism 202 to manipulate the precise X, Y and Z position of an end effector 302 on work support 300 with two points of contact—the gripper 212 and the connector 220. No complicated nutrunner need be used, nor fine adjustments made, as all gripping and locating devices may be activated and deactivated with the application of hydraulic or pneumatic pressure applied through the umbilical. While such pressure is applied, releasing the assorted magnetic and spring-held grippers, the gripper 212 can simply move about the end effector 302, positioning it, rotating it about the pivotal joint 336, and rotating it about the central axis of the work support 300.
While the invention herein is described primarily with reference to gripping and manipulation of the workpiece support, it should be understood that ability to change the first section 204 of a single robotic mechanism 202 to, for example, probe (with probe 245A) the position of an end effector 302 to verify its precise placement, provides for more efficient operation.
Various modifications may be made to the disclosed embodiments without departing from the spirit of the invention described herein.
Patent Application
20240246182
