Static flexible tooling system
A system for supporting workpieces during machining. The system comprises one or more adjustable workpiece support assemblies and a robotic unit. Each workpiece support assembly comprises a pedestal and a rotatable fixture element. The robotic assembly comprises means of mobilizing and immobilizing each support assembly, so that the fixture element may be secured in a particular orientation. The robotic unit moves along a frame, and manipulates and fixes the position of the fixture elements to match the contour of a workpiece. Vacuum forces may be applied through the workpiece support assemblies to secure the workpiece against the fixture elements.
1. A system comprising:
a plurality of workpiece support assemblies, each comprising a pedestal and a fixture element, the fixture element being movable along and rotatable about each of three Cartesian axes relative to the pedestal when in a first condition and fixed in position relative to the pedestal when in a second condition; wherein at least one of the plurality of workpiece support assemblies comprises:
a support tube having a first end and a second end, wherein the second end is disposed within the pedestal;
an offset arm disposed at the first end of the support tube, the offset arm defining a dovetail groove therein; and
a dovetail block slidingly received within the dovetail groove and carrying the fixture element; and
a robotic assembly comprising:
at least one torque transmission device capable of placing the fixture element in the first condition or the second condition;
an end effector assembly engageable with the fixture element, wherein the end effector assembly is configured to rotate the fixture element about each of the three Cartesian axes and move the fixture element in each of the three Cartesian axes while engaged with the end effector assembly; and
a robotic assembly system for driving translation and rotation of the end effector assembly.
2. The system of claim 1 wherein the at least one torque transmission devices is movable horizontally and in which the plurality of workpiece support assemblies each comprise a lock screw disposed on the pedestal, the lock screw having the first condition and the second condition, the first condition allowing vertical movement of the fixture element relative to the pedestal, and the second condition not allowing the vertical movement of the fixture element relative to the pedestal.
3. The system of claim 1 in which the at least one of the plurality of workpiece support assemblies further comprises:
a ball joint interconnecting the dovetail block and the fixture element.
4. The system of claim 3 in which the second condition of the at least one of the plurality of workpiece support assemblies is defined by:
the support tube fixed in position relative to the pedestal;
the offset arm fixed in position relative to a centerline of the support tube;
the dovetail block fixed in position within the dovetail groove of the offset arm; and
the attitude of the fixture element is fixed relative to the dovetail block.
5. A system, comprising:
a plurality of unpowered support assemblies, each support assembly having a fixture element having at least five selectable degrees of kinematic freedom; at least one of the plurality of support assemblies having:
a pedestal;
a support tube having a first end and a second end, wherein the second end is disposed within the pedestal;
an offset arm disposed at the first end of the support tube, the offset arm defining a dovetail groove therein; and
a dovetail block slidingly received within the dovetail groove and carrying the fixture element; and
a robotic unit positionable in operative engagement with each of the plurality of support assemblies, the robotic unit carrying one or more installation elements collectively having at least five degrees of kinematic freedom, wherein the robotic unit is configured to rotate the fixture element of the support assembly about each of three Cartesian axes while engaged to the fixture element.
6. The system of claim 5 in which each support assembly is configured to selectively deprive its fixture element of any and all of its selectable degrees of kinematic freedom.
7. The system of claim 5 further comprising a workpiece supported on the plurality of support assemblies such that each fixture element closely conforms to the workpiece.
8. A kit, comprising:
a plurality of unpowered support assemblies, at least one of the plurality of unpowered support assemblies comprising:
a fixture element having at least six selectable degrees of kinematic freedom; and
a pedestal;
wherein the at least one of the plurality of unpowered support assemblies comprises:
a support tube having a first end and a second end, wherein the second end is disposed within the pedestal;
an offset arm disposed at the first end of the support tube, the offset arm defining a dovetail groove therein; and
a dovetail block slidingly received within the dovetail groove and carrying the fixture element; and
at least one base element configured to carry the plurality of unpowered support assemblies, the at least one base element having a plurality of installation sites, each installation site configured to receive one and only one support assembly; and
a robotic unit positionable at each installation site of the at least one base element, the robotic unit carrying one or more installation elements collectively having at least six degrees of kinematic freedom, wherein the robot unit is configured to engage with the fixture element and rotate the fixture element about each of the three Cartesian axes as well as move the fixture element in each of the three Cartesian axes while engaged with the fixture element.
9. The kit of claim 8 in which the installation elements comprise at least one torque transmission device.
10. The kit of claim 8 in which the installation elements comprise at least one end effector assembly.