CN102581333B - Fine boring device and fine boring method applicable to aircraft landing gear crossing point holes - Google Patents
Fine boring device and fine boring method applicable to aircraft landing gear crossing point holes Download PDFInfo
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- CN102581333B CN102581333B CN 201210079012 CN201210079012A CN102581333B CN 102581333 B CN102581333 B CN 102581333B CN 201210079012 CN201210079012 CN 201210079012 CN 201210079012 A CN201210079012 A CN 201210079012A CN 102581333 B CN102581333 B CN 102581333B
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- guide rail
- boring
- knife
- presser feet
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Abstract
The invention discloses a fine boring device and a fine boring method applicable to aircraft landing gear crossing point holes. A boring terminal actuator is mounted on an end flange of an industrial robot and comprises a first guide rail, a second guide rail, a first target, a cylinder, a spindle, a servo motor, a base, a lead screw, a press foot, a second target and a boring tool holder, wherein the first guide rail, the second guide rail, the cylinder, the servo motor and the lead screw are mounted on the base, the first target is mounted on the spindle, the spindle is mounted on the lead screw, the lead screw is connected with the servo motor, the servo motor drives the lead screw to rotationally push the spindle to do feed movement along the second guide rail, the press foot is mounted on an ejector rod of the cylinder and is driven by the cylinder to move along the first guide rail, and the second target is mounted at the center of an end of the boring tool holder. The device and the method are used for boring aircraft landing gear crossing point holes on site, can safely avoid obstacles, and overcome the shortcoming that a machine tool cannot reach a machining position due to interference. Besides, the surface roughness of the holes reaches Ra0.8, and the roundness of the holes is 0.003mm.
Description
Technical field
The invention belongs to aircraft digitlization mounting technology field, relate to a kind of undercarriage intersection point hole right boring processing unit (plant) and method thereof of being applicable to.
Background technology
The digitlization assembling is the inevitable development trend of aircraft assembling.The digitlization assembling can improve the assembly coordination degree of accuracy, improves structure anti-fatigue performance and reliability, improves the worker laboring environment, reduce labour intensity, assembling process highly flexibleization and automation.But there is many crucial intersection points hole to need processing in the aircraft assembling process, as undercarriage intersection point hole.For the pneumatic property that satisfies aircraft, stability and the harmony of moving component, these machined surface roughness, position accuracy demand of closing keyhole are very high.Adopt the aircraft digitalization assembly frock, though simplified the frock layout complexity of aircraft erecting yard significantly, but still be difficult to the traditional special purpose machine tool equipment of vacating space layout.Though can adopt auto-feed to bore processing sometimes, the direction of feed adjustment that auto-feed is bored is very complicated, needs frequent dress cutter and following cutter, manually-operated is extremely inconvenient, and efficient is low.For this situation, have multivariant robot and can overcome the space interference problem flexibly, high efficiency is adjusted tool orientation and position, realizes the bore hole processing in intersection point hole.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of undercarriage intersection point hole right boring processing unit (plant) and method thereof of being applicable to is provided.
Being applicable to that bore hole end effector in the undercarriage intersection point hole right boring processing unit (plant) is installed on the industrial machine robot end flange forms boring equipment, and the bore hole end effector comprises first guide rail, second guide rail, first target, cylinder, main shaft, servomotor, base, leading screw, presser feet, second target and boring cutter handle of a knife; First guide rail, second guide rail, cylinder, servomotor and leading screw are contained on the base, first target is contained on the main shaft, main shaft is installed on the leading screw, leading screw links to each other with servomotor, servomotor drives the leading screw rotation and promotes main shaft along the second guide rail feed motion, and presser feet is contained on the ejecting rod of cylinder, at the promotion lower edge of cylinder first guide rail movement, the boring cutter handle of a knife is installed in the taper hole of main shaft, and second target is installed in center, boring cutter handle of a knife end.
The step that is applicable to undercarriage intersection point hole machining method for finely boring is as follows:
1) cylinder ejects presser feet, and presser feet is pressed on the plane, place, hole;
2) driven by servomotor axis feeding motion by laser tracker continuous measurement first target, obtains the direction of feed of main shaft and the deviation of theoretical direction of feed;
3) cylinder is regained presser feet, and presser feet breaks away from plane, place, hole;
4) according to the deviation of directivity, industrial robot carries the motion of bore hole end effector, adjusts the direction of boring cutter handle of a knife;
5) repeating step 1)～step 4), the direction of boring cutter handle of a knife is adjusted precision reach 0.05 °;
6) cylinder ejects presser feet, and presser feet is pressed on the plane at place, hole;
7) measure second target by laser tracker, obtain position and the theoretical position deviation of boring cutter handle of a knife in intersection point hole 15;
8) cylinder is regained presser feet, and presser feet breaks away from plane, place, hole;
9) according to position deviation, industrial robot carries the motion of bore hole end effector, adjusts the position of boring cutter handle of a knife;
10) repeating step 6)～step 9), precision is adjusted in the position of boring cutter handle of a knife reach 0.05mm;
11) load onto the boring head bore hole at the boring cutter handle of a knife, when main shaft, industrial robot flutter, the speed of mainshaft is adjusted into 200 rev/mins by 400 rev/mins, axis feeding speed was adjusted into 20mm/ minute by 40mm/ minute, after processing the 3-5 cutter afterwards, the speed of mainshaft returns to 400 rev/mins, and axis feeding speed returned to 40mm/ minute.
The present invention compared with prior art, the beneficial effect that has:
1) robot carried terminal actuator can be according to the distribution situation of on-the-spot frock, and the motion path of making rational planning for realizes that safety keeps away barrier, prevents and the collision of on-the-spot frock and aircraft product, remedies lathe because interfere the shortcoming that can't arrive Working position;
2) quality of bore hole processing has reached the machine tooling level, and the hole surface roughness reaches Ra0.8, circularity 0.003mm;
3) can adjust position and the direction of bore hole as required, have very high flexibility.
Description of drawings
Fig. 1 is applicable to undercarriage intersection point hole right boring processing unit (plant) structural representation;
Fig. 2 (a) is bore hole end effector front view of the present invention;
Fig. 2 (b) is that bore hole end effector of the present invention is surveyed view;
Among the figure: industrial robot 1, bore hole end effector 2, first group of guide rail 3, second group of guide rail 4, first target 5, cylinder 6, main shaft 7, servomotor 8, base 9, leading screw 10, presser feet 11, second target 12, boring cutter handle of a knife 13, laser tracker 14, intersection point hole 15, plane, place, hole 16, workpiece 17.
The specific embodiment
As shown in Figure 1, 2, being applicable to that bore hole end effector 2 in the undercarriage intersection point hole right boring processing unit (plant) is installed on the industrial robot 1 terminal flange forms boring equipment, and bore hole end effector 2 comprises first guide rail 3, second guide rail 4, first target 5, cylinder 6, main shaft 7, servomotor 8, base 9, leading screw 10, presser feet 11, second target 12 and boring cutter handle of a knife 13; First guide rail 3, second guide rail 4, cylinder 6, servomotor 8 and leading screw 10 are contained on the base 9, first target 5 is contained on the main shaft 7, main shaft 7 is installed on the leading screw 10, leading screw 10 links to each other with servomotor 8, servomotor 8 drives leading screw 10 rotations and promotes main shaft 7 along 4 feed motions of second guide rail, and presser feet 11 is contained on cylinder 6 push rods, in first guide rail, 3 motions of the promotion lower edge of cylinder 6, boring cutter handle of a knife 13 is installed in the taper hole of main shaft 7, and second target 12 is installed in center, boring cutter handle of a knife 13 end.
The step that is applicable to undercarriage intersection point hole machining method for finely boring is as follows:
1) cylinder 6 ejects presser feet 11, and presser feet 11 is pressed on the plane, place, hole 16;
2) servomotor 8 drive shaft 7 feed motions by laser tracker 14 continuous measurements first target 5, obtain the direction of feed of main shaft 7 and the deviation of theoretical direction of feed;
3) cylinder 6 is regained presser feet 11, and presser feet 11 breaks away from plane, place, hole 16;
4) according to the deviation of directivity, industrial robot 1 carries 2 motions of bore hole end effector, adjusts the direction of boring cutter handle of a knife 13;
5) repeating step 1)～step 4), the direction of boring cutter handle of a knife 13 is adjusted precision reach 0.05 °;
6) cylinder 6 ejects presser feet 11, and presser feet 11 is pressed on the plane 16 at place, hole;
7) measure second target 12 by laser tracker 14, obtain position and the theoretical position deviation of boring cutter handle of a knife 13 in intersection point hole 15;
8) cylinder 6 is regained presser feet 11, and presser feet 11 breaks away from plane, place, hole 16;
9) according to position deviation, industrial robot 1 carries 2 motions of bore hole end effector, adjusts the position of boring cutter handle of a knife 13;
10) repeating step 6)～step 9), precision is adjusted in the position of boring cutter handle of a knife 13 reach 0.05mm;
11) load onto the boring head bore hole at boring cutter handle of a knife 13, when main shaft 7, industrial robot 1 flutter, main shaft 7 rotating speeds are adjusted into 200 rev/mins by 400 rev/mins, axis feeding speed was adjusted into 20mm/ minute by 40mm/ minute, after processing the 3-5 cutter afterwards, main shaft 7 rotating speeds return to 400 rev/mins, and axis feeding speed returned to 40mm/ minute.
Claims (1)
1. one kind is applicable to undercarriage intersection point hole machining method for finely boring, employing is applicable to undercarriage intersection point hole right boring processing unit (plant), bore hole end effector (2) is installed on the terminal flange of industrial robot (1) and forms boring equipment, and bore hole end effector (2) comprises first guide rail (3), second guide rail (4), first target (5), cylinder (6), main shaft (7), servomotor (8), base (9), leading screw (10), presser feet (11), second target (12) and boring cutter handle of a knife (13); First guide rail (3), second guide rail (4), cylinder (6), servomotor (8), and leading screw (10) is contained on the base (9), first target (5) is contained on the main shaft (7), main shaft (7) is installed on the leading screw (10), leading screw (10) links to each other with servomotor (8), servomotor (8) drives leading screw (10) rotation and promotes main shaft (7) along second guide rail (4) feed motion, presser feet (11) is contained on cylinder (6) push rod, move at the promotion lower edge of cylinder (6) first guide rail (3), boring cutter handle of a knife (13) is installed in the taper hole of main shaft (7), second target (12) is installed in boring cutter handle of a knife (13) center, end, it is characterized in that the step of method is as follows:
1) cylinder (6) ejects presser feet (11), and presser feet (11) is pressed on the plane, place, hole (16);
2) servomotor (8) drive shaft (7) feed motion by laser tracker (14) continuous measurement first target (5), obtains the direction of feed of main shaft (7) and the deviation of theoretical direction of feed;
3) cylinder (6) is regained presser feet (11), and presser feet (11) breaks away from plane, place, hole (16);
4) according to the deviation of directivity, industrial robot (1) carries bore hole end effector (2) motion, adjusts the direction of boring cutter handle of a knife (13);
5) repeating step 1)～step 4), the direction of boring cutter handle of a knife (13) is adjusted precision reach 0.05 °;
6) cylinder (6) ejects presser feet (11), and presser feet (11) is pressed on the plane (16) at place, hole;
7) measure second target (12) by laser tracker (14), obtain position and the theoretical position deviation of boring cutter handle of a knife (13) in intersection point hole 15;
8) cylinder (6) is regained presser feet (11), and presser feet (11) breaks away from plane, place, hole (16);
9) according to position deviation, industrial robot (1) carries bore hole end effector (2) motion, adjusts the position of boring cutter handle of a knife (13);
10) repeating step 6)～step 9), precision is adjusted in the position of boring cutter handle of a knife (13) reach 0.05mm;
11) load onto the boring head bore hole at boring cutter handle of a knife (13), when main shaft (7), industrial robot (1) flutter, main shaft (7) rotating speed is adjusted into 200 rev/mins by 400 rev/mins, axis feeding speed was adjusted into 20mm/ minute by 40mm/ minute, after processing the 3-5 cutter afterwards, main shaft (7) rotating speed returns to 400 rev/mins, and axis feeding speed returned to 40mm/ minute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210079012 CN102581333B (en) | 2012-03-23 | 2012-03-23 | Fine boring device and fine boring method applicable to aircraft landing gear crossing point holes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210079012 CN102581333B (en) | 2012-03-23 | 2012-03-23 | Fine boring device and fine boring method applicable to aircraft landing gear crossing point holes |
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| Publication Number | Publication Date |
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| CN102581333A CN102581333A (en) | 2012-07-18 |
| CN102581333B true CN102581333B (en) | 2013-09-11 |
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| CN 201210079012 Expired - Fee Related CN102581333B (en) | 2012-03-23 | 2012-03-23 | Fine boring device and fine boring method applicable to aircraft landing gear crossing point holes |
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|---|---|---|---|---|
| CN103920904B (en) * | 2014-03-28 | 2016-04-20 | 浙江大学 | A kind of general airframe curved track punching device and method |
| CN104668958B (en) * | 2015-02-13 | 2018-01-26 | 深圳市圆梦精密技术研究院 | Flexible manufacturing system (FMS) |
| CN104646716B (en) * | 2015-02-13 | 2017-01-25 | 深圳市圆梦精密技术研究院 | Flexible drilling system |
| CN109884988B (en) * | 2019-02-26 | 2020-09-01 | 浙江大学 | Hole making normal interpolation correction method of five-axis numerical control hole making machine tool |
| CN110842242A (en) * | 2019-11-26 | 2020-02-28 | 湖南大学 | Boring processing equipment suitable for large-scale component |
| CN114378327A (en) * | 2020-10-16 | 2022-04-22 | 中航西飞民用飞机有限责任公司 | Independent boring device and posture adjusting method |
| CN113000881B (en) * | 2021-03-15 | 2022-07-26 | 浙江大学 | Finish machining method for outer wing butt joint intersection point hole |
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| CN101372079A (en) * | 2008-09-26 | 2009-02-25 | 浙江大学 | Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method |
| CN101417348A (en) * | 2008-11-24 | 2009-04-29 | 北京航空航天大学 | Drill end actuator |
| CN102059369A (en) * | 2010-11-12 | 2011-05-18 | 浙江大学 | Feeding drill applicable to quick change arrangement of joint of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07276119A (en) * | 1994-04-06 | 1995-10-24 | Tac Giken Kogyo:Kk | Electric machining device |
| US20070269098A1 (en) * | 2006-05-19 | 2007-11-22 | Marsh Bobby J | Combination laser and photogrammetry target |
| JP4850299B1 (en) * | 2010-07-08 | 2012-01-11 | 日本省力機械株式会社 | Work processing equipment |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101372079A (en) * | 2008-09-26 | 2009-02-25 | 浙江大学 | Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method |
| CN101417348A (en) * | 2008-11-24 | 2009-04-29 | 北京航空航天大学 | Drill end actuator |
| CN102059369A (en) * | 2010-11-12 | 2011-05-18 | 浙江大学 | Feeding drill applicable to quick change arrangement of joint of robot |
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| Title |
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| JP特开2012-16791A 2012.01.26 |
| JP特开平7-276119A 1995.10.24 |
| 卜泳等.飞机结构件的自动化精密制孔技术.《航空制造技术》.2009,(第24期),61-64. |
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| CN102581333A (en) | 2012-07-18 |
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