CN103395066B - Quick-change drilling end effector with function of posture adjustment - Google Patents
Quick-change drilling end effector with function of posture adjustment Download PDFInfo
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- CN103395066B CN103395066B CN201310301162.4A CN201310301162A CN103395066B CN 103395066 B CN103395066 B CN 103395066B CN 201310301162 A CN201310301162 A CN 201310301162A CN 103395066 B CN103395066 B CN 103395066B
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- 238000005553 drilling Methods 0.000 title claims abstract description 38
- 239000012636 effector Substances 0.000 title claims abstract description 20
- 230000008859 change Effects 0.000 claims abstract description 122
- 230000005540 biological transmission Effects 0.000 claims description 24
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract 1
- 239000000463 material Substances 0.000 description 6
- 239000002131 composite material Substances 0.000 description 5
- 229910001069 Ti alloy Inorganic materials 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000003475 lamination Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- MFRCZYUUKMFJQJ-UHFFFAOYSA-N 1,4-dioxane-2,5-dione;1,3-dioxan-2-one Chemical compound O=C1OCCCO1.O=C1COC(=O)CO1 MFRCZYUUKMFJQJ-UHFFFAOYSA-N 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- Drilling And Boring (AREA)
Abstract
The manufacturing industry of large aircrafts is strategic to build the innovative country and boom the national economy. The process of large aircraft assembly in China has the defects of low automation level, low drilling precision and the like. Aiming at the problems of hole perpendicularity and frequent bit change in the drilling step of aircraft assembly process, the invention relates to a quick-change drilling end effector with a function of posture adjustment. The end effector comprises a spindle module, a posture adjustment module, and a quick change module. The spindle module comprises a spindle motor and the like and allows for the drilling function. The posture adjustment module comprises a posture adjustment motor, an eccentric disc, a ball pair and the like and allows for the function of bit posture adjustment. The quick change module comprises a quick change shaft, a quick change wedge ring, a drill chuck and the like and allows for the function of quick bit change. Through the posture adjustment module of the end effector, the precision of hole perpendicularity can be increased; through the quick change module, drilling efficiency can be improved.
Description
Technical field
The present invention relates to a kind of drilling end effector with posture adjustment and quick change be combined with industrial machine mechanical arm, this end effector is applicable to aircraft skin assembling drilling.
Background technology
Large aircraft industry is the strategic industry of building novelty country and pulling national economy to increase fast.Development airliner project, the Party Central Committee, the Major Strategic decision-making made of State Council, being one of " National Program for Medium-to Long-term Scientific and Technological Development (2006-2020) " 16 major scientific and technological projects determining, is the landmark project of construction in the new period innovation-oriented country.But there are problems in the large aircraft manufacturing of China: assembling speed is slow, poor reliability; Precision is low; Automaticity is low, and the connected mode in transporation by plane is still based on hand drill riveting, and quality stability is poor, and needs a large amount of to adopt complete special type frame, and cost is high, and drilling efficiency is low, and there is larger gap abroad.This backward situation and China's aircraft criticize produce, particularly thorny between " four property " (security, economy, comfortableness and the feature of environmental protection) active demand.Therefore, in the urgent need to developing the punching system of robot.
Present generation aircraft is in order to alleviate aircraft weight, and light composite material and titanium alloy are more and more applied in aircraft.It is reported, the application of composite in Boeing 787, compared with Boeing 777 airplane, the accounting of composite in Boeing 787 has very large lifting, reaches 50%, far exceedes 20% shared by aluminium.And composite accounts for 12% in Boeing 777, aluminium accounts for 50%.Boeing shows the test of titanium alloy bolt, and when securing member tilts to be greater than 2 ° along external load function direction, fatigue life reduces about 47%, and when tilting to be greater than 5 °, fatigue life reduces by 95%.And composite and titanium alloy are all difficult-to-machine materials, higher to the quality requirement of drill bit.Nearly 150 ~ 2,000,000 riveted holes of the large aircraft of one frame, if adopt high-quality drill bit, then can increase production cost; If use general drill bit, then need frequently more bit change, this can reduce drilling efficiency.
When drilling, require the drilling depth accurately controlling drill bit, particularly in lamination drilling and system with the hole of counter boring, the drilling parameter of different materials is different, transporation by plane drilling requirement, and counter boring depth accuracy is 0.5mm, therefore, the accurate control of drilling depth is a difficult problem in drilling process.
Summary of the invention
The present invention is directed to the hole perpendicularity in drilling process, frequent more bit change and drilling depth test problems, invent a kind of drilling end effector with posture adjustment and quick change, to be combined with industrial machine mechanical arm, formation industrial robot punching system.
The present invention can be achieved through the following technical solutions.
With a drilling end effector for posture adjustment and quick change, comprise main shaft module, posture adjustment module and Quick change module;
Described main shaft module comprises: spindle motor, spindle motor set casing, upper end cover, bottom end cover and pressure sensor;
Spindle motor is fixed by screws on bottom end cover; Upper end cover and bottom end cover are installed to the two ends of spindle motor set casing respectively with screw; Pressure sensor is arranged on bottom end cover by interference fit;
Described posture adjustment module comprises: large eccentricity dish, small eccentricity dish, ball pivot, large eccentricity are tried to get to the heart of a matter seat, posture adjustment motor, pinion, gear wheel, spherical pair-upper sphere, spherical pair-lower peripheral surface, spherical pair fixed cap, shell and keyset;
Ball pivot is arranged on the Under Asymmetrical of small eccentricity dish; Small eccentricity dish is arranged on the Under Asymmetrical of large eccentricity dish, between small eccentricity dish with large eccentricity dish, large eccentricity dish tries to get to the heart of a matter between seat with large eccentricity and coordinates respectively by little steel ball, form the mechanism of similar thrust bearing, the Under Asymmetrical line that small eccentricity coils large eccentricity dish can be made freely to rotate, and large eccentricity coils the try to get to the heart of a matter central axis of seat of large eccentricity and freely rotates; Gear wheel and pinion are arranged on the output shaft of posture adjustment motor respectively, and gear wheel and pinion seat of trying to get to the heart of a matter with small eccentricity dish and large eccentricity respectively forms gears meshing; Posture adjustment motor is arranged on large eccentricity dish; Spherical pair-upper sphere and spherical pair-lower peripheral surface form a spherical pair; Large eccentricity seat and spherical pair-upper sphere of trying to get to the heart of a matter is arranged on shell two ends respectively by retainer ring; Shell is connected with industrial machine mechanical arm ring flange by keyset; Axle on upper end cover, through ball pivot, when small eccentricity dish and large eccentricity dish rotate, can drive spindle motor to rotate around the centre of sphere of spherical pair, realize the pose adjustment function of spindle motor.
Described Quick change module comprises: power transmission shaft, spring fixed seat, quick change retainer ring, quick change cambridge ring, spring, quick change axle, quick change steel ball, drill chuck head, quick change connecting rod, quick change connecting rod holder, deep groove ball bearing, bearing fixed seat, drill bit and thrust bearing;
Power transmission shaft is arranged on the output shaft of spindle motor, and key connects therebetween; Spring fixed seat is arranged on power transmission shaft; Quick change retainer ring is arranged on spring fixed seat; Quick change axle one end is square, and coordinates with the square opening on power transmission shaft and spring fixed seat, realizes the rotating speed transmission of spindle motor; Thrust bearing is arranged on power transmission shaft inside, with pressure sensor contacts; Drill chuck head is arranged on the other end bullet of quick change axle; Drill chuck head clamping drilling bit; Quick change axle is provided with two half slots, and quick change retainer ring is provided with two through holes for being communicated with half slot, and each through hole is wedged hole; Quick change cambridge ring can be set on quick change retainer ring, and by quick change steel ball one and quick change steel ball two in the half slot by through hole press-in correspondence; One end of quick change cambridge ring is fixed on spring fixed seat by spring one and spring two; Quick change connecting rod is connected by the other end of screw thread with quick change cambridge ring; Quick change connecting rod holder is arranged on spherical pair fixed cap; Deep groove ball bearing is arranged on power transmission shaft, and bearing fixed seat is arranged on bottom end cover, prevents the axial float of bearing.
There is following characteristics in the present invention:
(1) posture adjustment.Drill bit attitude can be adjusted, guarantee the perpendicularity in hole.
(2) quick change.By quick change portions modular, the replacing of drill bit can be realized fast, improve drilling efficiency.
(3) axial force detects.According to the difference of drill bit axial force, change drilling parameter in time when realizing drilling different materials, guarantee drilling quality, axial force also can be applicable to the control of counter boring precision.
Accompanying drawing explanation
Fig. 1 is the overall structure figure of end effector of the present invention;
Fig. 2 is the main shaft module structure chart of end effector of the present invention;
Fig. 3 is the posture adjustment function structure chart of end effector of the present invention;
Fig. 4 is the Quick change module structure chart of end effector of the present invention;
Fig. 5 is the quick change axle construction figure of end effector of the present invention.
In figure:
1. main shaft module, 101. spindle motors, 102. spindle motor set casings, 103. upper end covers, 104. bottom end covers, 105. pressure sensors;
2. posture adjustment module, 201. large eccentricity dishes, 202. small eccentricity dishes, 203. ball pivots, 204. large eccentricities are tried to get to the heart of a matter seat, 2051. first posture adjustment motors, 2052. second posture adjustment motors, 206. pinions, 207. gear wheels, 208. pair-upper spheres, 209. spherical pairs-lower peripheral surface, 210. spherical pair fixed caps, 211. shell, 212. keysets, retainer ring on 2131., 2132. times retainer rings;
3. Quick change module, 301. power transmission shafts, 302. spring fixed seats, 303. quick change retainer rings, 304. quick change cambridge rings, 3051. spring one, 3052. springs two, 306. quick change axles, 3071. quick change steel ball one, 3072. quick change steel balls two, 308. drill chuck head, 3091. quick change connecting rod one, 3092. quick change connecting rods two, 3101. quick change connecting rod holder one, 3102. quick change connecting rod holder two, 311. deep groove ball bearings, 312. bearing fixed seats, 313. drill bits, 314 thrust bearings.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Figure 1, the present invention relates to a kind of drilling end effector with posture adjustment and quick change, this end effector comprises main shaft module 1, posture adjustment module 2, Quick change module 3.Posture adjustment module 2 is supports of whole end effector.It is inner that main shaft module 1 is arranged on posture adjustment module 2; Quick change module 3 is installed on the motor output shaft of main shaft module.
Shown in Figure 2, described main shaft module 1 comprises: spindle motor 101, spindle motor set casing 102, upper end cover 103, bottom end cover 104 and pressure sensor 105;
Spindle motor 101 is fixed by screws on bottom end cover 104; Upper end cover 103 and bottom end cover 104 are installed to the two ends of spindle motor set casing 102 respectively with screw; Pressure sensor 105 is arranged on bottom end cover 104 by interference fit.
In main shaft module 1, spindle motor 101 selects the motor of Austrian Bei Jialai company.Spindle motor 101 model is 8LSA44, and rated speed can reach 3000rpm, output torque 3Nm, and the micro pressure sensor PLD204D-13 of Peng Lida company selected by pressure sensor, and range can reach 1000N, response time 10ms.
Shown in Figure 3, described posture adjustment module 2 comprises: large eccentricity dish 201, small eccentricity dish 202, ball pivot 203, large eccentricity are tried to get to the heart of a matter seat 204, first posture adjustment motor 2051, second posture adjustment motor 2052, pinion 206, gear wheel 207, spherical pair-upper sphere 208, spherical pair-lower peripheral surface 209, spherical pair fixed cap 210, shell 211, keyset 212, upper retainer ring 2131 and lower retainer ring 2132;
Ball pivot 203 is arranged on the Under Asymmetrical of small eccentricity dish 202; Small eccentricity dish 202 is arranged on the Under Asymmetrical of large eccentricity dish 201, between small eccentricity dish 202 with large eccentricity dish 201, large eccentricity dish 201 tries to get to the heart of a matter between seat 204 with large eccentricity and coordinates respectively by little steel ball, form the mechanism of similar thrust bearing, small eccentricity dish 202 can be made freely to rotate around the Under Asymmetrical line of large eccentricity dish 201, and large eccentricity dish 201 freely rotates around the try to get to the heart of a matter central axis of seat 204 of large eccentricity; Gear wheel 207 and pinion 206 are arranged on the output shaft of the first posture adjustment motor 2051 and the second posture adjustment motor 2052 respectively, and gear wheel 207 and pinion 206 seat 204 of trying to get to the heart of a matter with small eccentricity dish 202 and large eccentricity respectively forms gears meshing; First posture adjustment motor 2051 and the second posture adjustment motor 2052 are arranged on large eccentricity dish 201; Spherical pair-upper sphere 208 and spherical pair-lower peripheral surface 209 form a spherical pair; Large eccentricity seat 204 and spherical pair-upper sphere 208 of trying to get to the heart of a matter is arranged on shell 211 two ends respectively by upper retainer ring 2131 and lower retainer ring 2132; Shell 211 is connected with industrial machine mechanical arm ring flange by keyset 212; Axle on upper end cover 103, through ball pivot 203, when small eccentricity dish 202 rotates with large eccentricity dish 201, can drive spindle motor 101 to rotate around the centre of sphere of spherical pair, realize the pose adjustment function of spindle motor 101.
In posture adjustment module 2, the first posture adjustment motor 2051 and the second posture adjustment motor 2052 all adopt maxon DC servo motor RE25, and output torque is 20.6mNm.
Shown in Fig. 4, Fig. 5, Quick change module 3 comprises: power transmission shaft 301, spring fixed seat 302, quick change retainer ring 303, quick change cambridge ring 304, spring 1, spring 2 3052, quick change axle 306, quick change steel ball 1, quick change steel ball 2 3072, drill chuck head 308, quick change connecting rod 1, quick change connecting rod 2 3092, quick change connecting rod holder 1, quick change connecting rod holder 2 3102, deep groove ball bearing 311, bearing fixed seat 312, drill bit 313 and thrust bearing 314;
Power transmission shaft 301 is arranged on the output shaft of spindle motor 101, is connected therebetween by key; Spring fixed seat 302 is arranged on power transmission shaft 301; Quick change retainer ring 303 is arranged on spring fixed seat 302; Quick change axle 306 one end is square, and coordinates with the square opening on power transmission shaft 301 and spring fixed seat 302, realizes the rotating speed transmission of spindle motor 101; It is inner that thrust bearing 314 is arranged on power transmission shaft 301, contacts with pressure sensor 105; Drill chuck head 308 is arranged on the other end bullet of quick change axle 306; Drill chuck head 308 clamping drilling bit 313; Quick change steel ball 1 and quick change steel ball 2 3072 are arranged on the half slot of quick change axle 306; Quick change cambridge ring 304 is enclosed within quick change axle 306, and one end is fixed on spring fixed seat 302 by spring 1 and spring 2 3052; Quick change connecting rod 1 is connected by the other end of screw thread with quick change cambridge ring 304 with quick change connecting rod 2 3092; Quick change connecting rod holder 1 and quick change connecting rod holder 2 3102 are arranged on spherical pair fixed cap 210; Deep groove ball bearing 311 is arranged on power transmission shaft 301, and bearing fixed seat 312 is arranged on bottom end cover 104, prevents the axial float of bearing.Quick change axle 306 is processed with half slot, quick change retainer ring 303 is processed with through hole, when drilling, the inwall of quick change cambridge ring 304 contacts with quick change retainer ring 303 is seamless, quick change steel ball 1 and quick change steel ball 2 3072 are pressed in the half slot on quick change axle 306, realize the transmission of rotating, make drill bit rotational; When needs bit change, quick change connecting rod 1 and quick change connecting rod 2 3092 are taken out respectively from quick change connecting rod holder 1 and quick change connecting rod holder 2 3102, cambridge ring 304 is shifted out a segment distance to drill bit direction, owing to there being wedged hole, quick change steel ball 1 and quick change steel ball 2 3072 can shift out from half slot, quick change axle 306 can be taken off like this, change the quick change axle 306 with green bit.
Pressure sensor 105 is arranged on bottom end cover 104 by interference fit; It is inner that thrust bearing 314 is arranged on power transmission shaft 301, contacts with pressure sensor 105.When bit contact workpiece, drill bit can be subject to axial force, and now whole Quick change module 3 will to spindle motor 101 1 axial forces, and this axial force passes to pressure sensor 105 surface after thrust bearing 314, and pressure sensor will detect axial force size.When the strong value mutation of pressure sensor, when being namely bit contact workpiece.Bit location will be designated as 0 this moment, the counter boring degree of depth can be controlled.And in lamination drilling, during drilling different materials, the axial force suffered by drill bit is different, therefore drilling material can be judged according to the difference of axial force.When pressure sensor axial force changes, illustrate that the material of drill bit drilling there occurs change, drilling parameter can be changed in time accordingly, guarantee drilling quality.
In Quick change module 3, deep groove ball bearing 311 selects domestic standard bearing 61809, and thrust bearing selects 51106.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1., with a drilling end effector for posture adjustment and quick change, it is characterized in that: this end effector comprises main shaft module (1), posture adjustment module (2) and Quick change module (3);
Described main shaft module (1) comprising: spindle motor (101), spindle motor set casing (102), upper end cover (103), bottom end cover (104) and pressure sensor (105);
Spindle motor (101) is fixed by screws on bottom end cover (104); Upper end cover (103) and bottom end cover (104) are installed to the two ends of spindle motor set casing (102) respectively with screw; Pressure sensor (105) is arranged on bottom end cover (104) by interference fit;
Posture adjustment module (2) comprising: large eccentricity dish (201), small eccentricity dish (202), ball pivot (203), large eccentricity is tried to get to the heart of a matter seat (204), first posture adjustment motor (2051), second posture adjustment motor (2052), pinion (206), gear wheel (207), spherical pair-upper sphere (208), spherical pair-lower peripheral surface (209), spherical pair fixed cap (210), shell (211), keyset (212), upper retainer ring (2131) and lower retainer ring (2132),
Ball pivot (203) is arranged on the Under Asymmetrical of small eccentricity dish (202); Small eccentricity dish (202) is arranged on the Under Asymmetrical of large eccentricity dish (201), between small eccentricity dish (202) with large eccentricity dish (201), large eccentricity dish (201) tries to get to the heart of a matter between seat (204) with large eccentricity and coordinates respectively by little steel ball, form the mechanism of similar thrust bearing, small eccentricity dish (202) can be made freely to rotate around the Under Asymmetrical line of large eccentricity dish (201), and large eccentricity dish (201) freely rotates around the try to get to the heart of a matter central axis of seat (204) of large eccentricity; Gear wheel (207) and pinion (206) are arranged on the output shaft of the first posture adjustment motor (2051) and the second posture adjustment motor (2052) respectively, and gear wheel (207) and pinion (206) seat (204) of trying to get to the heart of a matter with small eccentricity dish (202) and large eccentricity respectively forms gears meshing; First posture adjustment motor (2051) and the second posture adjustment motor (2052) are arranged on large eccentricity dish (201); Spherical pair-upper sphere (208) and spherical pair-lower peripheral surface (209) form a spherical pair; Large eccentricity seat (204) and spherical pair-upper sphere (208) of trying to get to the heart of a matter is arranged on shell (211) two ends respectively by upper retainer ring (2131) and lower retainer ring (2132); Shell (211) is connected with industrial machine mechanical arm ring flange by keyset (212); Axle on upper end cover (103) is through ball pivot (203), when small eccentricity dish (202) rotates with large eccentricity dish (201), spindle motor (101) can be driven to rotate around the centre of sphere of spherical pair, realize the pose adjustment function of spindle motor (101).
2. end effector according to claim 1, it is characterized in that, Quick change module (3) comprising: power transmission shaft (301), spring fixed seat (302), quick change retainer ring (303), quick change cambridge ring (304), spring one (3051), spring two (3052), quick change axle (306), quick change steel ball one (3071), quick change steel ball two (3072), drill chuck head (308), quick change connecting rod one (3091), quick change connecting rod two (3092), quick change connecting rod holder one (3101), quick change connecting rod holder two (3102), deep groove ball bearing (311), bearing fixed seat (312), drill bit (313) and thrust bearing (314),
Power transmission shaft (301) is arranged on the output shaft of spindle motor (101), is connected therebetween by key; Spring fixed seat (302) is arranged on power transmission shaft (301); Quick change retainer ring (303) is arranged on spring fixed seat (302); Quick change axle (306) one end is square, and coordinates, realize the rotating speed transmission of spindle motor (101) with the square opening on power transmission shaft (301) and spring fixed seat (302); It is inner that thrust bearing (314) is arranged on power transmission shaft (301), contacts with pressure sensor (105); Drill chuck head (308) is arranged on the other end bullet of quick change axle (306); Drill chuck head (308) clamping drilling bit (313); Quick change axle (306) is provided with two half slots, and quick change retainer ring (303) is provided with two through holes for being communicated with half slot, and each through hole is wedged hole; Quick change cambridge ring (304) can be set on quick change retainer ring (303), and by quick change steel ball one (3071) and quick change steel ball two (3072) in the half slot by through hole press-in correspondence; One end of quick change cambridge ring (304) is fixed on spring fixed seat (302) by spring one (3051) and spring two (3052); Quick change connecting rod one (3091) is connected by the other end of screw thread with quick change cambridge ring (304) with quick change connecting rod two (3092); Quick change connecting rod holder one (3101) and quick change connecting rod holder two (3102) are arranged on spherical pair fixed cap (210); Deep groove ball bearing (311) is arranged on power transmission shaft (301), and bearing fixed seat (312) is arranged on bottom end cover (104), prevents the axial float of bearing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310301162.4A CN103395066B (en) | 2013-07-17 | 2013-07-17 | Quick-change drilling end effector with function of posture adjustment |
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| CN201310301162.4A CN103395066B (en) | 2013-07-17 | 2013-07-17 | Quick-change drilling end effector with function of posture adjustment |
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| CN103395066B true CN103395066B (en) | 2015-05-20 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103639477B (en) * | 2013-12-05 | 2016-04-06 | 重庆大学 | A kind of brill unit head surveying axial force |
| CN103639471B (en) * | 2013-12-05 | 2016-01-20 | 郑州大学 | Robot hole end effector |
| CN103990829B (en) * | 2014-05-29 | 2017-03-08 | 上海飞机制造有限公司 | A kind of aircraft assembles end effector and its using method of drilling |
| CN105415362B (en) * | 2015-12-22 | 2017-02-15 | 北京大成高科机器人技术有限公司 | Drilling end effector posture adjusting mechanism |
| CN105965072B (en) * | 2016-06-30 | 2018-03-06 | 桂林电子科技大学 | A kind of spiral bit automatic handling device |
| US10710245B2 (en) * | 2016-07-08 | 2020-07-14 | The Boeing Company | Quick-change clamp arms for robot end effectors, systems including the same, and related methods |
| CN107378631A (en) * | 2017-08-30 | 2017-11-24 | 张家港华翊电工有限公司 | A kind of metallic article processing drilling equipment |
| CN111086028B (en) * | 2019-12-14 | 2021-01-19 | 西安交通大学 | Industrial robot tail end motion sensing device and identification method |
| CN116038732A (en) * | 2023-02-07 | 2023-05-02 | 中冶赛迪技术研究中心有限公司 | Slag breaking device and industrial robot with same |
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