CN104698968B - 多功能自动钻铆末端执行器及自动钻铆方法 - Google Patents
多功能自动钻铆末端执行器及自动钻铆方法 Download PDFInfo
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- CN104698968B CN104698968B CN201510072361.1A CN201510072361A CN104698968B CN 104698968 B CN104698968 B CN 104698968B CN 201510072361 A CN201510072361 A CN 201510072361A CN 104698968 B CN104698968 B CN 104698968B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37125—Photosensor, as contactless analog position sensor, signal as function of position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/45—Nc applications
- G05B2219/45067—Assembly
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45088—Riveting robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45126—Riveting machine
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
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CN201510072361.1A CN104698968B (zh) | 2015-02-11 | 2015-02-11 | 多功能自动钻铆末端执行器及自动钻铆方法 |
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CN104698968A CN104698968A (zh) | 2015-06-10 |
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Families Citing this family (31)
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CN105149645B (zh) * | 2015-07-27 | 2017-04-26 | 西北工业大学 | 一种用于机器人制孔系统锪窝深度控制的装置及制孔方法 |
CN105033998B (zh) * | 2015-09-15 | 2017-05-10 | 南京航空航天大学 | 一种机器人自动装配的智能化柔性生产线及其运行方法 |
DE102016110914A1 (de) * | 2015-11-23 | 2017-05-24 | Broetje-Automation Gmbh | Endeffektor für eine Nietvorrichtung |
CN105728630A (zh) * | 2016-02-24 | 2016-07-06 | 浙江大学 | 一种自动钻铆机的压脚单元 |
CN105651174B (zh) * | 2016-02-29 | 2019-11-19 | 浙江大学 | 一种用于飞机壁板卧式自动钻铆机的视觉测量系统 |
CN105773632B (zh) * | 2016-03-17 | 2017-10-31 | 浙江大学 | 一种自动钻铆机的多功能末端执行器 |
CN105689627B (zh) * | 2016-03-30 | 2017-08-22 | 宜兴市融兴铸造有限公司 | 飞机铆钉机主轴进给机构 |
CN106334940A (zh) * | 2016-10-21 | 2017-01-18 | 尚鳌自动化工程(上海)有限公司 | 一种用于飞机装配的多功能自动钻铆执行器 |
CN106802656B (zh) * | 2016-12-01 | 2020-01-21 | 台山核电合营有限公司 | 一种隧洞清理机器人的弧面姿态调整方法 |
CN107116247A (zh) * | 2017-04-26 | 2017-09-01 | 浙江大学 | 一种自动钻孔末端执行器的压脚装置 |
CN107363296B (zh) * | 2017-07-27 | 2019-01-08 | 南京航空航天大学 | 一种自主爬行钻铆系统及其运行方法 |
CN107414894B (zh) * | 2017-09-05 | 2019-08-02 | 西北工业大学 | 一种工位转换装置 |
CN107554813B (zh) * | 2017-09-05 | 2019-06-14 | 西北工业大学 | 一种制孔干涉插钉一体化装置及方法 |
CN108382571B (zh) * | 2018-02-28 | 2020-06-05 | 北京理工大学 | 一种基于嵌入式的墙面打孔及雕刻的四旋翼装置 |
CN110216505A (zh) * | 2018-03-01 | 2019-09-10 | 中国商用飞机有限责任公司 | 用于自动制孔设备的压紧力闭环控制系统和方法 |
CN108427391B (zh) * | 2018-05-02 | 2019-06-18 | 南京航空航天大学 | 可移动机器人自动钻铣的智能化柔性生产线的运行方法 |
CN109227603A (zh) * | 2018-09-03 | 2019-01-18 | 西安飞机工业(集团)有限责任公司 | 一种消除机器人制孔及锪窝震动的装置及方法 |
CN110202084B (zh) * | 2019-04-28 | 2024-02-23 | 常州市三利精机有限公司 | 一种用于飞机机身铆接的末端执行器 |
CN110125312B (zh) * | 2019-05-23 | 2020-12-18 | 西北工业大学 | 一种自动制孔铆接控制系统及控制方法 |
CN110090913A (zh) * | 2019-05-30 | 2019-08-06 | 上海交通大学 | 一种自动锤铆装置及自动铆接方法 |
CN110549116B (zh) * | 2019-08-26 | 2023-03-14 | 上海航天精密机械研究所 | 适用于火箭舱体铆接的自动钻铆执行机构与方法 |
CN110814642A (zh) * | 2019-10-10 | 2020-02-21 | 沈阳工学院 | 一种曲面复合金属壁板孔加工方法 |
CN110666519A (zh) * | 2019-10-23 | 2020-01-10 | 张生营 | 一种飞机蒙皮钻铆加工装置 |
CN111813047A (zh) * | 2020-07-31 | 2020-10-23 | 西北工业大学 | 一种机器人自动钻铆作业状态实时监控系统及方法 |
CN112161587B (zh) * | 2020-09-27 | 2021-09-24 | 西北工业大学 | 一种机器人智能钻铆作业在线质量检测系统及方法 |
CN115106845A (zh) * | 2021-03-18 | 2022-09-27 | 大连紫曦科技工程有限公司 | 一种集成式制孔锪窝拉铆末端执行器装置 |
CN113607093A (zh) * | 2021-07-30 | 2021-11-05 | 苏州维嘉科技股份有限公司 | 加工装置中吸屑罩的水平度检测方法及水平度检测系统 |
CN113941684B (zh) * | 2021-09-10 | 2024-05-14 | 首都航天机械有限公司 | 一种托板螺母的自动化装配装置及方法 |
CN114275184A (zh) * | 2022-01-19 | 2022-04-05 | 成都飞机工业(集团)有限责任公司 | 一种飞机机身装配系统及装配方法 |
CN114179114B (zh) * | 2022-02-17 | 2022-05-06 | 杭州飞钛航空智能装备有限公司 | 制孔法向找正方法、制孔末端执行装置及制孔机器人 |
CN115401461A (zh) * | 2022-07-29 | 2022-11-29 | 江苏航鼎智能装备有限公司 | 一种基于钻铆铣一体化的工业机器人末端执行器 |
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US6040536A (en) * | 1998-01-26 | 2000-03-21 | Miller Edge, Inc. | Pressure responsive switch and method of making same |
TW201021939A (en) * | 2008-12-09 | 2010-06-16 | Tranmax Machinery Co Ltd | Riveting mechanism of electric rivet gun |
CN102284956B (zh) * | 2011-05-04 | 2013-11-20 | 南京航空航天大学 | 一种自动钻铆机器人的法向找正方法 |
CN102303261A (zh) * | 2011-06-17 | 2012-01-04 | 南京航空航天大学 | 一种自动钻铆末端执行器压力脚的自适应微调装置 |
CN202185737U (zh) * | 2011-06-17 | 2012-04-11 | 南京航空航天大学 | 一种自动钻铆末端执行器压力脚的自适应微调装置 |
CN102636110B (zh) * | 2012-03-26 | 2015-03-25 | 南京航空航天大学 | 飞机部件自动钻铆系统的基准检测装置及其检测方法 |
CN103231250B (zh) * | 2013-05-03 | 2015-08-12 | 西北工业大学 | 一种多功能钻铆执行器 |
CN203679343U (zh) * | 2013-12-11 | 2014-07-02 | 成都飞机工业(集团)有限责任公司 | 机器人末端制孔执行器 |
CN103978143B (zh) * | 2014-05-14 | 2015-12-30 | 武汉瑞威特机械有限公司 | 一种智能铆接机 |
CN103990829B (zh) * | 2014-05-29 | 2017-03-08 | 上海飞机制造有限公司 | 一种飞机装配制孔的末端执行器及其使用方法 |
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Effective date of registration: 20190929 Address after: Yudaojie Qinhuai District of Nanjing City, Jiangsu Province, No. 29 210016 Patentee after: Nanjing University of Aeronautics and Astronautics Asset Management Co., Ltd. Address before: Yudaojie Qinhuai District of Nanjing City, Jiangsu Province, No. 29 210016 Patentee before: Nanjing University of Aeronautics and Astronautics |
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Effective date of registration: 20191025 Address after: No. 1888, Jiyin Avenue, Jiangning District, Nanjing City, Jiangsu Province (Jiangning Development Zone) Patentee after: Jiangsu Hangding Intelligent Equipment Co., Ltd. Address before: Yudaojie Qinhuai District of Nanjing City, Jiangsu Province, No. 29 210016 Patentee before: Nanjing University of Aeronautics and Astronautics Asset Management Co., Ltd. |
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