CN105149645A - Device and hole-drilling method for dimple depth control of robot hole-drilling system - Google Patents
Device and hole-drilling method for dimple depth control of robot hole-drilling system Download PDFInfo
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- CN105149645A CN105149645A CN201510446085.0A CN201510446085A CN105149645A CN 105149645 A CN105149645 A CN 105149645A CN 201510446085 A CN201510446085 A CN 201510446085A CN 105149645 A CN105149645 A CN 105149645A
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- presser feet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/36—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission in which a servomotor forms an essential element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B2270/00—Details of turning, boring or drilling machines, processes or tools not otherwise provided for
- B23B2270/48—Measuring or detecting
- B23B2270/483—Measurement of force
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a device and hole-drilling method for dimple depth control of a robot hole-drilling system. The structure that a spindle feeding module depends on a presser foot feeding module is adopted, so that the sum of the axial direction force between a presser foot and a wallboard and the axial direction force between a cutter and the wallboard is constant, and the pressure between the presser foot and the wallboard is measured through force sensors when the wallboard is pressed; when a preset pressure is reached, a presser foot feeding motor is braked and deadlocked, and the position of the presser foot remains constant in the hole-drilling process; a closed-loop system of error detection, feedback and correction is formed through a linear grating ruler and the spindle feeding module to detect the mechanical conveying error of the spindle feeding module and correct the error in closed-loop control. The dimple depth of the robot hole-drilling system can be ensured through the method.
Description
Technical field
The invention belongs to advanced numeric terminal manufacture and automatic field, be specifically related to a kind of counter boring depth control method based on robot hole system and equipment, for when robot hole system automatic punching, by the cooperation of force snesor, linear grating chi, servo-drive system and control system, the amount of feeding of accurate control drilling cutter, ensures the degree of depth of counter boring.
Background technology
Extensively adopt riveting in transporation by plane, when riveting countersunk rivet, need after boring to carry out counter boring.The counter boring degree of depth has a great impact the quality in hole and bonding strength, if counter boring is excessively dark, after covering is stressed, can make loosing of rivet, and bonding strength reduces; If the counter boring degree of depth is not enough, the concordant degree of wallboard can be affected.Therefore, a kind of reliable and stable counter boring depth control method can improve drilling quality, ensures bonding strength.In general brill ream equipment, use bilateral presser foot, drilling front panel both sides are simultaneously compacted, and in drilling process, wall panel configurations does not change, and hole depth is easily guaranteed, but this kind equipment opening character is not enough; And in robot hole system, flexible high, opening character is good, but this system adopts monolateral presser foot, before drilling, compress wallboard, along with the change of cutter axial force in drilling process by one-sided presser feet, wallboard flexural deformation degree changes, and makes the counter boring degree of depth wayward.
For this difficult problem of robot hole, some scholars propose relevant solution.If document " the robot hole counter boring severity control based on presser feet bit shift compensation " is for being out of shape by aircraft target ship in robot automatic punching process and vibrating the counter boring severity control problem caused, propose the method for designing of end effector presser feet displacement as the drilling feed shaft closed-loop control system of real-Time Compensation signal, and by introducing low pass filter, effectively inhibit presser feet dither, ensure that the counter boring degree of depth.Document " controlling the robot hole Research on Design of presser feet based on aerodynamic force " is according to a counter boring severity control difficult problem, propose the bill of axis feeding base and presser feet one, and the method that the form adopting aerodynamic force to promote cylinder piston controls as presser feet, reach predetermined counter boring precision; Patent CN102794491A discloses a kind of automation helical milling devices and methods therefor, utilizes cylinder to promote presser feet workpiece pressing in this patent, is improved the control accuracy of axis feeding amount, achieve the accurate control of the counter boring degree of depth by double grating feedback.But foot pressure is all controlled by the aerodynamic force of cylinder in above-mentioned method, and gas compressibility is subject to the extraneous factor impacts such as temperature, and stable gas pressure is not high, thus affects the control of pressure, affects drilling quality to a certain extent.
Summary of the invention
The technical problem solved
Robot hole system drilling opening character is good, flexible structure, reliable and stable, just be widely used in transporation by plane, but because this system is adding the structure adopting one-sided workpiece pressing man-hour, the degree of drilling process mesospore plate benging distortion affects by cutter axial force, and cutter axial force constantly changes when drilling, the counter boring degree of depth is made to be not easy to ensure, thus the quality of impact processing.
For this problem, the invention provides a kind of device and method of the control counter boring degree of depth for robot hole.The present invention adopts axis feeding module to rely on the structure of presser feet feeding module, make presser feet and the axial force sum of cutter to wallboard in drilling process invariable, and the pressure between force sensor measuring presser feet and wallboard is utilized when compressing wallboard, when a predetermined pressure has been reached, presser feet feeding motor braking is also locked, stomp locations remains unchanged in drilling process, by the closed-loop system of linear grating chi and axis feeding module generation error-detecting feedback modifiers, detect the mechanical transfer error of axis feeding module, and revise in closed-loop control.The method can ensure the counter boring degree of depth of robot hole system.
Technical scheme
For a device for the control counter boring degree of depth of robot hole, it is characterized in that comprising robot control cabinet, industrial robot, workbench and end effector; Robot control cabinet and industrial robot are bolted installation on the table, and end effector is installed on industrial robot end by bolt.
Described end effector comprises presser feet module, main shaft and connecting plate module; Presser feet module comprises presser feet, presser feet support, force snesor, grating scale, axis feeding servomotor and the first guide rail lead screw transmission module, grating scale is arranged on the side of presser feet support by screw, first guide rail lead screw transmission module is arranged on the lower end of presser feet support by screw, axle feed servo motor is arranged on presser feet back-end support, by shaft coupling and the first guide rail lead screw transmission model calling, presser feet is arranged on the front end of presser feet support by screw; Connecting plate module comprises presser feet feed servo motor, the second guide rail lead screw transmission module and connecting plate; Second guide rail lead screw transmission module is arranged on the lower end of connecting plate by screw, presser feet feed servo motor is arranged on connecting plate rear end, and by shaft coupling and the second guide rail lead screw transmission model calling; Guide rail lead screw transmission module is installed on presser feet pedestal lower end, and main shaft is installed in the first guide rail lead screw transmission module.
The method for drilling utilizing said apparatus to carry out, is characterized in that step is as follows:
Step 1: initial setting is carried out to each execution unit parameter main shaft drilling rotating speed ν 1, counter boring rotating speed ν 2, presser feet feed speed ν 3, force value F, axis feeding speed ν 4 and amount of feeding Z;
Step 2: robot control system moves to drilling place according to off-line procedure, and make end effector cutter shaft to vertical with wallboard by normal direction leveling;
Step 3: provide presser feet feeding enabling signal by the PLC of control system or trigger button; PLC carries out signal judgement to presser feet feeding module zero point, and as presser feet is not in feeding zero point, PLC provides presser feet back to zero signal, presser feet feed servo electric motor starting presser feet back to zero, otherwise presser feet starts feeding; Force snesor starts measured pressure value f, in whole feeding process, judges spacing situation before and after presser feet, if PLC receives limit signal, then sends warning, and motor reversal is resetted; When force sensor measuring value f equals pressure set points F, PLC controls presser feet feed servo motor braking, and presser feet feeding is locked, and in drilling process, holding position does not change;
Step 4: provide axis feeding enabling signal by the PLC of control system or trigger button; PLC carries out signal judgement to axis feeding module zero point, and as main shaft is not in feeding zero point, PLC provides main shaft back to zero signal, and axis feeding servomotor starts, main shaft back to zero; Otherwise the dead-center position coordinate that grating scale reads main shaft is X
0, main shaft starts feeding; In whole feeding process, judge spacing situation before and after main shaft, as PLC receives limit signal, send warning, and motor reversal is resetted; In feeding process, according to the reading X of grating scale
1, judge that the actual amount of feeding of main shaft is Z
1=X
1-X
0, calculate feeding error delta Z=Z
1-Z, feeds back to axis feeding system by error delta Z, as amount of feeding Z
1when arriving setting value Z, axis feeding motor braking;
Step 5: after main shaft and presser feet feed system receive back to zero signal, first controls the reversion of axis feeding servomotor, and feeding zero point got back to by main shaft, restarts presser feet feed servo motor reversal, and presser feet gets back to feeding zero point.
Beneficial effect
A kind of device and method for robot hole system counter boring severity control that the present invention proposes, has following beneficial effect:
1) stomp locations vibration when eliminating drilling.The method employing axis feeding module is installed on the structure on presser feet feeding module, and ensure that presser feet has enough thrusts (when thrust is greater than drilling cutter axial force) by force snesor, stomp locations is locked when drilling, when making drilling, the summation of foot pressure and main axle cutter axial force keeps constant, and equal preset pressure value, when ensure that drilling, wallboard deformation extent no longer changes with the change of cutter axial force, makes presser feet keep fitting with wallboard all the time.
2) ensure that counter boring precision.The method cathetus grating scale and axis feeding submodule form the closed-loop system of error-detecting feedback modifiers, can detect the mechanical transfer error of axis feeding submodule, and revise in corresponding closed-loop control, ensure the counter boring degree of depth.
3) labour intensity of drilling processing is reduced.The method achieve automatic impaction wallboard, correction and adjustment tool feeding amount, improve the automation mechanized operation of drilling, reduce labour intensity.
Accompanying drawing explanation
Fig. 1 counter boring Depth control devices structure overall description figure
Fig. 2 end effector structures figure
Fig. 3 presser feet function structure chart
Fig. 4 foot pressure controls key diagram
Fig. 5 counter boring severity control procedure declaration figure
In figure: 1-robot control cabinet; 2-industrial robot; 3-workbench; 4-end effector; 5-presser feet module; 6-main shaft; 7-presser feet; 8-presser feet support; 9-force snesor; 10-grating scale; 11-axis feeding servomotor; 12-first guide rail lead screw transmission module; 13-wallboard; 14-connecting plate module; 15-presser feet feed servo motor; 16-second guide rail lead screw transmission module; 17-connecting plate.
Detailed description of the invention
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
As shown in Figure 1, the present invention includes robot control cabinet 1, industrial robot 2, workbench 3 and end effector 4; Robot control cabinet 1 and industrial robot 2 are bolted and are arranged on workbench 3; End effector 4 is installed on industrial robot 2 end by bolt.
As shown in Figure 2, end effector 4 comprises presser feet module 5, main shaft 6 and connecting plate module 14; Wherein presser feet module 5 comprises presser feet 7, presser feet support 8, force snesor 9, grating scale 10 and axis feeding servomotor 11, the first guide rail lead screw transmission module 12, and connecting plate module 14 comprises presser feet feed servo motor 15, second guide rail lead screw transmission module 16 and connecting plate 17.Second guide rail lead screw transmission module 16 is arranged on the lower end of connecting plate 17 by screw, presser feet feed servo motor 15 is arranged on connecting plate 17 rear end, and is connected with the second guide rail lead screw transmission module 16 by shaft coupling.
As shown in Figure 3, grating scale 10 is arranged on the side of presser feet support 8 by screw, first guide rail lead screw transmission module 12 is arranged on the lower end of presser feet support 8 by screw, axle feed servo motor 11 is arranged on presser feet support 8 rear end, be connected with the first guide rail lead screw transmission module 12 by shaft coupling, presser feet 7 is arranged on the front end of presser feet support 8 by screw.
Presser feet module 5 is installed in the second guide rail lead screw transmission module 16 of connecting plate module 14; Main shaft 6 is installed in the first guide rail lead screw transmission module 12 of presser feet module 5; Presser feet 7 is installed on presser feet support 8 front end, four force snesor 9 are installed between presser feet 7 and presser feet support 8 by screw, grating scale 10 is installed on presser feet support 8 side, and axis feeding servomotor 11 is installed on presser feet support 8 rear end, and guide rail lead screw transmission module 12 is installed on presser feet support 8 lower end; The presser feet feed servo motor 15 of connecting plate module 14 and guide rail lead screw transmission module 16 are installed on rear end and the lower end of connecting plate 17 respectively.
Force snesor 9 is for measuring the thrust between presser feet 7 and wallboard 13, grating scale 10 is for measuring the positional information of main shaft 6, the pressure signal of force snesor 9 and the position signalling of grating scale 10 pass to control system by the PLC in robot control cabinet 1, the setting value of control system foundation pressure and tool feeding amount, control the feed motion of presser feet module 5 and main shaft 6, make presser feet 7 and wallboard 13 holding position in drilling process constant, the counter boring degree of depth is precisely controlled.
Aluminium alloy aircraft target ship for band curvature carries out drilling, and aperture is D1, and nest footpath maximum is D2, and the counter boring degree of depth is K, uses and bore ream integrated cutter during drilling.Concrete implementation step is as follows:
Step 1, system parameter settings: before system works, corresponding initial setting is carried out to each execution unit parameter, comprises the setting of main shaft drilling rotating speed ν 1, counter boring rotating speed ν 2, presser feet feed speed ν 3, force value F, axis feeding speed ν 4, amount of feeding Z.
Step 2, robot move into place: robot control system moves to drilling place according to off-line procedure, and by operations such as normal direction leveling, make end effector cutter shaft to vertical with wallboard.
Step 3, presser feet feeding, compress wallboard: provide presser feet feeding enabling signal by the PLC of control system or trigger button; PLC carries out signal judgement to presser feet feeding module zero point, and as presser feet is not in feeding zero point, PLC provides presser feet back to zero signal, presser feet feed servo electric motor starting presser feet back to zero, otherwise presser feet starts feeding; Force snesor starts measured pressure value f, as shown in Figure 4; In whole feeding process, judge spacing situation before and after presser feet, if PLC receives limit signal, then send warning, and motor reversal is resetted; When force sensor measuring value f equals pressure set points F, PLC controls presser feet feed servo motor braking, and presser feet feeding is locked, and in drilling process, holding position does not change.
Step 4, axis feeding, carry out holing, counter boring: provide axis feeding enabling signal by the PLC of control system or trigger button; PLC carries out signal judgement to axis feeding module zero point, and as main shaft is not in feeding zero point, PLC provides main shaft back to zero signal, and axis feeding servomotor starts, main shaft back to zero; Otherwise the dead-center position coordinate that grating scale reads main shaft is X
0, as shown in Figure 5, main shaft starts feeding; In whole feeding process, judge spacing situation before and after main shaft, as PLC receives limit signal, send warning, and motor reversal is resetted; In feeding process, according to the reading X of grating scale
1, as shown in Figure 5, judge that the actual amount of feeding of main shaft is Z
1=X
1-X
0, calculate feeding error delta Z=Z
1-Z, feeds back to axis feeding system by error delta Z, as amount of feeding Z
1when arriving setting value Z, axis feeding motor braking, drilling is complete.
Step 5, main shaft, stomp locations back to zero: after main shaft and presser feet feed system receive back to zero signal, first control the reversion of axis feeding servomotor, and feeding zero point got back to by main shaft, restarts presser feet feed servo motor reversal, and presser feet gets back to feeding zero point.
This drilling terminates.
Claims (3)
1., for a device for the control counter boring degree of depth of robot hole, it is characterized in that comprising robot control cabinet (1), industrial robot (2), workbench (3) and end effector (4); Robot control cabinet (1) and industrial robot (2) are bolted and are arranged on workbench (3), and end effector (4) is installed on industrial robot (2) end by bolt.
2. the device of the control counter boring degree of depth for robot hole according to claim 1, is characterized in that described end effector (4) comprises presser feet module (5), main shaft (6) and connecting plate module (14), presser feet module (5) comprises presser feet (7), presser feet support (8), force snesor (9), grating scale (10), axis feeding servomotor (11) and the first guide rail lead screw transmission module (12), grating scale (10) is arranged on the side of presser feet support (8) by screw, first guide rail lead screw transmission module (12) is arranged on the lower end of presser feet support (8) by screw, axle feed servo motor (11) is arranged on presser feet support (8) rear end, be connected with the first guide rail lead screw transmission module (12) by shaft coupling, presser feet (7) is arranged on the front end of presser feet support (8) by screw, connecting plate module (14) comprises presser feet feed servo motor (15), the second guide rail lead screw transmission module (16) and connecting plate (17), second guide rail lead screw transmission module (16) is arranged on the lower end of connecting plate (17) by screw, presser feet feed servo motor (15) is arranged on connecting plate (17) rear end, and is connected with the second guide rail lead screw transmission module (16) by shaft coupling, guide rail lead screw transmission module (12) is installed on presser feet support (8) lower end, and main shaft (6) is installed in the first guide rail lead screw transmission module (12).
3. the method for drilling utilizing the device described in claim 1 to carry out, is characterized in that step is as follows:
Step 1: initial setting is carried out to each execution unit parameter main shaft drilling rotating speed ν 1, counter boring rotating speed ν 2, presser feet feed speed ν 3, force value F, axis feeding speed ν 4 and amount of feeding Z;
Step 2: robot control system moves to drilling place according to off-line procedure, and make end effector cutter shaft to vertical with wallboard by normal direction leveling;
Step 3: provide presser feet feeding enabling signal by the PLC of control system or trigger button; PLC carries out signal judgement to presser feet feeding module zero point, and as presser feet is not in feeding zero point, PLC provides presser feet back to zero signal, presser feet feed servo electric motor starting presser feet back to zero, otherwise presser feet starts feeding; Force snesor starts measured pressure value f, in whole feeding process, judges spacing situation before and after presser feet, if PLC receives limit signal, then sends warning, and motor reversal is resetted; When force sensor measuring value f equals pressure set points F, PLC controls presser feet feed servo motor braking, and presser feet feeding is locked, and in drilling process, holding position does not change;
Step 4: provide axis feeding enabling signal by the PLC of control system or trigger button; PLC carries out signal judgement to axis feeding module zero point, and as main shaft is not in feeding zero point, PLC provides main shaft back to zero signal, and axis feeding servomotor starts, main shaft back to zero; Otherwise the dead-center position coordinate that grating scale reads main shaft is X
0, main shaft starts feeding; In whole feeding process, judge spacing situation before and after main shaft, as PLC receives limit signal, send warning, and motor reversal is resetted; In feeding process, according to the reading X of grating scale
1, judge that the actual amount of feeding of main shaft is Z
1=X
1-X
0, calculate feeding error delta Z=Z
1-Z, feeds back to axis feeding system by error delta Z, as amount of feeding Z
1when arriving setting value Z, axis feeding motor braking;
Step 5: after main shaft and presser feet feed system receive back to zero signal, first controls the reversion of axis feeding servomotor, and feeding zero point got back to by main shaft, restarts presser feet feed servo motor reversal, and presser feet gets back to feeding zero point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510446085.0A CN105149645B (en) | 2015-07-27 | 2015-07-27 | Device and hole-drilling method for dimple depth control of robot hole-drilling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510446085.0A CN105149645B (en) | 2015-07-27 | 2015-07-27 | Device and hole-drilling method for dimple depth control of robot hole-drilling system |
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| CN105149645B CN105149645B (en) | 2017-04-26 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554813A (en) * | 2017-09-05 | 2018-01-09 | 西北工业大学 | A kind of drilling interference plug pin integrated apparatus and method |
| CN107600455A (en) * | 2017-09-05 | 2018-01-19 | 西北工业大学 | A kind of end effector apparatus and a kind of integrated drilling, the method for nail pressing |
| CN108372408A (en) * | 2016-12-22 | 2018-08-07 | 中国航空工业集团公司北京航空制造工程研究所 | A kind of spline guide type drilling counter boring device |
| CN109366522A (en) * | 2018-11-13 | 2019-02-22 | 国机智能(苏州)有限公司 | A kind of method that joint of robot avoids normal danger starting |
| CN109396496A (en) * | 2018-12-12 | 2019-03-01 | 中国航空制造技术研究院 | A kind of counter boring depth control method for curved surface class surface automatic drill ream |
| CN111360289A (en) * | 2020-04-15 | 2020-07-03 | 成都飞机工业（集团）有限责任公司 | Part hole site local correction device and system hole lathe |
| CN111844043A (en) * | 2020-07-31 | 2020-10-30 | 西北工业大学 | Robot dimple self-adaptive control system and control method |
| CN111993463A (en) * | 2020-07-10 | 2020-11-27 | 武汉海默机器人有限公司 | Pin type brake of robot and control method thereof |
| CN112605989A (en) * | 2020-11-27 | 2021-04-06 | 成都飞机工业（集团）有限责任公司 | Integrated control method for hole-making end effector and industrial robot |
| CN113020645A (en) * | 2021-03-18 | 2021-06-25 | 天津大学 | Multi-sensor integrated drilling end effector |
| CN113124805A (en) * | 2021-04-28 | 2021-07-16 | 杭州飞钛航空智能装备有限公司 | Hole making tool, track information processing method and device and electronic equipment |
| CN115026886A (en) * | 2022-03-30 | 2022-09-09 | 深圳市大族数控科技股份有限公司 | Printed circuit board processing method and printed circuit board processing equipment |
| CN115106845A (en) * | 2021-03-18 | 2022-09-27 | 大连紫曦科技工程有限公司 | Integrated hole-making counter sinking rivet-pulling end effector device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108372408A (en) * | 2016-12-22 | 2018-08-07 | 中国航空工业集团公司北京航空制造工程研究所 | A kind of spline guide type drilling counter boring device |
| CN107600455A (en) * | 2017-09-05 | 2018-01-19 | 西北工业大学 | A kind of end effector apparatus and a kind of integrated drilling, the method for nail pressing |
| CN107554813A (en) * | 2017-09-05 | 2018-01-09 | 西北工业大学 | A kind of drilling interference plug pin integrated apparatus and method |
| CN109366522A (en) * | 2018-11-13 | 2019-02-22 | 国机智能(苏州)有限公司 | A kind of method that joint of robot avoids normal danger starting |
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