CN105149645B - 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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- CN105149645B CN105149645B CN201510446085.0A CN201510446085A CN105149645B CN 105149645 B CN105149645 B CN 105149645B CN 201510446085 A CN201510446085 A CN 201510446085A CN 105149645 B CN105149645 B CN 105149645B
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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
-
- 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
-
- 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
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, and in particular to a kind of to be based on robot hole system
The counter boring depth control method of system and equipment, in robot hole system automatic punching, by force transducer, line light
The cooperation of grid chi, servosystem and control system, the amount of feeding of precise control drilling cutter, it is ensured that the depth of counter boring.
Background technology
Widely used riveting in aircraft assembling, in riveting countersunk rivet, needs to carry out counter boring after drilling.Counter boring depth
The quality and bonding strength of device to hole has a great impact, if counter boring is too deep, after eyelid covering stress, can make loosing of rivet, and connection is strong
Degree is reduced；If counter boring depth is not enough, wallboard can be affected concordantly to spend.Therefore, a kind of reliable and stable counter boring depth control method
Drilling quality can be improved, it is ensured that bonding strength.The bilateral presser foot used in general brill ream equipment, drilling front panel two
Side is simultaneously compacted, and during drilling, wall panel configurations do not change, and hole depth is readily obtained guarantee, but this kind equipment opening character is not
Foot；And in robot hole system, flexible high, opening character is good, but the system adopts monolateral presser foot, by one side before drilling
Presser feet compresses wallboard, and with the change of cutter axial force during drilling, wallboard flexural deformation degree changes so that ream
Nest depth is wayward.
For this difficult problem of robot hole, some scholars propose the solution of correlation.Such as document《Based on presser feet
The robot hole counter boring severity control of bit shift compensation》For being deformed and being vibrated by aircraft target ship during robot automatic punching
The counter boring severity control problem for causing, it is proposed that using the displacement of end effector presser feet as real-Time Compensation signal drilling feed shaft
The method for designing of closed-loop control system, and by introducing low pass filter, effectively inhibit presser feet dither, it is ensured that ream
Nest depth.Document《Robot hole Research on Design based on aerodynamic force control presser feet》According to a counter boring severity control difficult problem,
The bill of axis feeding base and presser feet one is proposed, and as presser feet control in the form of aerodynamic force pusher cylinder piston
Method, reached predetermined counter boring precision；Patent CN102794491A discloses a kind of automatization's spiral milling apparatus and its side
Method, promotes presser feet workpiece pressing using cylinder in the patent, and the control accuracy for improving axis feeding amount is fed back by double grating, real
The precise control of counter boring depth is showed.But in above-mentioned method foot pressure be all by the aerodynamic force of cylinder controlling, and
Gas compressibility is easily affected by extraneous factors such as temperature, and stable gas pressure is not high, so as to affect the control of pressure, to a certain degree
Upper impact drilling quality.
The content of the invention
Technical problem to be solved
Robot hole system drilling opening character is good, and flexible structure is reliable and stable, is just being widely used in aircraft assembling,
But due to the system processing when using unilateral workpiece pressing structure, during drilling the diastrophic degree of wallboard receive cutter
Axial force affects, and cutter axial force is continually changing in drilling so that counter boring depth is not easy to ensure, so as to affect what is processed
Quality.
For the problem, the invention provides a kind of device and method of the control counter boring depth for robot hole.
The present invention relies on the structure of presser feet feeding module using axis feeding module so that during drilling, presser feet and cutter are to wall
The axial force sum of plate is invariable, and when wallboard is compressed using the pressure between force sensor measuring presser feet and wallboard, when
When reaching predetermined pressure, presser feet feeding motor braking is simultaneously locked, and presser feet position keeps constant during drilling, by line light
Grid chi forms the closed loop system of error-detecting feedback modifiers with axis feeding module, detects the mechanical transfer of axis feeding module
Error, and give in closed loop control and correct.The method can ensure that the counter boring depth of robot hole system.
Technical scheme
A kind of device of the control counter boring depth for robot hole, it is characterised in that including robot control cabinet, work
Industry robot, workbench and end effector；Robot control cabinet and industrial robot are bolted installed in workbench
On, end effector is installed on industrial robot end by bolt.
Described end effector includes presser feet module, main shaft and connection plate module；Presser feet module includes presser feet, presser feet
Frame, force transducer, grating scale, axis feeding servomotor and the first guide rail lead screw transmission module, grating scale are installed by screw
In the side of presser feet support, the first guide rail lead screw transmission module is arranged on the lower end of presser feet support, axle feed servo by screw
Motor is arranged on presser feet back-end support, is connected with the first guide rail lead screw transmission module by shaft coupling, and presser feet is installed by screw
In the front end of presser feet support；Connection plate module includes 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, after presser feet feed servo motor is arranged on connecting plate
End, and be connected with the second guide rail lead screw transmission module by shaft coupling；Guide rail lead screw transmission module is installed under presser feet support
End, main shaft are installed in the first guide rail lead screw transmission module.
The method for drilling that a kind of utilization said apparatus are carried out, it is characterised in that step is as follows：
Step 1：To each execution unit parameter main shaft drilling rotating speed ν 1, counter boring rotating speed ν 2, presser feet feed speed ν 3, pressure value
F, axis feeding speed ν 4 and amount of feeding Z are initially set；
Step 2：Robot control system is moved at drilling according to off-line procedure, and performs end by normal direction leveling
Device cutter is axially vertical with wallboard；
Step 3：Presser feet feeding enabling signal is provided by the PLC or trigger button of control system；PLC feeds mould to presser feet
Block zero point carries out signal judgement, and such as presser feet is not at feeding zero point, and PLC provides presser feet back to zero signal, presser feet feed servo motor
Start presser feet back to zero, otherwise presser feet starts feeding；Force transducer starts measured pressure value f, during whole feeding, judges pressure
Spacing situation before and after foot, if PLC receives limit signal, sends warning, and makes motor reversal reset；When force transducer is surveyed
When value f is equal to pressure set points F, PLC control presser feet feed servo motor brakings, presser feet feeding are locked, during drilling
Holding position does not change；
Step 4：Axis feeding enabling signal is provided by the PLC or trigger button of control system；PLC is to axis feeding mould
Block zero point carries out signal judgement, and such as main shaft is not at feeding zero point, and PLC provides main shaft back to zero signal, axis feeding servomotor
Start, main shaft back to zero；The dead-center position coordinate that otherwise grating scale reads main shaft is X0, main shaft start feeding；Entirely feeding
Cheng Zhong, judges spacing situation before and after main shaft, and such as PLC receives limit signal, sends warning, and makes motor reversal reset；Feeding
During, according to the reading X of grating scale1, judge the actual amount of feeding of main shaft for Z1=X1-X0, calculate feeding error delta Z=
Z1Error delta Z is fed back to axis feeding system by-Z, as amount of feeding Z1When reaching setting value Z, axis feeding motor braking；
Step 5：After main shaft and presser feet feed system receive back to zero signal, axis feeding servomotor is first controlled anti-
Turn, main shaft returns to feeding zero point, restarts presser feet feed servo motor reversal, and presser feet returns to feeding zero point.
Beneficial effect
A kind of device and method for robot hole system counter boring severity control proposed by the present invention, has with following
Beneficial effect：
1) presser feet position oscillation when eliminating drilling.The method is installed on presser feet feeding module using axis feeding module
Structure, and ensure that presser feet has enough thrusts when drilling (thrust be more than cutter axial force) by force transducer, in drilling
Shi Suoding presser feets position so that foot pressure keeps constant with the summation of main axle cutter axial force during drilling, and it is equal to default pressure
Force value, it is ensured that wallboard deformation extent no longer changes with the change of cutter axial force during drilling, make presser feet all the time with wall plate protecting
Hold laminating.
2) ensure that counter boring precision.The method cathetus grating scale forms error-detecting feedback with axis feeding submodule and repaiies
Positive closed loop system, is capable of detecting when the mechanical transfer error of axis feeding submodule, and gives in corresponding closed loop control
Amendment, it is ensured that counter boring depth.
3) reduce the labor intensity of drilling processing.The method achieve automatic impaction wallboard, amendment and adjust cutter
To amount, the automation mechanized operation of drilling is improve, labor intensity is reduced.
Description of the drawings
Fig. 1 counter boring Depth control devices structure overall description figures
Fig. 2 end effector structures figures
Fig. 3 presser feet function structure charts
Fig. 4 foot pressures control explanatory diagram
Fig. 5 counter boring severity control procedure declaration figures
In figure：1- robot control cabinets；2- industrial robots；3- workbench；4- end effectors；5- presser feet modules；6-
Main shaft；7- presser feets；8- presser feet supports；9- force transducers；10- grating scales；11- axis feeding servomotors；12- the first guide rail silks
Thick stick transmission module；13- wallboards；14- connects plate module；15- presser feet feed servo motors；16- the second guide rail lead screw transmission modules；
17- connecting plates.
Specific embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
As shown in figure 1, the present invention includes robot control cabinet 1, industrial robot 2, workbench 3 and end effector 4；Machine
Device people switch board 1 and industrial robot 2 are bolted on workbench 3；End effector 4 is installed on by bolt
2 end of industrial robot.
As shown in Fig. 2 end effector 4 includes presser feet module 5, main shaft 6 and connection plate module 14；Wherein presser feet module 5
Including presser feet 7, presser feet support 8, force transducer 9, grating scale 10 and axis feeding servomotor 11, the first guide rail lead screw transmission mould
Block 12, connection plate module 14 include 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, and presser feet feed servo motor 15 is arranged on connecting plate
17 rear ends, and be 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, the first guide rail lead screw transmission module by screw
12 lower ends that presser feet support 8 is arranged on by screw, axle feed servo motor 11 is arranged on 8 rear end of presser feet support, by shaft coupling
Device is connected with the first guide rail lead screw transmission module 12, and 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 connection plate module 14；Main shaft 6 is installed on presser feet
In first guide rail lead screw transmission module 12 of module 5；Presser feet 7 is installed on 8 front end of presser feet support, and four force transducers 9 pass through spiral shell
Nail is installed between presser feet 7 and presser feet support 8, and grating scale 10 is installed on 8 side of presser feet support, and axis feeding servomotor 11 is pacified
Loaded on 8 rear end of presser feet support, guide rail lead screw transmission module 12 is installed on 8 lower end of presser feet support；The presser feet of connection plate module 14 enters
The rear end and lower end of connecting plate 17 are respectively arranged in servomotor 15 and guide rail lead screw transmission module 16.
Force transducer 9 is used to measure the thrust between presser feet 7 and wallboard 13, and grating scale 10 is used for the position for measuring main shaft 6
Confidence ceases, and the position signalling of the pressure signal and grating scale 10 of force transducer 9 is passed to by the PLC in robot control cabinet 1
Control system, control system control the feed motion of presser feet module 5 and main shaft 6 according to pressure and the setting value of tool feeding amount,
Make that presser feet 7 and the holding position during drilling of wallboard 13 are constant, counter boring depth is precisely controlled.
Drilling is carried out for the aluminium alloy aircraft target ship with curvature, aperture is D1, nest footpath maximum is D2, counter boring depth is
K, using brill ream integrated cutter during drilling.Specific implementation step is as follows：
Step 1, system parameter settings：Before system work, corresponding initial setting, bag are carried out to each execution unit parameter
Include main shaft drilling rotating speed ν 1, counter boring rotating speed ν 2, presser feet feed speed ν 3, pressure value F, axis feeding speed ν 4, amount of feeding Z to set
It is fixed.
Step 2, robot are moved into place：Robot control system is moved at drilling according to off-line procedure, and passes through method
Operate to leveling etc., make end effector cutter axially vertical with wallboard.
Step 3, presser feet feeding, compress wallboard：Presser feet feeding is provided by the PLC or trigger button of control system and starts letter
Number；PLC carries out signal judgement to presser feet feeding module zero point, and such as presser feet is not at feeding zero point, and PLC provides presser feet back to zero letter
Number, presser feet feed servo electric motor starting presser feet back to zero, otherwise presser feet start feeding；Force transducer starts measured pressure value f, such as schemes
Shown in 4；During whole feeding, judge spacing situation before and after presser feet, if PLC receives limit signal, send warning,
And make motor reversal reset；When force sensor measuring value f is equal to pressure set points F, PLC control presser feet feed servo motor systems
Dynamic, presser feet feeding is locked, and during drilling, holding position does not change.
Step 4, axis feeding, carry out drilling, counter boring：Axis feeding is provided by the PLC or trigger button of control system
Enabling signal；PLC carries out signal judgement to axis feeding module zero point, and such as main shaft is not at feeding zero point, and PLC provides main shaft and returns
Zero-signal, axis feeding servomotor start, main shaft back to zero；The dead-center position coordinate that otherwise grating scale reads main shaft is X0, such as
Shown in Fig. 5, main shaft starts feeding；During whole feeding, spacing situation before and after main shaft is judged, such as PLC receives spacing letter
Number, warning is sent, and makes motor reversal reset；During feeding, according to the reading X of grating scale1, as shown in figure 5, judging main shaft
The actual amount of feeding be Z1=X1-X0, calculate feeding error delta Z=Z1Error delta Z is fed back to axis feeding system by-Z, when
Amount of feeding Z1When reaching setting value Z, axis feeding motor braking, drilling are finished.
Step 5, main shaft, presser feet position back to zero：After main shaft and presser feet feed system receive back to zero signal, first control is led
Axle feed servo motor reversal, main shaft return to feeding zero point, restart presser feet feed servo motor reversal, and presser feet returns to feeding zero
Point.
This drilling terminates.
Claims (1)
1. it is a kind of for robot hole control counter boring depth device, it is characterised in that including robot control cabinet (1), work
Industry robot (2), workbench (3) and end effector (4)；Robot control cabinet (1) and industrial robot (2) are connected by bolt
Connect on workbench (3), end effector (4) is installed on industrial robot (2) end by bolt；Hold described end
Row device (4) includes presser feet module (5), main shaft (6) and connection plate module (14)；Presser feet module (5) includes presser feet (7), presser feet
Frame (8), force transducer (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, and the first guide rail lead screw transmission module (12) is pacified by screw
Be mounted in the lower end of presser feet support (8), axis feeding servomotor (11) installed in presser feet support (8) rear end, by shaft coupling with
First guide rail lead screw transmission module (12) connects, and presser feet (7) is arranged on the front end of presser feet support (8) by screw；Connection template die
Block (14) includes 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, and presser feet feed servo motor (15) is installed in connection
Plate (17) rear end, and be connected with the second guide rail lead screw transmission module (16) by shaft coupling；First guide rail lead screw transmission module
(12) presser feet support (8) lower end is installed on, main shaft (6) is installed on the first guide rail lead screw transmission module (12)；
The method for drilling step carried out using this device is as follows：
Step 1：To each execution unit parameter main shaft drilling rotating speed ν 1, counter boring rotating speed ν 2, presser feet feed speed ν 3, pressure set points
F, axis feeding speed ν 4 and feeding set amount Z are initially set；
Step 2：Robot control system is moved at drilling according to off-line procedure, and makes end effector knife by normal direction leveling
Tool is axially vertical with wallboard；
Step 3：Presser feet feeding enabling signal is provided by the PLC or trigger button of control system；PLC is to presser feet feeding module zero
Point carries out signal judgement, and such as presser feet is not at feeding zero point, and PLC provides presser feet back to zero signal, presser feet feed servo electric motor starting
Presser feet back to zero, otherwise presser feet start feeding；Force transducer starts to measure force sensor measuring value f, during whole feeding, sentences
Spacing situation before and after disconnected presser feet, if PLC receives limit signal, sends warning, and makes presser feet feed servo motor reversal
Reset；When force sensor measuring value f is equal to pressure set points F, PLC control presser feet feed servo motor brakings, presser feet feeding
Locked, during drilling, holding position does not change；
Step 4：Axis feeding enabling signal is provided by the PLC or trigger button of control system；PLC is to axis feeding module zero
Point carries out signal judgement, and such as main shaft is not at feeding zero point, and PLC provides main shaft back to zero signal, and axis feeding servomotor starts,
Main shaft back to zero；The dead-center position coordinate that otherwise grating scale reads main shaft is X0, main shaft start feeding；During whole feeding,
Judge spacing situation before and after main shaft, such as PLC receives limit signal, send warning, and it is multiple to invert axis feeding servomotor
Position；During feeding, according to the reading X of grating scale1, judge the actual amount of feeding of main shaft for Z1=X1-X0, calculate feeding and miss
Difference Δ Z=Z1Error delta Z is fed back to axis feeding system by-Z, as actual amount of feeding Z1When reaching feeding setting value Z, main shaft enters
Brake to servomotor；
Step 5：After main shaft and presser feet feed system receive back to zero signal, the reversion of axis feeding servomotor is first controlled, it is main
Axle returns to feeding zero point, restarts presser feet feed servo motor reversal, and presser feet returns to feeding zero point.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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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| CN105149645A CN105149645A (en) | 2015-12-16 |
| CN105149645B true CN105149645B (en) | 2017-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510446085.0A Active 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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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108372408B (en) * | 2016-12-22 | 2020-09-25 | 中国航空制造技术研究院 | Spline guide type hole making dimple device |
| CN107554813B (en) * | 2017-09-05 | 2019-06-14 | 西北工业大学 | A kind of drilling interference plug pin integrated apparatus and method |
| CN107600455B (en) * | 2017-09-05 | 2019-11-15 | 西北工业大学 | A kind of end effector apparatus and a kind of method of integrated drilling, nail pressing |
| 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 |
| CN109396496B (en) * | 2018-12-12 | 2021-04-09 | 中国航空制造技术研究院 | Dimple depth control method for automatic drilling and reaming of curved surface |
| 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 |
| CN111993463B (en) * | 2020-07-10 | 2023-10-13 | 武汉海默机器人有限公司 | Pin type brake of robot and control method thereof |
| CN111844043B (en) * | 2020-07-31 | 2021-06-18 | 西北工业大学 | Robot dimple self-adaptive control system and control method |
| 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 |
| 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 |
| CN113020645A (en) * | 2021-03-18 | 2021-06-25 | 天津大学 | Multi-sensor integrated drilling end effector |
| CN113124805B (en) * | 2021-04-28 | 2023-02-17 | 杭州飞钛航空智能装备有限公司 | 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4320282A1 (en) * | 1993-06-18 | 1994-12-22 | Dornier Luftfahrt | Apparatus for setting blind rivets |
| CN102794491B (en) * | 2012-08-22 | 2014-05-07 | 浙江大学 | Device and method of automatic helical milling of hole |
| CN104698968B (en) * | 2015-02-11 | 2017-05-31 | 南京航空航天大学 | Multi-functional automatic Drilling/Riveting end effector and automatic Drilling/Riveting method |
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