CN107322035B - terminal hole making actuator for laminated assembly of airplane body components - Google Patents

terminal hole making actuator for laminated assembly of airplane body components Download PDF

Info

Publication number
CN107322035B
CN107322035B CN201610288396.3A CN201610288396A CN107322035B CN 107322035 B CN107322035 B CN 107322035B CN 201610288396 A CN201610288396 A CN 201610288396A CN 107322035 B CN107322035 B CN 107322035B
Authority
CN
China
Prior art keywords
revolution
sleeve
cover
offset
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610288396.3A
Other languages
Chinese (zh)
Other versions
CN107322035A (en
Inventor
章婷
单以才
王宏睿
蒋荣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Institute of Technology
Original Assignee
Nanjing Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Institute of Technology filed Critical Nanjing Institute of Technology
Priority to CN201610288396.3A priority Critical patent/CN107322035B/en
Publication of CN107322035A publication Critical patent/CN107322035A/en
Application granted granted Critical
Publication of CN107322035B publication Critical patent/CN107322035B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23BTURNING; BORING
    • B23B41/00Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23BTURNING; BORING
    • B23B2215/00Details of workpieces
    • B23B2215/04Aircraft components

Abstract

The invention discloses a terminal hole-making actuator for lamination assembly of airplane fuselage components, which comprises a feeding mechanism, a revolution mechanism, a deviation adjusting mechanism, a rotation mechanism, a pressing chip removal mechanism and a system controller, wherein the feeding mechanism is connected with the revolution mechanism; the system controller controls the feeding mechanism, the revolution mechanism, the deviation adjusting mechanism, the rotation mechanism and the pressing chip removal mechanism to carry out corresponding hole making operation. The invention realizes the eccentric adjustment of the cutter in a larger range through plane thread transmission, can execute various operations such as drilling, spiral hole milling, boring and the like, can obviously improve the efficiency and the quality of laminated hole making of the machine body, and is particularly suitable for being provided with an automatic hole making system of the machine body.

Description

terminal hole making actuator for laminated assembly of airplane body components
Technical Field
The invention discloses a terminal hole making actuator, particularly relates to a terminal hole making actuator for lamination assembly of airplane body components, and belongs to the field of automatic hole making of airplane digital assembly.
Background
efficient and precise hole making for laminated assembly of a machine body is always a very difficult problem in automatic hole making for airplane digital assembly. In recent years, the application of a robot hole making technology in the assembly and hole making of the modern airplane body is continuously promoted by the comprehensive advantages of high flexibility, automation, high efficiency and the like. Various novel robotized hole making and hole making systems are emerging continuously.
For example, the american company Electroimpact a flexible rail drilling system, in which a flexible rail robot carrying a drilling end effector is attached to a workpiece by a vacuum cup of the flexible rail during operation. Further, the company Fatronic Tecnalia, Spain has also developed an automated hole making system based on a crawling robot that delivers hole making end effectors to designated locations by an autonomous crawling robot with vacuum suction cups. The two automatic hole making systems adopt a vacuum adsorption technology, and require that the axial force for hole making is not too large, so the two automatic hole making systems are mainly used for processing small hole diameters of airplane bodies. In addition, chinese application (patent) No. 200810121353.1 discloses an industrial robot cutting system and method for aircraft auxiliary assembly, which is not suitable for bearing excessive hole-making axial force due to the weak rigidity of the serial body structure of the industrial robot.
The three types of automatic hole making systems have a certain promotion effect on improving the quality and the efficiency of laminated assembly hole making of the airframe, but due to the special composition structures of the three types of automatic hole making systems, the self bearing capacity is limited to a certain extent, a drilling end effector which needs to be provided with a tool magazine is difficult to attach, a large amount of offline tool changing operations and excessive drilling axial force can seriously affect the efficiency and the quality of laminated hole making of the aviation. With the wider and wider application of difficult-to-machine materials such as titanium alloy, carbon fiber composite materials and the like in structural members of wings and fuselages, the traditional drilling method is very easy to cause the hole making defect of workpieces made of the materials due to the overlarge hole making axial force. Therefore, the development of an end drilling actuator with small cutting force and high automation degree is a better choice for realizing efficient and precise drilling of the current aviation laminated component.
disclosure of Invention
The invention aims to solve the technical problems that the processing of a large-diameter connecting hole assembled by laminating an airplane body structure is difficult to adopt an active automatic hole making system, the eccentric adjustment amount of the existing cutter is small, and the like.
in order to solve the technical problem, the invention provides a terminal hole making actuator for laminating assembly of airplane body components, which comprises a convex supporting base plate, a feeding mechanism, a revolution mechanism, an offset adjusting mechanism, a rotation mechanism, a pressing chip removal mechanism and a system controller, wherein fixed guide rails are arranged on two sides of the long side of the large end of the convex supporting base plate;
the feeding mechanism comprises a sliding shell, a sliding guide rail, a feeding nut, a feeding screw rod and a feeding driving device; the sliding shell is provided with a central through hole, and sliding bearings are arranged at two ends of the central through hole; the bottom of the sliding shell is provided with a first through groove, one side wall of the groove is connected with a sliding guide rail, and a plurality of steel balls are arranged between the sliding guide rail and the fixed guide rail; the right end of the sliding shell is connected with a rear cover, a lower bottom plate of the rear cover is provided with a feed nut, a feed screw rod sequentially penetrates through the feed nut and a through hole in the rear wall of the rear cover to be connected with a feed driving device, the feed driving device is installed on a support, and the support is fixedly connected with a convex support bottom plate;
The revolution mechanism comprises a revolution sleeve, an I-shaped revolution end cover, a revolution pinion and a revolution driving device; a second through groove is formed in the left end face of the revolution sleeve arranged in the center hole of the sliding bearing, and pressing plates are arranged on bosses on two sides of the second through groove; the right end face end of the revolution sleeve is fixedly connected with an I-shaped revolution end cover; the other end of the I-shaped revolution end cover is provided with a revolution large gear, and the revolution large gear is meshed with a revolution small gear; the revolution pinion is sleeved on an output shaft of the revolution driving device, and the revolution driving device is installed at the top of the left side wall of the rear cover;
The deviation adjusting mechanism comprises a T-shaped radial deviation sleeve, a driving deviation sleeve, a deviation adjusting end cover, a deviation adjusting pinion and a deviation adjusting driving device; the large end of the T-shaped radial offset sleeve is arranged between the revolution sleeve and the pressing plate, and the small end of the T-shaped radial offset sleeve is inserted into an inner hole of the revolution sleeve; a grating ruler is arranged between the left side surface of the large end of the T-shaped radial offset sleeve and the pressing plate, a plane thread groove is arranged on the right side surface of the large end of the T-shaped radial offset sleeve, a driving offset sleeve is inserted in the plane thread groove, the other end of the driving offset sleeve is connected with an offset end cover, an offset large gear is arranged in a center hole of the offset end cover, the offset large gear is meshed with an offset small gear arranged on an output shaft of an offset driving device, and the offset driving device is arranged on an I-shaped revolution end cover;
the rotation mechanism comprises a rotation main shaft, a stator and a rotor; the middle part of the autorotation main shaft is sleeved with a rotor in a fixedly connected mode, the rotor is sleeved with a stator in a rotating mode, the stator is fixedly connected with an inner hole of a T-shaped radial offset sleeve through a screw, the left side and the right side of the rotor on the autorotation main shaft are respectively provided with a first self-aligning bearing and a second rolling bearing, the second rolling bearing and a second bearing end cover are mounted in a right bearing seat inner hole together, the right bearing seat is fixedly connected with the right end face of the T-shaped radial offset sleeve, the first self-aligning bearings are mounted in a left bearing seat inner hole, the left bearing seat is fixed on the left end face of the T-shaped radial offset sleeve, the left end of the left bearing seat is provided with a clamping nut, an inner ring clamping end cover, an outer ring clamping end cover and a dust ring are mounted;
The pressing chip removal mechanism comprises a pressing foot and a chip removal pipeline, the pressing foot is fixed on the convex supporting base plate, and the chip removal pipeline is fixed on the pressing foot;
The system controller is electrically connected with the feeding mechanism, the revolution mechanism, the deviation adjusting mechanism and the rotation mechanism.
as a further improvement scheme of the invention, a rotary joint is arranged on the right side wall of the rear cover, and the rotary joint is electrically connected with a fixed joint and an offset adjusting driving device which are arranged on an I-shaped revolution end cover.
As a further improvement scheme of the invention, the two ends of the excircle of the driving offset sleeve are provided with annular grooves, a plurality of cylindrical rollers are placed in the annular grooves, and the revolution sleeve is sleeved on the plurality of cylindrical rollers. The design can reduce the radial size of the terminal drilling actuator.
as a further improvement scheme of the invention, an elastic body is arranged between the deviation adjusting end cover and the I-shaped revolution end cover, and the elastic body is connected with a spring in a hole for installing the driving deviation sleeve through a compression column. This design reduces the axial play of the drive offset sleeve.
as a further limiting scheme of the invention, the two first self-aligning bearings are installed face to face, an inner sleeve and an outer sleeve are arranged between the two first self-aligning bearings, the inner sleeve is used for connecting inner rings of the two first self-aligning bearings, and the outer sleeve is used for connecting inner rings of the two first self-aligning bearings; the inner ring opposite side of the first left side self-aligning bearing is connected with the inner ring and the tight end cover, the outer ring opposite side of the first left side self-aligning bearing is connected with the outer ring and the tight end cover, the inner ring opposite side of the first right side self-aligning bearing is connected with the shaft shoulder of the rotation main shaft, and the outer ring opposite side of the first right side self-aligning bearing is connected with the convex edge of the center hole of the left bearing seat.
as a further improvement scheme of the invention, the lower edges of two sides of the sliding shell along the feeding direction are respectively provided with a plurality of adjusting screws, the end parts of the adjusting screws are propped against the side surface of the sliding guide rail, the side surface of the sliding guide rail is fixedly connected with a plurality of guide posts, and the guide posts are inserted into guide holes on one side wall of the groove. The design can adjust the clearance between the sliding guide rail, the fixed guide rail and the steel ball.
The invention has the beneficial effects that: (1) the main shaft and the cutter bar of the autorotation driving device of the cutter are integrally designed, so that the composition structure of the invention is simplified, and the weight of the whole machine is reduced; (2) the eccentric adjustment of the cutter is realized by adopting the plane thread, so that the part processing difficulty caused by the eccentric adjustment by adopting two eccentric hole sleeves in the prior art is avoided; (3) the plane thread is adopted for eccentric adjustment of the cutter, so that larger eccentric amount of the cutter can be realized, and the invention has multiple processing functions of drilling, spiral hole milling, boring and the like; (4) a closed-loop control system for adjusting the eccentricity of the cutter is formed by using the grating ruler, so that the position accuracy of the eccentric adjustment of the cutter is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the connection between the convex support base plate and the fixed guide rail according to the present invention;
fig. 3 is a schematic view of the revolution mechanism and the offset mechanism of fig. 1 coupled together;
FIG. 4 is a cross-sectional view A-A of FIG. 5;
FIG. 5 is a right side view of FIG. 1;
FIG. 6 is a flow chart of the present invention for making a hole.
Detailed Description
as shown in fig. 1 to 5, the terminal hole-making actuator for laminated assembly of aircraft fuselage components according to the present invention includes a convex supporting base plate 1001, wherein both sides of the long side of the large end of the convex supporting base plate 1001 are provided with a fixed guide rail 1005, and further includes a feeding mechanism 1000, a revolving mechanism 2000, an offset adjusting mechanism 3000, a rotation mechanism 4000, a pressing chip removal mechanism 5000, and a system controller 6000, which are mounted on the convex supporting base plate 1001. Wherein, the system controller 6000 is electrically connected with the feeding mechanism 1000, the revolution mechanism 2000, the deviation adjusting mechanism 3000 and the rotation mechanism 4000;
the feeding mechanism 1000 comprises a sliding housing 1002, a sliding guide 1003, a feeding nut 1009, a feeding screw 1010 and a feeding driving device 1011; the bottom of the sliding shell 1002 is provided with a groove 1002-1; the big end of the convex supporting bottom plate 1001 penetrates through a first groove 1002-1 which is communicated with the bottom of the sliding housing 1002, fixed guide rails 1005 are arranged on two sides of the big end of the convex supporting bottom plate 1001, a plurality of adjusting screws 1006 and a plurality of guide holes are arranged at the lower edge of the first groove 1002-1 on the bottom of the sliding housing 1002, guide posts 1013 arranged in the guide holes are fixedly connected with the sliding guide rails 1003, the end parts of the adjusting screws 1006 are propped against the side surfaces of the sliding guide rails 1003, a plurality of steel balls 1004 are arranged between the sliding guide rails 1003 and the fixed guide rails 1005, and the sliding housing 1002 is arranged on the convex supporting bottom plate 1001 through the sliding guide rails 1003; sliding bearings 1007 are respectively arranged at two ends of a central through hole of the sliding shell 1002, a feeding nut 1009 is arranged on a lower bottom plate of a rear cover 1008 arranged at the right end of the sliding shell 1002, the feeding nut 1009 is connected with the feeding screw rod 1010 through a screw pair, the feeding nut 1009 and the through hole on the rear wall of the sliding shell 1002 sequentially penetrate through the feeding nut 1009 and the rear wall of the sliding shell 1002 rightwards to be connected with an output shaft of a feeding driving device 1011, the feeding driving device 1011 is arranged on a bracket 1012 fixedly connected with a supporting bottom plate 1001, a rotary joint 1013 is also arranged on the right side wall of the rear cover 1008, and the rotary joint 1013 is electrically connected with a fixed joint 2007 and a deviation adjusting driving.
the revolution mechanism 2000 comprises a revolution sleeve 2001, an I-shaped revolution end cover 2002, a revolution pinion 2003 and a revolution driving device 2004, wherein the left end face of the revolution sleeve 2001 installed in a sliding bearing 1007 is provided with a groove II 2001-1, bosses on two sides of the groove II 2001-1 are respectively provided with a pressing plate 2005, the other end of the revolution sleeve 2001 is provided with the I-shaped revolution end cover 2002, the other end of the I-shaped revolution end cover 2002 is provided with a revolution large gear 2006, the revolution large gear 2006 is connected with an output shaft of the revolution driving device 2004 through the revolution pinion 2003, and the revolution driving device 2004 is installed at the top of the left side wall of the rear.
The offset adjustment mechanism 3000 comprises a T-shaped radial offset sleeve 3001, a driving offset sleeve 3002, an offset adjustment end cover 3003, an offset adjustment pinion 3004 and an offset adjustment driving device 3005; a grating ruler 3011 is arranged between the left end surface of the large end of the T-shaped radial offset sleeve 3001 arranged between the revolution sleeve 2001 and the pressing plate 2009 and the pressing plate 2005, and the small end of the T-shaped radial offset sleeve 3001 is inserted into the inner hole of the revolution sleeve 2001; a driving offset sleeve 3002 between the T-shaped radial offset sleeve 3001 and the revolution sleeve 2001 is arranged, one end of the driving offset sleeve 3002 is inserted into a plane thread groove on the right end face of the large end of the T-shaped radial offset sleeve 3001, the other end of the driving offset sleeve 3002 is fixedly connected with an offset adjusting end cover 3003, two ends of the outer circular surface of the driving offset sleeve 3002 are provided with annular grooves for placing cylindrical rollers 3007, and the cylindrical rollers 3007 placed in the annular grooves are connected with the driving offset sleeve 3002; an offset large gear 3006 is arranged on a central hole of an offset end cover 3003, the offset large gear 3006 is connected with an output shaft of an offset driving device 3005 through an offset small gear 3004, the offset driving device 3005 is fixed on the I-shaped revolution end cover 2002, an elastic body 3008 is arranged between the offset end cover 3003 and the I-shaped revolution end cover 2002, a spring 3010 in a hole of a driving offset sleeve 3002 is arranged, and a pressure column 3009 is pushed to abut against the elastic body 3008 so as to eliminate an axial float gap of the driving offset sleeve 3002;
The rotation mechanism 4000 includes a rotation main shaft 4001, a stator 4002, and a rotor 4003; a rotor 4003 fixedly sleeved in the middle of an autorotation main shaft 4001 is fixedly connected, a stator 4002 is externally connected in a rotating mode, the outer circle of the stator 4002 is fixedly connected with the inner hole of a T-shaped radial offset sleeve 3001 through a screw, two self-aligning bearings 4004 and a rolling bearing II 4005 are respectively arranged on the left side and the right side of the rotor 4003 arranged on the autorotation main shaft 4001, a right bearing block 4006 arranged on the rolling bearing II 4005 is fixedly connected with the right end face of the T-shaped radial offset sleeve 3001, and a bearing end cover II 4007 is arranged on the right side of the rolling bearing II 4005 arranged in the inner; the right end face of a left bearing seat 4008 is fixedly connected with the left end face of a T-shaped radial offset sleeve 3001 and is mounted on two first self-aligning bearings 4004, a clamping nut 4009 is mounted at the left end of the left bearing seat 4008, an inner ring clamping end cover 4010, an outer ring clamping end cover 4011 and a dust ring 4012 are mounted between the clamping nut 4009 and the left bearing seat 4008, the inner ring of the first left self-aligning bearing is connected with the inner ring clamping end cover 4010, the outer ring of the first left self-aligning bearing is connected with the outer ring clamping end cover 4011, the inner ring of the first right self-aligning bearing is connected with a shaft shoulder of a rotation main shaft 4001, the outer ring of the first right self-aligning bearing is connected with a convex edge of a central hole of the left bearing seat 4008, an inner sleeve 4016 and an outer sleeve 4017 are arranged between the two first self-aligning bearings 4004, the inner sleeve 4016 abuts against the inner rings of the two first self-aligning bearings; the left end of the rotation main shaft 4001 is provided with a cutter 4013, the cutter 4013 adopts a spring chuck 4014 and a nut 4015 to carry out tightening,
as shown in fig. 1, the pressing chip removal mechanism 5000 includes a pressing pin 5001 and a chip removal pipe 5002, the pressing pin 5001 fixed on the support base plate 1001 is coaxial with the revolving sleeve 2001, and the chip removal pipe 5002 is installed on the pressing pin 5001.
As shown in fig. 6, the end-drilling actuator for laminated assembly of aircraft fuselage elements according to the invention, in operation, performs the following steps for a particular hole to be drilled:
step 1, firstly, according to the type of a hole to be manufactured, if the hole to be manufactured is a cylindrical through hole, the eccentric distance of a cutter does not need to be adjusted on line, and the step 2 is shifted to; if the hole to be manufactured is a conical through hole, the eccentric distance of the cutter needs to be adjusted on line, and the step 3 is carried out;
Step 2, according to the diameter of the cutter and the diameter of the hole to be processed, drilling, spiral hole milling or boring are selected, and the through hole is processed:
a. If the diameter of the cutter is equal to that of the cylindrical through hole to be manufactured, a drilling mode is selected for processing, the stator 4002 and the rotor 4003 directly drive the rotation main shaft 4001 and the cutter 4013 to rotate, and drilling processing is carried out under the driving of the feeding driving device 1011;
b. if the diameter of the cylindrical through hole to be machined is larger than one time of the diameter of a cutter and smaller than two times of the diameter of the cutter, a spiral hole milling mode is selected for machining, according to the deviation between the diameter of the cutter and the diameter of the cylindrical through hole to be machined, firstly, an offset adjusting driving device 3005 drives an offset adjusting pinion 3004, an offset adjusting large gear 3006, an offset adjusting end cover 3003, a driving offset sleeve 3002 and a T-shaped radial offset sleeve 3001 to complete the eccentric adjustment of the cutter under the constraint of a grating ruler 3011, and then a revolution driving device 2004, a feeding driving device 1011, a stator 4002 and a rotor 4003 are driven together to drive the cutter 4013 to complete the spiral hole milling;
c. If the diameter of the cylindrical through hole to be manufactured is larger than twice of the diameter of the cutter, a boring mode is selected for processing, firstly, an offset adjusting pinion 3004, an offset adjusting large gear 3006, an offset adjusting end cover 3003, a driving offset sleeve 3002 and a T-shaped radial offset sleeve 3001 are driven by an offset adjusting driving device 3005, the eccentric adjustment of the cutter is completed under the constraint of a grating ruler 3011, then, a revolution driving device 2004, a feeding driving device 1011, a stator 4002 and a rotor 4003 are driven together, and the cutter 4013 is driven to complete boring processing;
And 3, machining the conical through hole in a spiral hole milling mode, driving an offset adjusting pinion 3004, an offset adjusting large gear 3006, an offset adjusting end cover 3003, a driving offset sleeve 3002 and a T-shaped radial offset sleeve 3001 by an offset adjusting driving device 3005 according to the diameter of the cutter and the diameter of the conical through hole to be machined, carrying out on-line cutter eccentric adjustment under the constraint of a grating ruler 3011, and simultaneously driving the revolution driving device 2004, the feeding driving device 1011, the stator 4002 and the rotor 4003 in a coordinated manner to drive the cutter 4013 to complete the machining of the conical through hole.
the above description is only one preferred embodiment of the present invention relating to an end-drilling actuator for laminated assembly of aircraft fuselage components, but the scope of the present invention is not limited to this example.

Claims (6)

1. a terminal hole making actuator for use in the laminate assembly of aircraft fuselage components, characterized by:
the actuator comprises a convex supporting base plate (1001), fixed guide rails (1005) are arranged on two sides of the long side of the large end of the convex supporting base plate, and the actuator also comprises a feeding mechanism (1000), a revolution mechanism (2000), a deviation adjusting mechanism (3000), a rotation mechanism (4000), a pressing chip removal mechanism (5000) and a system controller (6000), wherein the feeding mechanism, the revolution mechanism, the deviation adjusting mechanism, the rotation mechanism and the pressing chip removal mechanism are arranged on the convex supporting base plate;
The feeding mechanism (1000) comprises a sliding shell (1002), a sliding guide rail (1003), a feeding nut (1009), a feeding screw rod (1010) and a feeding driving device (1011); the sliding shell (1002) is provided with a central through hole, and two ends of the central through hole are provided with sliding bearings (1007); the bottom of the sliding shell (1002) is provided with a through groove I (1002-1), the side wall of the groove I (1002-1) is provided with a sliding guide rail (1003), and a plurality of steel balls (1004) are arranged between the sliding guide rail (1003) and a fixed guide rail (1005); the right end of the sliding shell (1002) is connected with a rear cover cap (1008), a feeding nut (1009) is arranged on the lower bottom plate of the rear cover cap (1008), a feeding screw rod (1010) sequentially penetrates through the feeding nut (1009) and a through hole in the rear wall of the rear cover cap (1008) to be connected with a feeding driving device (1011), the feeding driving device (1011) is installed on a support (1012), and the support (1012) is fixedly connected with a convex supporting bottom plate (1001);
the revolution mechanism (2000) comprises a revolution sleeve (2001), an I-shaped revolution end cover (2002), a revolution pinion (2003) and a revolution driving device (2004); a second through groove (2001-1) is arranged on the left end face of the revolution sleeve (2001) arranged in the central hole of the sliding bearing (1007), and pressing plates (2005) are arranged on bosses on two sides of the second groove (2001-1); the right end face end of the revolution sleeve (2001) is fixedly connected with an I-shaped revolution end cover (2002); the other end of the I-shaped revolution end cover (2002) is provided with a revolution large gear (2006), and the revolution large gear (2006) is meshed with a revolution small gear (2003); the revolution pinion (2003) is sleeved on an output shaft of a revolution driving device (2004), and the revolution driving device (2004) is installed at the top of the left side wall of the rear cover (1008);
The offset adjusting mechanism (3000) comprises a T-shaped radial offset sleeve (3001), a driving offset sleeve (3002), an offset adjusting end cover (3003), an offset adjusting pinion (3004) and an offset adjusting driving device (3005); the large end of the T-shaped radial offset sleeve (3001) is arranged between the revolution sleeve (2001) and the pressure plate (2005), and the small end is inserted into the inner hole of the revolution sleeve (2001); a grating ruler (3011) is arranged between the left side face of the large end of the T-shaped radial offset sleeve (3001) and the pressing plate (2009), a plane thread groove is formed in the right side face of the large end of the T-shaped radial offset sleeve (3001), a driving offset sleeve (3002) is inserted into the plane thread groove, the other end of the driving offset sleeve (3002) is connected with an offset adjusting end cover (3003), an offset adjusting large gear (3006) is arranged in a center hole of the offset adjusting end cover (3003), the offset adjusting large gear (3006) is meshed with an offset adjusting small gear (3004) arranged on an output shaft of an offset adjusting driving device (3005), and the offset adjusting driving device (3005) is arranged on the I-shaped revolution end cover (2002);
The rotation mechanism (4000) comprises a rotation main shaft (4001), a stator (4002) and a rotor (4003); the rotor 4003 is sleeved in the middle of the rotation spindle 4001 in a fixedly connected mode, the rotor 4003 is sleeved with a rotating stator 4002, the stator 4002 is fixedly connected with an inner hole of a T-shaped radial offset sleeve 3001 through screws, two self-aligning bearings 4004 and a rolling bearing 4005 are respectively installed on the left side and the right side of the rotor 4003 on the rotation spindle 4001, the rolling bearing 4005 and a bearing end cover 4007 are installed in an inner hole of a right bearing seat 4006 together, the right bearing seat 4006 is fixedly connected with the right end face of the T-shaped radial offset sleeve 3001, the two self-aligning bearings 4004 are installed in an inner hole of a left bearing seat 4008, the left bearing seat 4008 is fixed on the left end face of the T-shaped radial offset sleeve 3001, a clamping nut 4009 is installed at the left end of the left bearing seat 4008, a clamping nut 4009 is installed between the clamping nut 4009 and a left inner ring 4008 and a clamping end cover 4010, An outer ring tightening end cover (4011) and a dustproof ring (4012), wherein a cutter (4013), a spring chuck (4014) and a nut (4015) are arranged at the left end of the autorotation spindle (4001);
the pressing chip removal mechanism (5000) comprises a pressing foot (5001) and a chip removal pipeline (5002), the pressing foot (5001) is fixed on the convex supporting base plate (1001), and the chip removal pipeline (5002) is fixed on the pressing foot (5001);
The system controller (6000) is electrically connected with the feeding mechanism (1000), the revolution mechanism (2000), the deviation adjusting mechanism (3000) and the rotation mechanism (4000).
2. The end-drilling actuator for laminated assembly of aircraft fuselage components of claim 1, wherein: and a rotary joint (1013) is arranged on the right side wall of the rear cover (1008), and the rotary joint (1013) is electrically connected with a fixed joint (2007) and an offset adjusting driving device (3005) which are arranged on the I-shaped revolution end cover (2002).
3. the end-drilling actuator for laminated assembly of aircraft fuselage components of claim 1, wherein: drive skew sleeve (3002) excircle both ends all are equipped with the annular groove, put a plurality of cylindrical roller (3007) in the annular groove, revolution sleeve (2001) suit is on a plurality of cylindrical roller (3007).
4. The end-drilling actuator for laminated assembly of aircraft fuselage components of claim 1, wherein: an elastic body (3008) is arranged between the deviation adjusting end cover (3003) and the I-shaped revolution end cover (2002), and the elastic body (3008) is connected with a spring (3010) arranged in a hole of the driving deviation sleeve (3002) through a pressure column (3009).
5. The end-drilling actuator for laminated assembly of aircraft fuselage components of claim 1, wherein: the two first self-aligning bearings (4004) are installed face to face, an inner sleeve (4016) and an outer sleeve (4017) are arranged between the two first self-aligning bearings (4004), the inner sleeve (4016) is used for connecting inner rings of the two first self-aligning bearings (4004), and the outer sleeve (4017) is used for connecting outer rings of the two first self-aligning bearings (4004); the inner ring other side of the first left side self-aligning bearing (4004-1) is connected with the inner ring tightening end cover (4010), the outer ring other side of the first left side self-aligning bearing is connected with the outer ring tightening end cover (4011), the inner ring other side of the first right side self-aligning bearing (4004-2) is connected with a shaft shoulder of the rotation main shaft (4001), and the outer ring other side of the first right side self-aligning bearing (4004-2) is connected with a convex edge of a center hole of the left bearing seat (4008).
6. The end-drilling actuator for laminated assembly of aircraft fuselage components of claim 1, wherein: the lower edges of two sides of the sliding shell (1002) along the feeding direction are respectively provided with a plurality of adjusting screws (1006), the end parts of the adjusting screws (1006) are propped against the side surface of the sliding guide rail (1003), the side surface of the sliding guide rail (1003) is fixedly connected with a plurality of guide posts (1013), and the guide posts (1013) are inserted into guide holes in the side wall of the first groove (1002-1).
CN201610288396.3A 2016-04-28 2016-04-28 terminal hole making actuator for laminated assembly of airplane body components Active CN107322035B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610288396.3A CN107322035B (en) 2016-04-28 2016-04-28 terminal hole making actuator for laminated assembly of airplane body components

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610288396.3A CN107322035B (en) 2016-04-28 2016-04-28 terminal hole making actuator for laminated assembly of airplane body components

Publications (2)

Publication Number Publication Date
CN107322035A CN107322035A (en) 2017-11-07
CN107322035B true CN107322035B (en) 2019-12-17

Family

ID=60193364

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610288396.3A Active CN107322035B (en) 2016-04-28 2016-04-28 terminal hole making actuator for laminated assembly of airplane body components

Country Status (1)

Country Link
CN (1) CN107322035B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108723428B (en) * 2018-05-25 2020-05-05 南京航空航天大学 Laminated material online variable parameter hole making method based on motor current

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3810884C1 (en) * 1988-03-12 1989-09-28 Felix 8380 Landau De Leeb Apparatus for producing internal threads without predrilling in the solid material
GB9019589D0 (en) * 1990-09-07 1990-10-24 Jobs Spa Method and equipment to drill countersunk holes on surfaces in any position
CN103639471A (en) * 2013-12-05 2014-03-19 郑州大学 Drilling end actuator for robot
CN103990829A (en) * 2014-05-29 2014-08-20 上海飞机制造有限公司 End effector for forming holes for aircraft assembly and using method thereof
CN104117719A (en) * 2014-07-14 2014-10-29 大连交通大学 Spiral hole milling device
CN203956172U (en) * 2014-07-14 2014-11-26 大连交通大学 A kind of helical milling device
CN104439445A (en) * 2014-11-12 2015-03-25 大连理工大学 Spiral hole milling device capable of automatically adjusting hole diameter and working method of spiral hole milling device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3810884C1 (en) * 1988-03-12 1989-09-28 Felix 8380 Landau De Leeb Apparatus for producing internal threads without predrilling in the solid material
GB9019589D0 (en) * 1990-09-07 1990-10-24 Jobs Spa Method and equipment to drill countersunk holes on surfaces in any position
CN103639471A (en) * 2013-12-05 2014-03-19 郑州大学 Drilling end actuator for robot
CN103990829A (en) * 2014-05-29 2014-08-20 上海飞机制造有限公司 End effector for forming holes for aircraft assembly and using method thereof
CN104117719A (en) * 2014-07-14 2014-10-29 大连交通大学 Spiral hole milling device
CN203956172U (en) * 2014-07-14 2014-11-26 大连交通大学 A kind of helical milling device
CN104439445A (en) * 2014-11-12 2015-03-25 大连理工大学 Spiral hole milling device capable of automatically adjusting hole diameter and working method of spiral hole milling device

Also Published As

Publication number Publication date
CN107322035A (en) 2017-11-07

Similar Documents

Publication Publication Date Title
CN203679343U (en) Tail end hole forming actuator of robot
CN102794491B (en) Device and method of automatic helical milling of hole
CN102756138B (en) High-accuracy hole forming method for aircraft wall panel
CN101628378B (en) Spherical (spherical surface) mirror surface rolling lathe
CN104439376B (en) A kind of drilling machine that can be drilled simultaneously with 90 degree of angles
CN106218916B (en) A kind of multi-functional end effector
CN102198583B (en) Inner gear machining method and special gear shaping clamp
CN201102093Y (en) Three-axis numerical control panoramic table miller
CN202491111U (en) Lathe and cutter handle
CN201841416U (en) Multi-position power head knife rest device of an inclined lathe bed digital control lathe
CN104439445B (en) The helical milling device in a kind of automatic adjustment aperture and method of work thereof
CN102091799B (en) End effector for automatically drilling curved surface
CN103921118A (en) Crankcase vertical-horizontal composite type multi-station combined machine tool
CN102847979A (en) Flexible railway attaching to plane surface and used for carrying drilling end effector
CN101417348B (en) Drill end actuator
CN103611990B (en) A kind of method of processing spiral bevel gear on general six Shaft and NC Machining Test lathes
CN103639471B (en) Robot hole end effector
CN106312564B (en) Turnning and milling bores Combined machining equipment and turnning and milling bores combinational processing method
CN101745905B (en) Multi-degree of freedom adjustable assembling platform used for butt joint of aircraft wings
CN101537512A (en) Method for helically milling hole and device thereof
EP2529867A1 (en) Boring device
CN101633060B (en) Automatic spiral hole-milling unit
CN202861439U (en) Numerical control vertical type boring machine
CN201871945U (en) Rotary workbench device of multi-station speed-adjustable numerically controlled drilling machine
CN102765088B (en) Single side soft absorption type automatic drilling machine people

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant