CN108015312A - For robot high accuracy drilling and the end effector and measuring method of counter boring - Google Patents

For robot high accuracy drilling and the end effector and measuring method of counter boring Download PDF

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Publication number
CN108015312A
CN108015312A CN201711056976.0A CN201711056976A CN108015312A CN 108015312 A CN108015312 A CN 108015312A CN 201711056976 A CN201711056976 A CN 201711056976A CN 108015312 A CN108015312 A CN 108015312A
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China
Prior art keywords
normal
measuring
main shaft
installing plate
guide rail
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Granted
Application number
CN201711056976.0A
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Chinese (zh)
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CN108015312B (en
Inventor
刘钢
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Shanghai Tuopu Cnc Polytron Technologies Inc
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Shanghai Tuopu Cnc Polytron Technologies Inc
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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
    • B23QDETAILS, 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
    • B23Q15/00Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q17/00Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/20Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q17/00Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q37/00Metal-working machines, or constructional combinations thereof, built-up from units designed so that at least some of the units can form parts of different machines or combinations; Units therefor in so far as the feature of interchangeability is important
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0019End effectors other than grippers

Abstract

The present invention provides a kind of for robot high accuracy drilling and the end effector of counter boring, including:Main shaft and its feed unit, normal direction measuring device and its driving unit, datum hole vision positioning unit and guide rail installing plate, wherein:The main shaft and its feed unit are installed on the guide rail installing plate;The normal direction measuring device installs one end of the guide rail installing plate;The datum hole vision positioning unit is installed on the back side of the guide rail installing plate.The present invention is compact-sized, and comprising multiple function modules, including displacement detection module, normal direction measurement module, datum hole vision positioning module, increases Measurement reliability;The displacement detection module of the present invention can detect tool feeding amount, the deflection of Workpiece clamping and workpiece during processing, and it is compensated;Normal direction measuring device of the invention is small, function is more, high certainty of measurement.The present invention is installed in industrial robot end flange, can ensure drilling verticality.

Description

For robot high accuracy drilling and the end effector and measuring method of counter boring
Technical field
The present invention relates to a kind of high-precision drilling being used in combination with industrial robot and the end effector of counter boring, specifically Ground, is related to a kind of for robot high accuracy drilling and the end effector and measuring method of counter boring.
Background technology
In aircraft assembling, its quality of connection has vital influence to the aerodynamic configuration of aircraft and its fatigue life, According to statistics, 70% airframe fatigue failure accident comes from the fatigue failure of structured connecting member, wherein 80% fatigue is split Line betides connection hole, therefore drilling quality greatly affects the service life of aircraft.Titanium alloy bolt is tested by Boeing Show, when fastener is tilted more than 2 ° along external load function direction, fatigue life reduction about 47% is tired when being tilted more than 5 ° Labor service life reduction 95%, therefore drilling normal direction precision has riveting quality vital influence.Riveting is as a kind of traditional MACHINERY JOINT, since the features such as its connection is reliable, light weight, low cost is widely used in aerospace field, to ensure The aerodynamic configuration of aircraft, in aircraft skin junction frequently with countersunk rivet, and countersunk rivet carries out counter boring after needing drilling.Ream The quality and bonding strength of nest depth device to hole have a great impact, and due to the thin poor rigidity of skinpiston wall, deformation is serious during drilling, Counter boring depth is difficult to control, if counter boring is too deep, covering, bonding strength reduces;If counter boring depth is insufficient, siding can be influenced Concordant degree.Therefore, a kind of reliable and stable counter boring depth control method can improve drilling quality, ensure bonding strength.
The content of the invention
For in the prior art the defects of, the object of the present invention is to provide one kind to be used for robot high accuracy drilling and counter boring End effector and measuring method.
What is provided according to the present invention is a kind of for robot high accuracy drilling and the end effector of counter boring, including:Main shaft And its feed unit, normal direction measuring device and its driving unit, datum hole vision positioning unit and guide rail installing plate, wherein: The main shaft and its feed unit are installed on the guide rail installing plate;The normal direction measuring device installs the guide rail installing plate One end;The datum hole vision positioning unit is installed on the back side of the guide rail installing plate.
Preferably, the main shaft and its feed unit include axis feeding motor, transmission system, ball-screw, leading screw spiral shell Mother, feed screw nut seat, guide rail slide block and main shaft installing plate;Wherein:The axis feeding motor passes through servomotor mounting base It is fixed on guide rail installing plate;The ball-screw is fixed on guide rail installing plate by leading screw mounting base;Axis feeding motor Rotated by transmission system drives ball-screw;Main shaft installing plate connects the feed screw nut seat and guide rail slide block.
Preferably, the main shaft and its feed unit include grating scale and grating scale connecting plate, wherein:The grating scale connects Fishplate bar is mounted laterally on the main shaft installing plate;The reading head of the grating scale is connected on the grating scale connecting plate.
Preferably, electro spindle, main shaft fixed seat, handle of a knife and drill bit are further included, wherein:The main shaft fixed seat is fixed on On the main shaft installing plate;The electro spindle is installed in the main shaft fixed seat;The drill bit is installed on by the handle of a knife On main shaft.
Preferably, the normal direction measuring device and its driving unit include cylinder mounting plate, normal direction measuring device driving gas Cylinder, sliding block, normal direction measuring device connecting plate, block and normal direction measuring device, wherein:The driving cylinder driving of normal direction measuring device The normal direction measuring device;The normal direction measuring device is installed on the normal direction measuring device connecting plate;The normal direction measurement Device driving cylinder is installed on the cylinder mounting plate;The block is installed on the track of the guide rail installing plate.
Preferably, the datum hole vision positioning unit includes camera installation pedestal, camera, briquetting, telecentric lens, protection Plate and ring dress coaxial light source, wherein:The camera, briquetting, telecentric lens, protection board and ring dress coaxial light source are arranged on institute State in camera installation pedestal.
A kind of measuring method of the end effector for being used for robot high accuracy drilling and counter boring provided according to the present invention, Include the following steps:
Step 1:By off-line programing program, end effector is moved to current drilling station, band in normal direction measuring device The drive sleeve of contact is driven by respective cylinder respectively stretches out;
Step 2:End effector, close to workpiece, is read normal direction and passed by the overall normal direction along off-line programing of industrial robot The numerical value of sensor, carries out normal direction measurement;
Step 3:Normal direction adjustment is carried out according to the normal direction adjustment algorithm of design, if normal direction drift angle is less than setting value, is stopped Adjustment, normal direction adjustment are completed;If normal direction drift angle is more than or equal to setting value, report an error;
Step 4:The driving circuit air pressure of drive sleeve is discharged, contact retracts, and the presser feet of normal direction measuring device is directly and work Part contacts, and realizes Workpiece clamping;
Step 5:Displacement by the optical grating ruler measurement normal direction measuring device being connected with normal direction measuring device, compensation to system Hole, the displacement of counter boring cutter, realize that counter boring is deep-controlled.
Compared with prior art, the present invention has following beneficial effect:
1st, the present invention is compact-sized, and includes multiple function modules, including displacement detection module, normal direction measurement module, base Quasi- hole vision positioning module, increases Measurement reliability;
2nd, displacement detection module of the invention can detect the deformation of tool feeding amount, Workpiece clamping and workpiece during processing Amount, and it is compensated, so as to can realize that counter boring is deep-controlled;
3rd, normal direction measuring device of the invention is small, function is more, high certainty of measurement.Normal direction measuring device main at present Normal direction measurement accuracy at 0.5 °, the measurement accuracy of the normal direction measuring device is within 0.3 °;
4th, the present invention is installed in industrial robot end flange, and normal direction measuring device is carried out by laser traces instrument Flexural pivot center position is demarcated, and the pose adjustment of end effector is realized according to robot TCP functions, ensures that drilling is vertical Degree.
Brief description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, further feature of the invention, Objects and advantages will become more apparent upon:
Fig. 1 is the overall structure figure of the end effector for robot high accuracy drilling and counter boring;
Fig. 2 is the explosive view of the end effector for robot high accuracy drilling and counter boring;
Fig. 3 is that the main shaft of end effector for robot high accuracy drilling and counter boring and its structure of feed unit are shown It is intended to;
Fig. 4 is the normal direction measuring device and its driving unit of the end effector for robot high accuracy drilling and counter boring Structure chart;
Fig. 5 is the structure chart of the normal direction measuring device of the end effector for robot high accuracy drilling and counter boring;
Fig. 6 is the datum hole vision positioning cellular construction of the end effector for robot high accuracy drilling and counter boring Figure;
Fig. 7 is traditional normal direction measuring device presser foot schematic diagram;
Fig. 8 is end effector measurement and the Workpiece clamping schematic diagram of the present invention.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following embodiments will be helpful to the technology of this area Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These belong to the present invention Protection domain.
Referring to Fig. 1 and Fig. 2, what is provided according to the present invention is a kind of for the execution of the end of robot high accuracy drilling and counter boring Device, the end effector, which includes main shaft and its feed unit 1, normal direction measuring device and its driving unit 2, datum hole vision, to be determined Bit location 3 and guide rail installing plate 4, wherein:Guide rail installing plate 4 is the support section of whole end effector, main shaft and its into It is installed on to unit 1 on guide rail installing plate 4, normal direction measuring device and its driving unit 2 are installed on one end of guide rail installing plate 4, It is the sliding block 203 of normal direction measuring device and its driving unit 2 and main shaft and its sliding block 1101 on feed unit 1, sliding block 1102, sliding 1104 common guide rails of block 1103 and sliding block, and 206 axle center of normal direction measuring device is conllinear with spindle axis, datum hole vision positioning Unit 3 is installed on the back side of guide rail installing plate 4.
Shown in Figure 3, main shaft and its feed unit 1 include:Axis feeding motor 101, motor mount 102, synchronization Belt wheel 1031, synchronous pulley 1032, synchronous belt 104, lead screw shaft bearings 1051, lead screw shaft bearings 1052, block 106A~B, rolling Ballscrew 107, feed screw nut 108, feed screw nut seat 109, sliding block 1101, sliding block 1102, sliding block 1103, sliding block 1104, guide rail 1111st, guide rail 1112, impact switch 112, grating scale 1131, grating scale 1132, grating connecting plate 114, main shaft installing plate 115, Main shaft fixed seat 116, electro spindle 117, handle of a knife 118 and drill bit 119.It is solid by servomotor mounting base 102 to feed motor 101 It is scheduled on guide rail installing plate 4;Ball-screw 107 is fixed on guide rail by leading screw mounting base 1051 and leading screw mounting base 1052 and installs On plate 4,101 output shaft of axis feeding motor respectively installs a synchronous pulley with 107 one end of ball-screw, is respectively synchronous pulley 1031 and synchronous pulley 1032, connected by synchronous belt 104;Block 1061 and block 1062 realize the hard spacing of feed motion; 115 side of main shaft installing plate is connected with feed screw nut seat 109, and is connected with four guide rail slide blocks, opposite side installation master Axis fixed seat 116, electro spindle 117 are installed in main shaft fixed seat 116;Grating scale connecting plate 114 is mounted laterally in main shaft at the same time On installing plate 115, the other end is connected with grating ruler reading head 113B, and grating scale 113A is installed on guide rail installing plate 4;Main shaft into Drive ball-screw 107 to rotate by synchronous pulley 1031 and synchronous pulley 1032 to motor 101, and pass through feed screw nut 108 Drive main shaft 117 to feed, the convert rotational motion of axis feeding motor 101 is the linear motion of spindle motor 117, and pass through Grating scale 113A~B reads the amount of feeding, so as to fulfill the closed-loop control of axis feeding, ensures counter boring depth;Drill bit 119 passes through knife Handle 118 is installed on electro spindle 117, so as to be rotated by electro spindle 117 with cutter 119, realize the rotary motion of cutter with Feed motion.
Referring to shown in Fig. 4 and Fig. 5, normal direction measuring device and its driving unit 2 include cylinder mounting plate 201, normal direction measurement Device driving cylinder 2021, normal direction measuring device driving cylinder 2022, sliding block 2031, sliding block 2032, the connection of normal direction measuring device Plate 204, block 2051, block 2052 and normal direction measuring device 206, normal direction measuring device driving cylinder 2021 and normal direction measurement Device driving cylinder 2022 is arranged side by side and drives normal direction measuring device 206, sliding block 2031, sliding block 2032 and main shaft and its feeding The sliding block common guide rails of unit, are furnished with servo pressure regulating valve in driving circuit, control the clamping force of workpiece, and remembered by measurement grating scale Record cylinder drive displacement;206 main body of normal direction measuring device is connected with presser feet part by flexural pivot, is conveniently adjusted, in addition, normal direction is surveyed Amount device 206 connects including connecting plate 20601, protective cover 20602, negative-pressure dense seal 20603, the first pipe fitting 20604, the second pipe First 20605, mounting bracket 20606, channel of chip removal 20607, protective cover 20608, presser feet 20609, spherical adjusting block 20610 and Drive sleeve 20611, wherein:Connecting plate 20601, protective cover 20602 and protective cover 20608 form housing;The negative-pressure dense Seal 20603, the first pipe fitting 20604, the second pipe fitting 20605 and mounting bracket 20606 are installed on connecting plate 20601 On;The channel of chip removal 20607 is installed in the housing;Presser feet 20609 is wound packages, the drive sleeve of four contacts of band 20611 is coaxial with presser feet 20609, plays the role of stable presser feet 20609 in measurement, realizes the reliability of measurement, while When measuring the workpiece of different curvature, it can ensure constant distance of the point of a knife point apart from workpiece surface, and then control counter boring depth.
Shown in Figure 6, datum hole vision positioning unit 3 is mainly by camera installation pedestal 301, high-precision camera 302, pressure Block 303, telecentric lens 304, protection board 305 and ring dress coaxial light source 306 form, since 304 visual field of telecentric lens is undistorted, Its high certainty of measurement.
Participate in Fig. 7 and Fig. 8, Fig. 7 when being traditional normal direction measuring device presser foot normal direction measurement there are the problem of, figure The structure design of wound packages is used in 7a, it is this unstable when normal direction measures, easily deflect, cause measurement result can not Lean on;Fig. 7 b carry out finishing structure optimization on presser feet, realize four point contacts, but this structure is not for solve the problems, such as this With the workpiece of curvature, its high error of bow is inconsistent, so as to cause counter boring change in depth.Fig. 8 is to solve the problems, such as designed by above-mentioned two, The structural reference document《Robotic drilling and Countersinking on Highly Curved Surfaces》, with reference to the respective advantage of Fig. 7 a and Fig. 7 b, design 4 auxiliary support structures in the outside of presser feet, the structure by Cylinder drives, and ensures counter boring depth while normal direction measurement stability is ensured.
The workflow of the end effector is:
By off-line programing program, end effector is moved to current drilling station, and normal direction measuring device and four, band touch The drive sleeve of point is driven by respective cylinder respectively stretches out, and then end effector is compiled by the way that industrial robot is overall along offline Close to workpiece, four contacts contact the normal direction of journey with workpiece first, once reach the vent pressure of relief valve in driving circuit, end Actuator feed-disabling is held, and the numerical value of normal direction sensor is read in this position, carries out normal direction measurement.Wherein, end effector During feeding start to finish, the stroke of the sleeve backwards of four contacts of band is to be consistently less than its row for driving cylinder Journey.After normal direction is measured, normal direction adjustment is carried out according to the normal direction adjustment algorithm of design, once normal direction drift angle is less than 0.3 °, is stopped Only adjust, normal direction adjustment is completed, and is otherwise reported an error.After adjustment, the driving circuit air pressure of drive sleeve is discharged, then four contacts Retract so that presser feet is directly contacted with workpiece, realizes Workpiece clamping;At this moment surveyed by the grating scale being connected with normal direction measuring device The displacement of normal direction measuring device is measured, so as to compensate drilling, the displacement of counter boring cutter, realizes that counter boring is deep-controlled.Drilling with Counter boring, in process, using micro lubricating and sub-cooled, at the same by channel of chip removal by chip from siphoning away, prevent draw Hinder hole surface.
The present invention, which combines industrial robot, can realize high-precision drilling and the counter boring of curvature panel, its drilling normal error is small In 0.3 °, counter boring depth error is less than 0.05mm.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow Ring the substantive content of the present invention.In the case where there is no conflict, the feature in embodiments herein and embodiment can any phase Mutually combination.

Claims (7)

  1. It is 1. a kind of for robot high accuracy drilling and the end effector of counter boring, it is characterised in that including:Main shaft and its feeding Unit, normal direction measuring device and its driving unit, datum hole vision positioning unit and guide rail installing plate, wherein:The main shaft And its feed unit is installed on the guide rail installing plate;The normal direction measuring device installs one end of the guide rail installing plate; The datum hole vision positioning unit is installed on the back side of the guide rail installing plate.
  2. It is 2. according to claim 1 for robot high accuracy drilling and the end effector of counter boring, it is characterised in that institute Stating main shaft and its feed unit includes axis feeding motor, transmission system, ball-screw, feed screw nut, feed screw nut seat, guide rail Sliding block and main shaft installing plate;Wherein:The axis feeding motor is fixed on guide rail installing plate by servomotor mounting base; The ball-screw is fixed on guide rail installing plate by leading screw mounting base;Axis feeding motor passes through transmission system drives ball Leading screw rotates;Main shaft installing plate connects the feed screw nut seat and guide rail slide block.
  3. It is 3. according to claim 2 for robot high accuracy drilling and the end effector of counter boring, it is characterised in that institute Stating main shaft and its feed unit includes grating scale and grating scale connecting plate, wherein:The grating scale connecting plate is mounted laterally in institute State on main shaft installing plate;The reading head of the grating scale is connected on the grating scale connecting plate.
  4. It is 4. according to claim 2 for robot high accuracy drilling and the end effector of counter boring, it is characterised in that also Including electro spindle, main shaft fixed seat, handle of a knife and drill bit, wherein:The main shaft fixed seat is fixed on the main shaft installing plate; The electro spindle is installed in the main shaft fixed seat;The drill bit is installed on main shaft by the handle of a knife.
  5. It is 5. according to claim 1 for robot high accuracy drilling and the end effector of counter boring, it is characterised in that institute Stating normal direction measuring device and its driving unit includes cylinder mounting plate, normal direction measuring device driving cylinder, sliding block, normal direction measurement dress Connecting plate, block and normal direction measuring device are put, wherein:Normal direction measuring device driving cylinder drives the normal direction measuring device; The normal direction measuring device is installed on the normal direction measuring device connecting plate;The normal direction measuring device driving cylinder is installed on On the cylinder mounting plate;The block is installed on the track of the guide rail installing plate.
  6. It is 6. according to claim 1 for robot high accuracy drilling and the end effector of counter boring, it is characterised in that institute Stating datum hole vision positioning unit includes camera installation pedestal, camera, briquetting, telecentric lens, protection board and ring dress axis light Source, wherein:The camera, briquetting, telecentric lens, protection board and ring dress coaxial light source are arranged on the camera installation pedestal On.
  7. A kind of 7. end effector for being used for robot high accuracy drilling and counter boring based on claim 1 to 6 any one of them Measuring method, it is characterised in that include the following steps:
    Step 1:By off-line programing program, end effector is moved to current drilling station, contact-carrying in normal direction measuring device Drive sleeve respectively by respective cylinder drive stretch out;
    Step 2:End effector, close to workpiece, reads normal direction sensor by the overall normal direction along off-line programing of industrial robot Numerical value, carry out normal direction measurement;
    Step 3:Normal direction adjustment is carried out according to the normal direction adjustment algorithm of design, if normal direction drift angle is less than setting value, stops adjustment, Normal direction adjustment is completed;If normal direction drift angle is more than or equal to setting value, report an error;
    Step 4:The driving circuit air pressure of drive sleeve is discharged, contact is retracted, and the presser feet of normal direction measuring device directly connects with workpiece Touch, realize Workpiece clamping;
    Step 5:Displacement by the optical grating ruler measurement normal direction measuring device being connected with normal direction measuring device, compensation to drilling, ream The displacement of nest cutter, realizes that counter boring is deep-controlled.
CN201711056976.0A 2017-10-27 2017-10-27 End effector for high-precision hole making and dimple forming of robot and measuring method Active CN108015312B (en)

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CN111331431A (en) * 2020-03-20 2020-06-26 上海拓璞数控科技股份有限公司 Contact type curved surface wall plate normal measurement and dimple depth compensation device and measurement method
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Cited By (9)

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CN108638103A (en) * 2018-05-22 2018-10-12 航天材料及工艺研究所 The end effector of robot and method of adjustment of a kind of automatic crawl and pose adjustment
CN108638103B (en) * 2018-05-22 2020-09-18 航天材料及工艺研究所 Robot end effector capable of automatically grabbing and adjusting pose and adjusting method
CN110281037A (en) * 2019-06-28 2019-09-27 航天神舟飞行器有限公司 A kind of measurement processing execution head suitable for aircraft skin drilling
CN110340683A (en) * 2019-07-31 2019-10-18 成都航空职业技术学院 A kind of robot end's drilling actuator
CN111014776A (en) * 2019-12-26 2020-04-17 西北工业大学 End effector for deep hole machining
CN111098144A (en) * 2020-01-07 2020-05-05 中国航空制造技术研究院 Multifunctional hole-making screw mounting device
CN111331431A (en) * 2020-03-20 2020-06-26 上海拓璞数控科技股份有限公司 Contact type curved surface wall plate normal measurement and dimple depth compensation device and measurement method
CN111730616A (en) * 2020-07-06 2020-10-02 上海上飞飞机装备制造有限公司 Automatic system hole system of movable robot
CN111730616B (en) * 2020-07-06 2020-11-24 上海上飞飞机装备制造有限公司 Automatic system hole system of movable robot

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