CN108098784A - Aircraft wing drilling and milling robot - Google Patents
Aircraft wing drilling and milling robot Download PDFInfo
- Publication number
- CN108098784A CN108098784A CN201711354134.3A CN201711354134A CN108098784A CN 108098784 A CN108098784 A CN 108098784A CN 201711354134 A CN201711354134 A CN 201711354134A CN 108098784 A CN108098784 A CN 108098784A
- Authority
- CN
- China
- Prior art keywords
- rack
- hinge
- electric telescopic
- telescopic rod
- fixed
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Units (AREA)
Abstract
Changsha Zhi Wei Electronic Science and Technology Co., Ltd.s are the present invention provide a kind of aircraft wing drilling and milling robot, are made of servo feed power head 1,3-freedom parallel mechanism 2, XY motion platforms 3, rack 4 and connecting flange 5, it is characterised in that：Connecting flange 5 is the Hooks coupling universal coupling for connecting power assistant arm and robot；The parallel institution that 3-freedom parallel mechanism 2 is made of three Hooke's hinge, flexural pivot, electric telescopic rod critical pieces by certain way；XY motion platforms 3 are a two-freedom mechanisms；Rack 4 is made of the leg that three angles are 120 degree, its lower installation vacuum cup, 5 lower end of connecting flange is fixed by bolts to 3 upper mounting plate geometric center of XY motion platforms, 3 lower installation board of XY motion platforms is bolted together with 2 installing plate of 3-freedom parallel mechanism, and 1 axis of servo feed power head is made to pass through XY motion platform geometric centers.Aircraft wing drilling and milling robot total quality of the present invention is smaller, portable, saves labour.
Description
Technical field
The present invention relates to a kind of robots, more particularly, to a kind of aircraft wing drilling and milling robot, belong to aeronautical manufacture
Field.
Background technology
Most of connection of aircraft remains as mechanical connection, and an airplane has connector up to a million, according to the study table
Bright, in the accident of aircraft, the fatigue failure of connecting portion accounts for 70%, and therein 80% results from connecting hole, so aircraft
Hole machined is critically important manufacturing procedure in the production of aircraft.Wherein aircraft wing due to build it is huge, the processing in hole thereon
The larger work of an even more technical difficulty.Nowadays, with the fast development of Chinese aircraft industry, it is automatic to develop aircraft wing
Changing drilling device becomes the heat subject of major colleges and universities and research institute.
At this stage, the Drilling operation of aircraft wing is mainly the manual and boring milling equipment based on industrial robot, when
So, hand drill is gradually automated substitution, but each start cost for automating drilling is also relatively high, so
It carries out being uneconomic and unpractical during a small amount of drilling operation.
The content of the invention
Based on object above, the present invention proposes one kind for aircraft wing drilling and milling robot, for aircraft wing table
Face processes, and main shaft automatic centering, automatic normal direction centering can be realized on curved surface, improves drilled precision, and reduction is processed into
This.The adsorption system of robot is adsorbed in plane wing surfaces, is then realized automatic centering by five degree of freedom posture adjustment mode, is adjusted
It is flat, drill precise holes are finally completed by servo feed power head 1.
The aircraft wing drilling and milling robot of the present invention is by servo feed power head 1,3-freedom parallel mechanism 2, XY
Motion platform 3, rack 4 and connecting flange 5 form.Connecting flange 5 is to connect power assistant arm and the mechanism of robot, is one universal
Shaft coupling；3-freedom parallel mechanism 2 is by certain by tri- Hooke's hinge 2-9, flexural pivot 2-2, electric telescopic rod 2-5 critical pieces
The parallel institution that mode forms can complete X, Y-axis rotation, the movement of Z axis movement three degree of freedom, so as to fulfill main-shaft axis
Normal direction adjustment；XY motion platforms 3 are a two-freedom mechanisms, it can be achieved that small-scale main shaft centering adjusts；Rack 4 is by three
The leg composition that a angle is 120 degree, three supporting legs can be fixed to contract, and with adjustment frame and adjustment hinge 4-3, under
Vacuum cup 4-5 is installed, rack 4 is fixed on finished surface by adsorbing.5 lower end of connecting flange is fixed by bolts to XY fortune
3 upper mounting plate 3-11 geometric centers of moving platform, the installing plate of 3 lower installation board 3-6 of XY motion platforms and 3-freedom parallel mechanism 2
2-1 is bolted together, and 1 axis of servo feed power head is made to pass through 3 geometric center of XY motion platforms.The load-bearing of rack 4
Triangle ID frame in framework is linked together with bolt and 3 upper mounting plate 3-11 of XY motion platforms, and is allowed in the geometry of triangle frame
The heart is overlapped with upper mounting plate 3-11 geometric centers.Whole device is as shown in Figure 1.
3-freedom parallel mechanism 2 is by installing plate 2-1, flexural pivot 2-2, nut 2-3, fixing bolt 2-4, electric telescopic rod 2-
5th, lower platform 2-6, flexural pivot bolt 2-7, power fixture head 2-8, Hooke's hinge 2-9, unit bolt nut 2-10 compositions.Wherein flexural pivot
2-2 has two sets, Hooke's hinge 2-9 and electric telescopic rod 2-5 respectively have three sets and flexural pivot 2-2, electric telescopic rod 2-5, Hooke's hinge 2-9 it
Between connection mode be it is identical, using be threadedly coupled.Hooke's hinge 2-9 is fixed on lower platform 2-6 with nut 2-3, and 3 electronic
Telescopic rod 2-5 is threadedly coupled on Hooke's hinge 2-9, wherein an electric telescopic rod 2-5 is arranged vertically, other two is electronic to stretch
Contracting bar 2-5 is 120 degree with the space angle of plane where lower platform 2-6；The electric telescopic rod 2-5 other ends and flexural pivot bolt 2-7
Connection, the electric telescopic rod 2-5 connection flexural pivot 2-2 of two non-perpendicular placements, another vertical electric telescopic rod 2-5 are fixed
Bolt 2-4 is fixed on installing plate 2-1, and two flexural pivot 2-2 are connected with being fixed on installing plate 2-1.Power head presss from both sides
Tool 2-8 is bolted on lower platform 2-6, and servo feed power head 1 is pressed abd fixed on power by bolt combination 2-10
On fixture head 2-8.2 structure of 3-freedom parallel mechanism is as shown in Figures 2 and 3.
XY motion platforms 3 are mainly rolled from X to control motor 3-1, X to shaft coupling 3-2, X to ball-screw 3-3, X to straight line
Dynamic guide rail 3-4, X direction guiding rail sliding block 3-5, lower installation board 3-6, substrate 3-8, Y-direction linear rolling track 3-9, upper mounting plate 3-11,
Y-direction feed screw nut 3-12, Y-direction ball-screw 3-13, Y-direction shaft coupling 3-14, Y-direction control motor 3-15 compositions.Leading screw and motor
Axis with shaft coupling realizes and connects that feed screw nut is fixed on each installing plate and substrate 3-8, is realized and rotated by screw pair
To the transformation of linear motion.3 structure of XY motion platforms is as shown in Figure 4 and Figure 5.
Rack 4 is inhaled by rack load-bearing frame 4-1, rack supporting leg 4-2, adjustment hinge 4-3, sucker installation hinge seat 4-4, vacuum
Disk 4-5, vacuum generator 4-6, rack adjustment frame 4-7 compositions.Rack supporting leg 4-2, adjustment hinge 4-3, sucker installation hinge seat
4-4, vacuum cup 4-5, vacuum generator 4-6 are three sets of identical parts or component, and connection mode is also identical.Rack supporting leg 4-
2 are fixed on by way of hinge on rack load-bearing frame 4-1, and there are one the degree of freedom rotated relative to framework for supporting leg.Sucker
Hinge seat 4-4 is again by being hingedly connected on rack leg for installation, under be threadedly coupled and fix vacuum cup 4-5.
Mounting and adjusting hinge 4-3 on three angles of rack adjustment frame 4-7, three adjustment hinge 4-3 pass through on bolt and three rack legs
The hole connection of same position, rack leg is fixed at an angle, and the binding domain area that vacuum cup 4-5 is formed at this time is small
In adjustment frame triangle area.The structure of rack 4 is as shown in Figure 6.
It is adsorption reliability, quick using three vacuum cups as adsorbent equipment；The leg of Rack Body is collapsible, with adjustment
Sucker suction area, so as to adapt to the processing of the section of different area；It is sling using the common air assisted mechanical arm in workshop,
It is of low cost；Robot total quality is smaller, portable, saves labour.
Description of the drawings
Fig. 1 is the overall construction drawing of aircraft wing drilling and milling robot of the present invention；
Fig. 2 is the front view of 3-freedom parallel mechanism 2 of the present invention；
Fig. 3 is the left view of 3-freedom parallel mechanism 2 of the present invention；
Fig. 4 is the front view of XY motion platforms 3 of the present invention；
Fig. 5 is the left view of XY motion platforms 3 of the present invention；
Fig. 6 is the structure chart of rack 4 of the present invention.
Specific embodiment
The aircraft wing drilling and milling robot of the present invention is by servo feed power head 1,3-freedom parallel mechanism 2, XY
Motion platform 3, rack 4 and connecting flange 5 form.Connecting flange 5 is to connect power assistant arm and the mechanism of robot, is one universal
Shaft coupling；3-freedom parallel mechanism 2 is by certain by tri- Hooke's hinge 2-9, flexural pivot 2-2, electric telescopic rod 2-5 critical pieces
The parallel institution that mode forms can complete X, Y-axis rotation, the movement of Z axis movement three degree of freedom, so as to fulfill main-shaft axis
Normal direction adjustment；XY motion platforms 3 are a two-freedom mechanisms, it can be achieved that small-scale main shaft centering adjusts；Rack 4 is by three
The leg composition that a angle is 120 degree, three supporting legs can be fixed to contract, and with adjustment frame and adjustment hinge 4-3, under
Vacuum cup 4-5 is installed, rack 4 is fixed on finished surface by adsorbing.5 lower end of connecting flange is fixed by bolts to XY fortune
3 upper mounting plate 3-11 geometric centers of moving platform, 3 lower installation board 3-6 of XY motion platforms are used with 2 installing plate of 3-freedom parallel mechanism
It is bolted together, 1 axis of servo feed power head is made to pass through 3 geometric center of XY motion platforms.On the weight-supporting frame of rack 4
Triangle ID frame linked together with bolt and 3 upper mounting plate 3-11 of XY motion platforms, and allow triangle frame geometric center with it is upper
Installing plate 3-11 geometric centers overlap.Whole device is as shown in Figure 1.
3-freedom parallel mechanism 2 is by installing plate 2-1, flexural pivot 2-2, nut 2-3, fixing bolt 2-4, electric telescopic rod 2-
5th, lower platform 2-6, flexural pivot bolt 2-7, power fixture head 2-8, Hooke's hinge 2-9, unit bolt nut 2-10 compositions.Wherein flexural pivot
2-2 has two sets, Hooke's hinge 2-9 and electric telescopic rod 2-5 respectively have three sets and flexural pivot 2-2, electric telescopic rod 2-5, Hooke's hinge 2-9 it
Between connection mode be it is identical, using be threadedly coupled.Hooke's hinge 2-9 is fixed on lower platform 2-6 with nut 2-3, and 3 electronic
Telescopic rod 2-5 is threadedly coupled on Hooke's hinge 2-9, wherein an electric telescopic rod 2-5 is arranged vertically, other two is electronic to stretch
Contracting bar 2-5 is 120 degree with the space angle of plane where lower platform 2-6；The electric telescopic rod 2-5 other ends and flexural pivot 2-2 bolts
2-7 connections, the electric telescopic rod 2-5 connection flexural pivot 2-2 of two non-perpendicular placements, another vertical telescopic rod 2-5 are fixed
Bolt 2-4 is fixed on installing plate 2-1, and two flexural pivot 2-2 are connected with being fixed on installing plate 2-1.Power head presss from both sides
Tool 2-8 is bolted on lower platform 2-6, and servo feed power head 1 is pressed abd fixed on power by bolt combination 2-10
On fixture head 2-8.2 structure of 3-freedom parallel mechanism is as shown in Figures 2 and 3.3 electric telescopic rod 2-5 are by feed screw nut
Pair realizes motion transform, is instructed by the control motor input motion for giving telescopic rod 2-5, electric telescopic rod 2-5 stretches generation
Contracting movement, by the coordination stretching motion of electric telescopic rod 2-5,3-freedom parallel mechanism 2 is realized under 3 spatial degrees of freedom
The normal direction pose adjustment of 1 main-shaft axis of servo feed power head.
XY motion platforms 3 are mainly rolled from X to control motor 3-1, X to shaft coupling 3-2, X to ball-screw 3-3, X to straight line
Dynamic guide rail 3-4, X direction guiding rail sliding block 3-5, lower installation board 3-6, substrate 3-8, Y-direction linear rolling track 3-9, upper mounting plate 3-11,
Y-direction feed screw nut 3-12, Y-direction ball-screw 3-13, Y-direction shaft coupling 3-14, Y-direction control motor 3-15 compositions.Leading screw and motor
Axis with shaft coupling realizes and connects that feed screw nut is fixed on each installing plate and substrate 3-8, is realized and rotated by screw pair
To the transformation of linear motion.3 structure of XY motion platforms is as shown in Figure 4 and Figure 5.XY motion platforms 3 be by linear rolling track and
Guide rail slide block is moved and transferred by ball-screw and nut as what is be oriented to.X, by rotating, drives X to control motor 3-1
It will move from X to feed screw nut 3-7 and be transferred into lower installation board 3-6 opposing substrates 3-8 to shaft coupling 3-2, X to ball-screw 3-3
Movement, the installing plate 2-1 of lower installation board 3-6 connections 3-freedom parallel mechanism 2, so that entire 3-freedom parallel mechanism
2 along one are axially moved；Y-direction control motor 3-15 is rotated, and Y-direction shaft coupling 3-14, drives Y-direction ball-screw 3-13, and by Y-direction silk
Thick stick nut 3-12, which will be moved, becomes Y-direction guide rail sliding block 3-10 and with relative motion of the lower part with respect to upper mounting plate 3-11, upper peace
Loading board 3-11 is mounted in rack 4, and 3-freedom parallel mechanism 2 can so be made to do another axial movement with respect to rack 4.More than
It is achieved that the realization for the small range centering effect for being exactly XY motion platforms 3.
Rack 4 is inhaled by rack load-bearing frame 4-1, rack supporting leg 4-2, adjustment hinge 4-3, sucker installation hinge seat 4-4, vacuum
Disk 4-5, vacuum generator 4-6, rack adjustment frame 4-7 compositions.Rack supporting leg 4-2, adjustment hinge 4-3, sucker installation hinge seat
4-4, vacuum cup 4-5, vacuum generator 4-6 are three sets of identical parts or component, and connection mode is also identical.Rack supporting leg 4-
2 are fixed on by way of hinge on rack load-bearing frame 4-1 bodies, and there are one the degree of freedom rotated relative to framework for supporting leg.It inhales
Disk installs hinge seat 4-4 again by being hingedly connected on rack leg, under be threadedly coupled and consolidate vacuum cup 4-5
It is fixed.Mounting and adjusting hinge 4-3 on three angles of rack adjustment frame 4-7, three adjustment hinge 4-3 pass through bolt and three rack legs
The hole connection of upper same position, rack leg is fixed at an angle, and the binding domain area that vacuum cup is formed at this time is small
In adjustment frame triangle area.The structure of rack 4 is as shown in Figure 6.Hinge 4-3 bolts are adjusted by unclamping, mobile adjustment frame 4-7,
Rack leg 4-2 is realized by hinge to contract, to after another position；Three adjustment hinge 4-3 bolts are tightened, by rack leg
It is fixed；Vacuum cup 4-5 is mounted on vacuum cup hinge seat 4-4, and vacuum cup 4-5 is made to keep vertical；Vacuum cup 4-5 leads to
Connection vacuum generator 4-6 is crossed, vacuum is generated when work is posed, is adsorbed onto finished surface.
The course of work of aircraft wing drilling and milling robot of the present invention is：Institute of robot is first determined by laser tracker
Then robotic vacuum sucker 4-5 is placed on the region scope of target point by the target point to be processed with assistance mechanical arm
It is interior；Compressed air is supplied by air compressor, by vacuum generator 4-6 vacuum cup 4-5 is made to be adsorbed in aerofoil surface；Swash
Optical tracker system measures the attained pose of robot；Pose data are passed to robot by computer disposal, and robot passes through XY
The coordinated movement of various economic factors of motion platform 3 and 3-freedom parallel mechanism 2 carries out the levelling of small range centering adjustment and normal direction automatically；
After pose is adjusted, servo feed power head 1 starts auto-feed drilling, so as to obtain the hole of high quality；Finally it is passed through compression
Air makes it terminate absorption, pneumatic mechanical manipulator slings robot, and whole process terminates to vacuum generator 4-6.
Claims (3)
1. a kind of aircraft wing drilling and milling robot is transported by servo feed power head (1), 3-freedom parallel mechanism (2), XY
Moving platform (3), rack (4) and connecting flange (5) composition, it is characterised in that：Connecting flange (5) is connection power assistant arm and robot
Mechanism, be a Hooks coupling universal coupling；3-freedom parallel mechanism (2) is main by Hooke's hinge, flexural pivot, electric telescopic rod three
Component presses the parallel institution of certain way composition, X, Y-axis rotation, the movement of Z axis movement three degree of freedom can be completed, so as to real
The normal direction adjustment of existing main-shaft axis；XY motion platforms (3) are a two-freedom serial mechanisms, it can be achieved that small-scale main shaft pair
Middle adjustment；Rack (4) is made of the leg that three angles are 120 degree, and three supporting legs can be to contract, and with adjustment frame and tune
Whole hinge is fixed, and rack is fixed on finished surface, connecting flange (5) lower end is used by lower installation vacuum cup by adsorbing
Bolt is fixed on XY motion platforms (3) upper mounting plate geometric center, XY motion platforms (3) lower installation board and three-freedom parallel
Structure (2) installing plate is bolted together, and servo feed power head (1) axis is made to pass through XY motion platform geometric centers, machine
Triangle ID frame on the weight-supporting frame of frame (4) is linked together with bolt and XY motion platform upper mounting plates, and allows triangle frame
Geometric center is overlapped with upper mounting plate geometric center.
2. aircraft wing drilling and milling robot according to claim 1, it is characterised in that：3-freedom parallel mechanism
(2) by installing plate (2-1), flexural pivot (2-2), nut (2-3), fixing bolt (2-4), electric telescopic rod (2-5), lower platform (2-
6), flexural pivot bolt (2-7), power fixture head (2-8), Hooke's hinge (2-9), wherein unit bolt nut (2-10) composition, flexural pivot
(2-2) has two sets, Hooke's hinge (2-9) and electric telescopic rod (2-5) respectively have three sets and flexural pivot (2-2), electric telescopic rod (2-5),
Connection mode between Hooke's hinge (2-9) is identical, and using being threadedly coupled, Hooke's hinge (2-9) is fixed on nut (2-3)
On lower platform (2-6), 3 electric telescopic rods (2-5) are threadedly coupled on Hooke's hinge (2-9), wherein an electric telescopic rod
(2-5) is arranged vertically, other two electric telescopic rod (2-5) is 120 degree with the space angle of plane where lower platform (2-6)；
Electric telescopic rod (2-5) other end is connected with flexural pivot bolt (2-7), electric telescopic rod (2-5) connection of two non-perpendicular placements
Flexural pivot (2-2), another vertical electric telescopic rod (2-5) are fixed on fixing bolt (2-4) on installing plate (2-1), two
Flexural pivot (2-2) is connected with being fixed on installing plate (2-1), and power fixture head (2-8) is bolted on lower flat
On platform (2-6), servo feed power head (1) is pressed abd fixed on by bolt combination (2-10) on power fixture head (2-8).
3. aircraft wing drilling and milling robot according to claim 1, it is characterised in that：Rack (4) is by rack load-bearing
Frame (4-1), rack supporting leg (4-2), adjustment hinge (4-3), sucker installation hinge seat (4-4), vacuum cup (4-5), vacuum hair
Raw device (4-6), rack adjustment frame (4-7) form, rack supporting leg (4-2), adjustment hinge (4-3), sucker installation hinge seat (4-
4), vacuum cup (4-5), vacuum generator (4-6) are three sets of identical parts or component, and connection mode is also identical, rack branch
Leg (4-2) is fixed on by way of hinge on rack load-bearing frame (4-1), and there are one the freedom rotated relative to framework for supporting leg
Degree, sucker installation hinge seat (4-4) again by being hingedly connected on rack leg, under be threadedly coupled vacuum cup
(4-5) is fixed, mounting and adjusting hinge (4-3) on three angles of rack adjustment frame (4-7), and three adjustment hinges (4-3) pass through spiral shell
Bolt is connected with the hole of same position on three rack legs, and rack leg is fixed at an angle, at this time vacuum cup (4-5) structure
Into binding domain area be less than adjustment frame triangle area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711354134.3A CN108098784A (en) | 2017-12-15 | 2017-12-15 | Aircraft wing drilling and milling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711354134.3A CN108098784A (en) | 2017-12-15 | 2017-12-15 | Aircraft wing drilling and milling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108098784A true CN108098784A (en) | 2018-06-01 |
Family
ID=62217332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711354134.3A Pending CN108098784A (en) | 2017-12-15 | 2017-12-15 | Aircraft wing drilling and milling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098784A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108940678A (en) * | 2018-09-18 | 2018-12-07 | 天津市久跃科技有限公司 | A kind of equipment for spraying curve surface work pieces |
| CN109605392A (en) * | 2019-01-04 | 2019-04-12 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connection spray robot |
| CN111564095A (en) * | 2020-01-23 | 2020-08-21 | 浙江大学 | Series-parallel combined type two-degree-of-freedom heavy swing platform |
| CN111716332A (en) * | 2020-06-30 | 2020-09-29 | 北华航天工业学院 | Five-degree-of-freedom mechanical processing machine |
| WO2022001129A1 (en) * | 2020-06-28 | 2022-01-06 | 清华大学 | Adhesion-type parallel machining robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1593846A (en) * | 2003-09-09 | 2005-03-16 | 电子科技大学 | One-dimensional moving three-dimensional rotating parallel machine tool |
| CN204843507U (en) * | 2015-07-15 | 2015-12-09 | 河北科技大学 | Aircraft wing bores and mills processing machine people |
-
2017
- 2017-12-15 CN CN201711354134.3A patent/CN108098784A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1593846A (en) * | 2003-09-09 | 2005-03-16 | 电子科技大学 | One-dimensional moving three-dimensional rotating parallel machine tool |
| CN204843507U (en) * | 2015-07-15 | 2015-12-09 | 河北科技大学 | Aircraft wing bores and mills processing machine people |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108940678A (en) * | 2018-09-18 | 2018-12-07 | 天津市久跃科技有限公司 | A kind of equipment for spraying curve surface work pieces |
| CN109605392A (en) * | 2019-01-04 | 2019-04-12 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connection spray robot |
| CN109605392B (en) * | 2019-01-04 | 2023-09-01 | 杭州龙盛工贸有限公司 | Multi-joint parallel spraying robot |
| CN111564095A (en) * | 2020-01-23 | 2020-08-21 | 浙江大学 | Series-parallel combined type two-degree-of-freedom heavy swing platform |
| WO2022001129A1 (en) * | 2020-06-28 | 2022-01-06 | 清华大学 | Adhesion-type parallel machining robot |
| CN111716332A (en) * | 2020-06-30 | 2020-09-29 | 北华航天工业学院 | Five-degree-of-freedom mechanical processing machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108098784A (en) | Aircraft wing drilling and milling robot | |
| CN204843507U (en) | Aircraft wing bores and mills processing machine people | |
| WO2022011845A1 (en) | Aircraft engine blade ultrasonic rolling reinforcement robot processing system and control method | |
| CN101745905B (en) | Multi-degree of freedom adjustable assembling platform used for butt joint of aircraft wings | |
| CN106271280A (en) | A kind of K/Y type pipe joint intersection welding seam welding robot system | |
| TW201615322A (en) | Automated assembly apparatus, automated assembly system and automated assembly method | |
| CN106541256A (en) | Running fix is equipped with the assembling docking for combining of dynamic adjustment | |
| JP6561029B2 (en) | Reconfigurable fastening system and method | |
| CN103240772B (en) | Cutting device for processing butt joint between guitar neck and upper end of guitar case | |
| WO2014054802A1 (en) | Perpendicular alignment mechanism, and machining devices and machining methods using same | |
| CN110920927A (en) | Flexible wallboard assembly fixture | |
| CN207807001U (en) | Trucd mixer upper-part after-poppet group is to tooling | |
| CN106426124A (en) | Plane joint robot with length of arms capable of being adjusted | |
| CN109909346A (en) | Can revolving worktable flexible flanging forming device | |
| CN105510122A (en) | Longitudinal loading mechanism for testing comprehensive performance of pedal stiffness | |
| CN209550691U (en) | Gantry type five axes numerical control high-precision boring device | |
| CN206407165U (en) | A kind of undercarriage erecting device | |
| CN107262855A (en) | A kind of multi-axis cutting machine bed structure | |
| CN106976298A (en) | A kind of composite material prepreg automates laying device | |
| CN106742043A (en) | A kind of undercarriage installs car | |
| CN102357839B (en) | Unidirectional clamp drilling test device | |
| CN113443166B (en) | Laminated hole-making and flexible assembling system for complex curved surface of airplane front body component | |
| CN114894128A (en) | Lead screw raceway surface waviness check out test set | |
| CN113894776A (en) | High-rigidity mechanical arm and machining process | |
| Hoefener et al. | Small industrial robots for on-aircraft repair of composite structures |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180601 |
|
| WD01 | Invention patent application deemed withdrawn after publication |