CN110202084A - A kind of end effector for airframe riveting - Google Patents
A kind of end effector for airframe riveting Download PDFInfo
- Publication number
- CN110202084A CN110202084A CN201910350856.4A CN201910350856A CN110202084A CN 110202084 A CN110202084 A CN 110202084A CN 201910350856 A CN201910350856 A CN 201910350856A CN 110202084 A CN110202084 A CN 110202084A
- Authority
- CN
- China
- Prior art keywords
- riveting
- bracket
- rivet
- mounting plate
- shaft
- 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.)
- Granted
Links
- 239000012636 effector Substances 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 241001074085 Scophthalmus aquosus Species 0.000 claims abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 22
- 238000005553 drilling Methods 0.000 claims description 18
- 238000012546 transfer Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
- B21J15/142—Aerospace structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
- B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B47/00—Constructional features of components specially designed for boring or drilling machines; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/01—Aircraft parts
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Presses And Accessory Devices Thereof (AREA)
- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
Abstract
The present invention relates to a kind of end effectors for airframe riveting, with bracket, boring and riveting machine structure, for the datum hole detection module of datum hole centering, for normal direction centering and compress the presser foot device of workpiece to be added；The bracket includes upper bracket and lower bracket；The upper bracket is equipped with electric pushrod；Upper bracket with first rotating shaft and lower bracket by being rotatablely connected；Electric pushrod is rotatablely connected by the second shaft and lower bracket, and the second shaft is parallel with first rotating shaft.The present invention can compensate adjustment, it can be achieved that the brill riveting of higher precision is processed by the centering of datum hole detection module and presser foot device, and by electric pushrod.
Description
Technical field
The present invention relates to a kind of end effectors for airframe riveting.
Background technique
Aircraft wing or certain fuselages are to realize assembling manufacturing by riveting by support frame and thin-walled mask.By
There is certain curved surface in aircraft wing and fuselage, therefore in traditional riveting assembly, pass through artificial mode, processing essence
Degree cannot guarantee well, and assembly efficiency is low.
Therefore in order to improve the assembly efficiency and assembly precision, people are directed to aircraft wing and fuselage in automatic Drilling/Riveting equipment
Processing request carried out exploitation design.Although people have developed many automatic drill riveters for being used for aircraft wing and fuselage
Bed, but because it cannot achieve multi-faceted compensation, machining accuracy cannot guarantee always well.
Summary of the invention
The object of the present invention is to provide a kind of end effectors for airframe riveting that multi-faceted compensation can be achieved.
Realizing the technical solution of the object of the invention is: the present invention has bracket, boring and riveting machine structure, for the base of datum hole centering
Quasi- hole detection module for normal direction centering and compresses the presser foot device of workpiece to be added；The bracket includes upper bracket and lower bracket；
The upper bracket is equipped with electric pushrod；Upper bracket with first rotating shaft and lower bracket by being rotatablely connected；Electric pushrod passes through the
Two shafts and lower bracket are rotatablely connected, and the second shaft is parallel with first rotating shaft.
Above-mentioned lower bracket includes support plate and rotating bracket；The upper bracket with first rotating shaft and support plate rotation by connecting
It connects；Electric pushrod is rotatablely connected by the second shaft and support plate；The rotating bracket is rotatablely connected by turntable and support plate；
The pivot center of rotating bracket is vertical with support plate；Rotation is equipped with first and swings pedestal in the support plate；The rotating bracket
Upper rotation is equipped with second and swings pedestal；First swings the pivot center of pedestal, the pivot center of the second swing pedestal and rotation branch
The pivot center of frame is parallel to each other；Screw rod slide is fixed on the first swing pedestal, described second swings on pedestal admittedly
Surely it is equipped with electronic screw rod；The electronic screw rod and screw rod slide are cooperatively connected.Lower bracket is flipped Shi Ketong with respect to upper bracket
It crosses the magnetic railings ruler being mounted in first rotating shaft and carries out pivot angle detection.The turntable, which is equipped with, can be achieved the magnetic grid that rotation precisely detects
Ruler.
Above-mentioned boring and riveting machine structure includes that the drilling equipment for drilling, the riveting set for riveting and rivet receive transfer dress
It sets；Sliding is equipped with mounting plate in the rotating bracket, and mounting plate is equipped with the first driving device that it can be driven to slide；It is described
Drilling equipment is slidably arranged on mounting plate, and drilling equipment be equipped with can drive its along perpendicular to mounting plate glide direction slide
The second driving device；The riveting set is slidably arranged on mounting plate, and riveting set is equipped with and it can be driven along vertical
In the third driving device of mounting plate glide direction sliding；It includes rivet efferent duct, flexible gas that the rivet, which receives transfer device,
Cylinder, overturning motor, the pneumatic-finger for clamping rivet；The rivet efferent duct is fixedly mounted on a mounting board, described flexible
Cylinder is fixedly mounted on lower bracket, and overturning motor is fixedly connected with the telescopic shaft of telescopic cylinder, overturn the output shaft of motor with
Pneumatic-finger is fixedly connected, and the pneumatic-finger is travelled to and fro between rivet efferent duct and riveting set in the case where overturning motor driven,
And nail and binding are taken on rivet efferent duct and riveting set respectively under the action of telescopic cylinder.It is right on the rivet efferent duct
The detection sensor for detecting rivet diameter and length should be equipped with.
Said reference hole detection module includes servo motor, straight line slide unit and 2D Zaser contourgraph；The 2D laser profile
Instrument is fixedly mounted on straight line slide unit；Servo motor is fixedly mounted on lower bracket, and drives the sliding of straight line slide unit.
Above-mentioned presser foot device includes slip blade, driving cylinder, presser feet mouth and normal direction detection sensor；The slip blade
It is slidably arranged on lower bracket；The driving cylinder is fixedly connected on lower bracket, and drives the push shaft and slip blade of cylinder
It is fixedly connected；The slip blade is slided in the promotion lower edge of driving cylinder perpendicular to mounting plate glide direction；The presser feet mouth
It is fixed on slip blade, the periphery of presser feet mouth is fixed with laser displacement sensor；The drilling equipment and riveting dress
Set by the sliding of mounting plate can respectively with presser feet mouth corresponding matching.
The present invention has the effect of positive: (1) present invention can realize the overturning of lower bracket by electric pushrod, increase by one
The compensation in orientation, to further increase the machining accuracy for boring riveting；
(2) present invention may be implemented between rotating bracket and support plate by the cooperation of electronic screw rod and screw rod slide
Rotation increases the swing compensation in an orientation, to further increase the machining accuracy for boring riveting again；
(3) present invention can be to the full extent in conjunction with multi-faceted compensation using datum hole detection module and presser foot device
Guarantee the machining accuracy of brill riveting.
Detailed description of the invention
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail, wherein
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of presser foot device in the present invention；
Fig. 3 is the structural schematic diagram of boring and riveting machine structure in the present invention；
Fig. 4 is the structural schematic diagram that rivet receives transfer device in the present invention；
Fig. 5 is the structural schematic diagram of datum hole detection module in the present invention；
Specific embodiment
See Fig. 1 to Fig. 5, the present invention have bracket 1, boring and riveting machine structure 2, for datum hole centering datum hole detection module 3,
For normal direction centering and compress the presser foot device 4 of workpiece to be added；It is characterized by: the bracket 1 includes upper bracket 11 and lower branch
Frame 12.
The lower bracket 12 includes support plate 121 and rotating bracket 122；The upper bracket 11 by with first rotating shaft and branch
Fagging 121 is rotatablely connected；Electric pushrod 5 is rotatablely connected by the second shaft and support plate 121；Second shaft and first rotating shaft are flat
Row；The rotating bracket 122 is rotatablely connected by turntable 123 and support plate 121；The pivot center of rotating bracket 122 and support
Plate 121 is vertical；Rotation is equipped with first and swings pedestal 6 in the support plate 121；Rotation is equipped with second in the rotating bracket 122
Swing pedestal 7；First swings the rotation of the pivot center of pedestal 6, the pivot center of the second swing pedestal 7 and rotating bracket 122
Axis is parallel to each other；It is fixed with screw rod slide 8 on the first swing pedestal 6, is fixed on the second swing pedestal 7
Electronic screw rod 9；The electronic screw rod 9 is cooperatively connected with screw rod slide 8.
The boring and riveting machine structure 2 includes the drilling equipment 21 for drilling, the receiving of the riveting set 22 and rivet for riveting
Transfer device 23；Sliding is equipped with mounting plate 24 in the rotating bracket 122, and mounting plate 24 is equipped with that it can be driven to slide
One driving device；The drilling equipment 21 is slidably arranged on mounting plate 24, and drilling equipment 21 be equipped with can drive its along hang down
Directly in the second driving device of 24 glide direction of mounting plate sliding；The riveting set 22 is slidably arranged on mounting plate 24, and
Riveting set 22, which is equipped with, can drive it along the third driving device perpendicular to the sliding of 24 glide direction of mounting plate；The rivet connects
It is included rivet efferent duct 23-1, telescopic cylinder 23-2, overturning motor 23-3, the pneumatic hand for clamping rivet by transfer device 23
Refer to 23-4；The rivet efferent duct 23-1 is fixedly mounted on mounting plate 24, and the telescopic cylinder 23-2 is fixedly mounted on lower branch
On frame 12, overturning motor 23-3 be fixedly connected with the telescopic shaft of telescopic cylinder 23-2, overturn motor 23-3 output shaft with pneumatically
Finger 23-4 is fixedly connected, and the pneumatic-finger 23-4 travels to and fro between rivet efferent duct 23-1 in the case where overturning motor driven and riveting fills
It sets between 22, and takes nail and dress on rivet efferent duct 23-1 and riveting set 22 respectively under the action of telescopic cylinder 23-2
Nail.
The datum hole detection module 3 includes servo motor 31, straight line slide unit 32 and 2D Zaser contourgraph 33；The 2D swashs
Light contourgraph 33 is fixedly mounted on straight line slide unit 32；Servo motor 31 is fixedly mounted on lower bracket 12, and drives straight line sliding
Platform 32 slides.
The presser foot device 4 includes slip blade 41, driving cylinder 42, presser feet mouth 43 and normal direction detection sensor 44；Institute
Slip blade 41 is stated to be slidably arranged on lower bracket 12；The driving cylinder 42 is fixedly connected in lower branch 12, and drives cylinder
42 push shaft is fixedly connected with slip blade 41；The slip blade 41 driving cylinder 42 promotion lower edge perpendicular to mounting plate
The sliding of 24 glide directions；The presser feet mouth 43 is fixed on slip blade 41, and the periphery of presser feet mouth 43 is fixed with laser
Displacement sensor 44；The drilling equipment 21 and riveting set 22 can be corresponding with presser feet mouth 43 respectively by the sliding of mounting plate 24
Cooperation.
The course of work of the invention is as follows:
Pneumatic-finger 23-4 first takes out rivet under the action of telescopic cylinder 23-2 from rivet efferent duct 23-1, so
Make the binding hole of the rivet clamped by pneumatic-finger 23-4 alignment riveting set 22 under the action of overturning motor 23-3 afterwards；So
Rivet is sent into the binding hole of riveting set 22 by pneumatic-finger 23-4 under the action of telescopic cylinder 23-2 afterwards, then pneumatic hand
Refer to that 23-4 unclamps rivet, and resets the receiving transfer for carrying out next rivet；
Meanwhile datum hole detection module 3 finds datum hole accurately, the laser displacement sensor 44 in presser foot device 4 is right
It is to be processed not carry out normal direction centering, at this time in order to which centering, electric pushrod 5 and electronic screw rod 9 work simultaneously.After centering, pressure
Foot mouth 43 compresses workpiece to be added, and drilling equipment 21 carries out drilling and counter boring to machined part, and then mounting plate 24 slides, so that
Riveting set 22 is directed at presser feet mouth 43, then presses.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (5)
1. a kind of end effector for airframe riveting has bracket (1), boring and riveting machine structure (2), is used for datum hole centering
Datum hole detection module (3), for normal direction centering and compress the presser foot device (4) of workpiece to be added；It is characterized by: the branch
Frame (1) includes upper bracket (11) and lower bracket (12)；The upper bracket (11) is equipped with electric pushrod (5)；Upper bracket (11) is logical
It crosses and is rotatablely connected with first rotating shaft and lower bracket (12)；Electric pushrod (5) is rotatablely connected by the second shaft and lower bracket (12),
Second shaft is parallel with first rotating shaft.
2. a kind of end effector for airframe riveting according to claim 1, it is characterised in that: the lower branch
Frame (12) includes support plate (121) and rotating bracket (122)；The upper bracket (11) by with first rotating shaft and support plate
(121) it is rotatablely connected；Electric pushrod (5) is rotatablely connected by the second shaft and support plate (121)；The rotating bracket (122)
It is rotatablely connected by turntable (123) and support plate (121)；The pivot center of rotating bracket (122) is vertical with support plate (121)；
Rotation is equipped with first and swings pedestal (6) on the support plate (121)；Rotation is equipped with second and swings on the rotating bracket (122)
Pedestal (7)；First swings the pivot center of pedestal (6), the pivot center of the second swing pedestal (7) and rotating bracket (122)
Pivot center is parallel to each other；It is fixed with screw rod slide (8) in first swing pedestal (6), described second swings pedestal (7)
On be fixed with electronic screw rod (9)；The electronic screw rod (9) and screw rod slide (8) are cooperatively connected.
3. a kind of end effector for airframe riveting according to claim 2, it is characterised in that: the brill riveting
Mechanism (2) includes that the drilling equipment (21) for drilling, the riveting set (22) and rivet for riveting receive transfer device
(23)；Sliding is equipped with mounting plate (24) on the rotating bracket (122), and mounting plate (24) is equipped with that it can be driven to slide
One driving device；The drilling equipment (21) is slidably arranged on mounting plate (24), and drilling equipment (21) is equipped with and can drive
It is along the second driving device perpendicular to the sliding of mounting plate (24) glide direction；The riveting set (22) is slidably arranged in installation
On plate (24), and riveting set (22) is equipped with the third driving that can drive its edge perpendicular to the sliding of mounting plate (24) glide direction
Device；It includes rivet efferent duct (23-1), telescopic cylinder (23-2), overturning motor (23- that the rivet, which receives transfer device (23),
3), for clamping the pneumatic-finger (23-4) of rivet；The rivet efferent duct (23-1) is fixedly mounted on mounting plate (24), institute
It states telescopic cylinder (23-2) to be fixedly mounted on lower bracket (12), overturns the telescopic shaft of motor (23-3) and telescopic cylinder (23-2)
It is fixedly connected, the output shaft of overturning motor (23-3) is fixedly connected with pneumatic-finger (23-4), and the pneumatic-finger (23-4) exists
It is travelled to and fro between rivet efferent duct (23-1) and riveting set (22) under overturning motor driven, and in the work of telescopic cylinder (23-2)
Nail and binding are taken on rivet efferent duct (23-1) and riveting set (22) respectively with lower.
4. a kind of end effector for airframe riveting according to claim 2, it is characterised in that: the benchmark
Hole detection module (3) includes servo motor (31), straight line slide unit (32) and 2D Zaser contourgraph (33)；The 2D Zaser contourgraph
(33) it is fixedly mounted on straight line slide unit (32)；Servo motor (31) is fixedly mounted on lower bracket (12), and drives straight line sliding
Platform (32) sliding.
5. a kind of end effector for airframe riveting according to claim 2, it is characterised in that: the presser feet
Mechanism (4) includes slip blade (41), driving cylinder (42), presser feet mouth (43) and normal direction detection sensor (44)；The sliding
Supporting plate (41) is slidably arranged on lower bracket (12)；The driving cylinder (42) is fixedly connected on lower branch (12), and drives gas
The push shaft of cylinder (42) is fixedly connected with slip blade (41)；The slip blade (41) is hung down in the promotion lower edge of driving cylinder (42)
Directly slided in mounting plate (24) glide direction；The presser feet mouth (43) is fixed on slip blade (41), presser feet mouth (43)
Periphery be fixed with laser displacement sensor (44)；The drilling equipment (21) and riveting set (22) pass through mounting plate (24)
Sliding can respectively with presser feet mouth (43) corresponding matching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350856.4A CN110202084B (en) | 2019-04-28 | 2019-04-28 | End effector for riveting airplane body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350856.4A CN110202084B (en) | 2019-04-28 | 2019-04-28 | End effector for riveting airplane body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110202084A true CN110202084A (en) | 2019-09-06 |
| CN110202084B CN110202084B (en) | 2024-02-23 |
Family
ID=67786530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910350856.4A Active CN110202084B (en) | 2019-04-28 | 2019-04-28 | End effector for riveting airplane body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110202084B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202185737U (en) * | 2011-06-17 | 2012-04-11 | 南京航空航天大学 | Self-adaptation fine adjustment device for pressure pins of automatic drilling and riveting end effectors |
| CN103231250A (en) * | 2013-05-03 | 2013-08-07 | 西北工业大学 | Multi-functional drilling-riveting actuator |
| CN104698968A (en) * | 2015-02-11 | 2015-06-10 | 南京航空航天大学 | Multifunctional automatic drilling and riveting end executor and automatic drilling and riveting method |
| CN105643278A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | Horizontal automatic drilling and riveting machine tool used for assembling aircraft panel |
| CN105798706A (en) * | 2016-02-24 | 2016-07-27 | 浙江大学 | Terminal accuracy gravity compensation method for aircraft panel horizontal type automatic boring and riveting machine |
| CN108115532A (en) * | 2017-12-19 | 2018-06-05 | 大连理工大学 | The processing unit (plant) and processing method of composite material component intracavity sidewall root pilot hole |
| US20180345354A1 (en) * | 2015-11-23 | 2018-12-06 | Broetje-Automation Gmbh | End effector for a riveting device |
| CN210160345U (en) * | 2019-04-28 | 2020-03-20 | 常州市三利精机有限公司 | Be used for riveted end effector of aircraft fuselage |
-
2019
- 2019-04-28 CN CN201910350856.4A patent/CN110202084B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202185737U (en) * | 2011-06-17 | 2012-04-11 | 南京航空航天大学 | Self-adaptation fine adjustment device for pressure pins of automatic drilling and riveting end effectors |
| CN103231250A (en) * | 2013-05-03 | 2013-08-07 | 西北工业大学 | Multi-functional drilling-riveting actuator |
| CN104698968A (en) * | 2015-02-11 | 2015-06-10 | 南京航空航天大学 | Multifunctional automatic drilling and riveting end executor and automatic drilling and riveting method |
| US20180345354A1 (en) * | 2015-11-23 | 2018-12-06 | Broetje-Automation Gmbh | End effector for a riveting device |
| CN105798706A (en) * | 2016-02-24 | 2016-07-27 | 浙江大学 | Terminal accuracy gravity compensation method for aircraft panel horizontal type automatic boring and riveting machine |
| CN105643278A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | Horizontal automatic drilling and riveting machine tool used for assembling aircraft panel |
| CN108115532A (en) * | 2017-12-19 | 2018-06-05 | 大连理工大学 | The processing unit (plant) and processing method of composite material component intracavity sidewall root pilot hole |
| CN210160345U (en) * | 2019-04-28 | 2020-03-20 | 常州市三利精机有限公司 | Be used for riveted end effector of aircraft fuselage |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110202084B (en) | 2024-02-23 |
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