CN117359314A - Drilling and riveting integrated end effector for assembling large part of aircraft composite material - Google Patents
Drilling and riveting integrated end effector for assembling large part of aircraft composite material Download PDFInfo
- Publication number
- CN117359314A CN117359314A CN202311546106.7A CN202311546106A CN117359314A CN 117359314 A CN117359314 A CN 117359314A CN 202311546106 A CN202311546106 A CN 202311546106A CN 117359314 A CN117359314 A CN 117359314A
- Authority
- CN
- China
- Prior art keywords
- module
- station
- integrated
- riveting
- drilling
- 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
- 238000005553 drilling Methods 0.000 title claims abstract description 32
- 239000012636 effector Substances 0.000 title claims abstract description 26
- 239000002131 composite material Substances 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 238000006073 displacement reaction Methods 0.000 claims abstract description 28
- 238000006243 chemical reaction Methods 0.000 claims abstract description 22
- 238000003825 pressing Methods 0.000 claims abstract description 20
- 239000003292 glue Substances 0.000 claims abstract description 12
- 238000002347 injection Methods 0.000 claims abstract description 12
- 239000007924 injection Substances 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 12
- 238000003754 machining Methods 0.000 claims description 6
- 230000010354 integration Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 1
- 206010047601 Vitamin B1 deficiency Diseases 0.000 abstract description 2
- 208000002894 beriberi Diseases 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 1
- 235000012633 Iberis amara Nutrition 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to a drilling and riveting integrated end effector for assembling large parts of aircraft composite materials, which comprises a mounting frame, wherein a drilling module for drilling, reaming and countersinking rivet holes is arranged on the mounting frame; the station conversion module is used for converting among a drilling station, a glue injection station, a riveting station and a tool changing station according to assembly requirements; the riveting module is used for riveting and assembling; a pressure foot module for pressing the workpiece; the reference detection module is used for measuring the outline of the target object; the normal detection module is used for normal alignment; the pressure foot module comprises a pressing plate and a pressing nose, wherein the pressing plate and the pressing nose are used for pressing a workpiece in a matched mode under the driving of the pressure beriberi cylinder; the normal detection module comprises four laser displacement sensors vertically arranged on two sides of the compacting plates; the reference detection module is provided with a 2D laser displacement sensor which can measure the outline of a target object on a workpiece. The invention can realize intelligent control from automatic hole making to automatic riveting.
Description
Technical Field
The invention relates to the technical field of aircraft assembly, in particular to a drilling and riveting integrated end effector for assembling large parts of an aircraft composite material.
Background
The aerospace industry is taken as a national strategic industry, is an important guarantee force of economy, science and technology and national defense, however, the whole manufacturing industry in China is large and not strong, and has a large gap between the manufacturing field of high-end equipment and the foreign world, and the foreign aerospace industry is huge in recent years to gradually develop automatic production equipment, so that the manufacturing period is shortened. At present, rivet riveting of complex structures of composite materials in carrier rockets and strategic missiles still depends on manual operation, the installation position of parts is generally determined by means of equipment such as tools, clamps and the like or manual scribing, numerical control equipment is utilized for drilling or operators are utilized for manual drilling, and a riveting tool is held for riveting. Meanwhile, aiming at the defect of composite material hole making, the procedures of reaming and deburring are generally needed after manual drilling, and the process flows of drilling, reaming, deburring and riveting are adopted in actual production and are all completed manually, so that the production efficiency is low and the labor intensity of workers is high. And manual drilling and manual cooperation riveting make the assembly consistency, quality and efficiency of parts and components not guaranteed, seriously influence the batch production requirement of model products, and are in urgent need of innovation technology breakthrough and equipment development.
From the great application of the advanced manufacturing technology of foreign airplanes, the industrial robot high-precision equipment gradually becomes an important role in the field of aerospace industry, and in order to shorten the gap between China and the huge head of the foreign aerospace industry, deep research on a drilling and riveting integrated multifunctional end effector system is necessary, so that intelligent control of automatic hole making, hole site alignment, detection, automatic nail feeding, double robot cooperative alignment and automatic riveting is realized, and the requirements of high-precision hole making and cooperative bidirectional riveting of a composite material complex structure cabin are met.
The patent number CN202221777033.3 proposes an end effector for robot hole making, which is characterized in that a connecting flange is fixed on the lower surface of a chassis, guide rails are arranged on two sides of the upper surface of the chassis, a feeding unit and a compressing unit are connected on the guide rails in a sliding manner, a main shaft unit is fixed on the feeding unit, a laser range finder is fixed on the compressing unit, and the laser range finder, the compressing unit and the feeding unit are all connected with a controller. The end effector is single in working form and does not have a reference detection function.
The patent number CN202122877781.0 proposes a robot end effector, which is characterized in that the robot end effector is mounted at the front end of the wrist of the manipulator to directly execute a work task, and is classified into a gripper or a special tool according to the difference of the work tasks. The end effector switching station needs to be manually installed and detached and does not have the function of automatic switching stations.
In summary, in the existing embodiment, for the end effector of the industrial robot, the end effector does not have the multifunctional requirement of drilling and riveting integration, and does not have the normal alignment and reference detection functions, so that the final processing quality and the processing efficiency are affected.
Therefore, how to perform reasonable structural design according to task demands and solve the intelligent control of automatic hole making, hole position alignment, detection, automatic nail feeding and automatic riveting becomes a key of high-precision hole making and cooperative bidirectional riveting.
Disclosure of Invention
The invention aims to provide a drilling and riveting integrated end effector for assembling large parts of an aircraft composite material, which can realize intelligent control of automatic hole making, hole position alignment, detection, automatic nail feeding and automatic riveting.
The technical scheme for realizing the aim of the invention is as follows: the invention comprises a mounting frame, wherein a drilling module for drilling, reaming and countersinking rivet holes is arranged on the mounting frame; the station conversion module is used for converting among a drilling station, a glue injection station, a riveting station and a tool changing station according to assembly requirements; the riveting module is used for riveting and assembling; a pressure foot module for pressing the workpiece; the reference detection module is used for measuring the outline of the target object; the normal detection module is used for normal alignment; the pressure foot module comprises a pressing plate and a pressing nose, wherein the pressing plate and the pressing nose are used for pressing a workpiece in a matched mode under the driving of the pressure beriberi cylinder; the normal detection module comprises four laser displacement sensors vertically arranged on two sides of the compacting plates; the reference detection module is provided with a 2D laser displacement sensor which can measure the outline of a target object on a workpiece.
Further, the hole making module comprises an electric spindle which is arranged on the first integrated sliding table in a sliding way, and a feeding motor which is fixedly arranged on the first integrated sliding table and used for controlling feeding of the electric spindle; the electric spindle is provided with a drilling tool for hole machining; the hole making module further comprises a displacement sensor for feeding detection.
The electric spindle is a high-speed electric spindle with internal water cooling and minimal penetration lubrication functions, and is provided with an automatic cutter loosening and pulling device. The electric spindle is provided with an automatic servo feeding device to realize servo feeding of drills, hinges and countersinks, and the machining feeding amount and feeding speed of each procedure are accurately controlled. The displacement sensor detects the feeding amount of the main shaft in real time and feeds back the feeding amount to the control system, so that the full-closed loop accurate control of the countersink nest is formed, and the depth precision of the countersink nest is ensured.
Further, the station conversion module comprises an integrated precise sliding table; and a servo motor for station conversion and a guide rail brake for station locking are arranged on the integrated precise sliding table.
The guide rail brake can realize multi-position precision positioning and locking; the integrated precise sliding table adopts the foreign imported product precise integrated feeding sliding table, and is assembled and detected when leaving the factory, so that errors caused by independent selection of the ball guide rail and the screw assembly feeding mechanism are reduced. The guide rail brake adopts a foreign import NBK professional guide rail brake device, and is matched with the ball guide rail for selection, and the two guide rail brakes ensure the powerful braking capability of the guide rail.
Further, the riveting module comprises a rivet pulling power head which is arranged on the guide rail in a sliding manner, and a cylinder for driving the rivet pulling power head to pull rivets inserted into the prepared holes.
The automatic rivet feeding system conveys rivets to the rivet feeding module, the control system sends station signals, the station conversion module converts the riveting module to a riveting station, the guide rail brake locks the station, the rivet feeding module inserts the rivets into the prepared holes, the rivet pulling power head works, the rivet is formed, and the extracted rivet cores are recovered into the waste rivet box through the hose.
Further, the pressure foot module further comprises a vacuum chip suction pipeline.
Further, the reference detection module further comprises a servo motor for driving the second integrated sliding table to move; the 2D laser displacement sensor is fixedly arranged on the second integrated sliding table.
The 2D laser displacement sensors are all provided with special controllers and measurement software, and can directly measure specific quantities on the outline of a special target, such as height, width, outline center, steps, outline area and the like. The second integrated sliding table can drive the 2D laser displacement sensor to translate along the radial direction of the aperture, so that the 2D laser displacement sensor finishes scanning the whole outline of the reference hole, and the scanning feed amount and the feeding speed of the 2D laser displacement sensor are accurately controlled.
Further, the normal detection module fits a normal vector of an approximate plane where the hole to be processed is located through a 4-point normal detection algorithm and a 3-point normal detection algorithm, and compensates for the normal posture deviation.
Further, the integrated precise sliding table of the station conversion module is driven by the servo motor to slide, a linear grating ruler is arranged on the integrated precise sliding table, the positioning position of the integrated precise sliding table can be controlled through a grating ruler feedback value, and after the integrated precise sliding table is positioned at a processing station, the guide rail is locked by the guide rail brake.
Furthermore, the station conversion module is also provided with a glue injection module which can be driven by the station module to be converted to a glue injection station.
The working process of the invention comprises the following steps:
s1, sending out a signal by an industrial personal computer, working by a reference scanning module, scanning a reference hole, calculating data acquired by a 2D laser displacement sensor by a reference scanning algorithm of control software, and compensating a machining hole position;
s2, the robot drives the drilling and riveting integrated end effector to a hole site to be processed, a normal direction detection module works, data acquired by the laser displacement sensor are calculated by a normal direction alignment algorithm of control software, and the gesture of the robot is compensated;
s3, after the gesture of the robot is adjusted, the control system sends out signals, and the pressure foot module works;
s4, after the pressure pin module compresses the workpiece, the hole making module works to finish drilling, twisting and countersinking tasks at one time;
s5, the nail feeding module completes a nail feeding task while the hole making module works;
s6, after receiving the control system signal, the station conversion module converts the glue injection module or the riveting module into a processing station, and after the glue injection or the riveting work is completed, the station conversion module and the pressure foot module return to the initial positions, so that the end effector assembly task is completed.
The invention has the positive effects that: the invention aims at the requirements of processing objects, implements the concept of interchangeable standard modules, refines and designs typical functional modules, adopts multifunctional cutters integrating drilling, hinging and reaming to realize the one-time processing of high-precision and high-quality holes, integrates and installs functional modules such as technical rivets, scraps suction, pressure pins and the like, and simultaneously has on-line detection functional modules such as reference position detection, hole making process monitoring, cutter state detection and the like for ensuring the smooth proceeding of subsequent processing operations. And integrating all the functional modules, optimizing and analyzing the whole structure of the end effector, and finally integrating software and hardware to realize high-efficiency and high-reliability processing.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a structure of a reference detection module according to the present invention;
FIG. 3 is a schematic diagram of a hole forming module according to the present invention;
FIG. 4 is a schematic diagram of a sliding table on a station conversion module according to the present invention;
FIG. 5 is a schematic view of the structure of a guide rail brake on a station switching module of the present invention;
FIG. 6 is a schematic structural view of a riveting module according to the present invention;
fig. 7 is a schematic structural diagram of a reference detection module according to the present invention.
Detailed Description
Referring to fig. 1 to 7, the present invention includes a mounting frame provided with a drilling module 2 for drilling, reaming and countersinking rivet holes; the station conversion module 6 is used for converting among a drilling station, a glue injection station, a riveting station and a tool changing station according to assembly requirements; a riveting module 5 for a rivet assembly; a pressure foot module 4 for pressing the workpiece; a reference detection module 1 for measuring the profile of the object; a normal detection module 3 for normal alignment; the pressure foot module 4 comprises a pressing plate and a pressing nose which are used for being matched with and pressing a workpiece under the driving of the pressure foot cylinder 16; the normal detection module 3 comprises four laser displacement sensors 3 vertically arranged on two sides of the compacting plates; the reference detection module 1 has a 2D laser displacement sensor 18 that can measure the profile of an object on a workpiece.
The hole making module 2 comprises an electric spindle 9 which is arranged on the first integrated sliding table 8 in a sliding way, and a feeding motor 7 which is fixedly arranged on the first integrated sliding table 8 and used for controlling the feeding of the electric spindle 9; a drilling tool for hole machining is arranged on the motorized spindle 9; the hole making module 2 further comprises a displacement sensor for feed detection.
The electric spindle 9 is a high-speed electric spindle with internal water cooling and minimal penetration lubrication functions, and is provided with an automatic tool loosening and pulling device. The motorized spindle 9 is provided with an automatic servo feeding device to realize servo feeding of drills, hinges and countersinks, and precisely control the processing feeding amount and feeding speed of each procedure. The displacement sensor detects the feeding amount of the main shaft in real time and feeds back the feeding amount to the control system, so that the full-closed loop accurate control of the countersink nest is formed, and the depth precision of the countersink nest is ensured.
The station conversion module 6 comprises an integrated precise sliding table 12; the integrated precise sliding table 12 is provided with a servo motor 11 for station conversion and a guide rail brake 10 for station locking.
The guide-rail brake 10 can be positioned and locked with multiple position accuracy; the integrated precise sliding table 12 adopts a foreign imported product precise integrated feeding sliding table, and is assembled and detected when leaving the factory, so that errors caused by independent selection of a ball guide rail and a screw assembly feeding mechanism are reduced. The guide rail brake 10 adopts a foreign import NBK professional guide rail brake device, is matched with a ball guide rail for selection, and ensures the powerful braking capability of the guide rail.
The riveting module 5 includes a rivet pulling power head 13 slidably disposed on a guide rail 15, and a cylinder 14 for driving the rivet pulling power head 13 to rivet rivets inserted into the prepared holes.
The automatic rivet feeding system conveys rivets to a rivet feeding module, the control system sends station signals, the station conversion module 6 converts the riveting module 5 into a riveting station, the guide rail brake 10 locks the station, the rivet feeding module inserts the rivets into the prepared holes, the rivet pulling power head 13 works, the rivet is formed, and the extracted rivet cores are recovered into a waste rivet box through a hose.
The pressure foot module 4 further comprises a vacuum chip suction pipe 17.
The reference detection module 1 further comprises a servo motor 19 for driving the second integrated sliding table 20 to move; the 2D laser displacement sensor 18 is fixedly arranged on the second integrated sliding table 20.
The 2D laser displacement sensors 18 are equipped with proprietary controllers and measurement software that can directly measure specific amounts on a particular target profile, such as height, width, profile center, steps, profile area, etc. The second integrated sliding table 20 can drive the 2D laser displacement sensor 18 to translate along the radial direction of the hole, so that the 2D laser displacement sensor 18 finishes scanning the whole outline of the reference hole, and the scanning feed amount and the feeding speed of the 2D laser displacement sensor 18 are accurately controlled.
And the normal detection module 3 fits a normal vector of an approximate plane where the hole to be processed is located through a 4-point normal detection algorithm and a 3-point normal detection algorithm, and compensates the normal posture deviation.
The integrated precise sliding table 12 of the station conversion module 6 is driven by a servo motor to slide, a linear grating ruler is arranged on the integrated precise sliding table 12, the positioning position of the integrated precise sliding table 12 can be controlled through a grating ruler feedback value, and after the integrated precise sliding table 12 is positioned at a processing station, a guide rail brake 10 locks a guide rail.
And the station conversion module is also provided with a glue injection module which can be driven by the station module 6 to be converted into a glue injection station.
The working process of the invention comprises the following steps:
s1, sending out a signal by an industrial personal computer, enabling a reference scanning module 1 to work, scanning a reference hole, calculating data acquired by a 2D laser displacement sensor 18 by a reference scanning algorithm of control software, and compensating a machining hole site;
s2, the robot drives the drilling and riveting integrated end effector to a hole site to be processed, the normal direction detection module 3 works, and data acquired by the laser displacement sensor 3 are calculated by a normal direction alignment algorithm of control software and compensate the gesture of the robot;
s3, after the gesture of the robot is adjusted, a control system sends out a signal, and the pressure foot module 4 works;
s4, after the pressure pin module 4 compresses the workpiece, the hole making module 2 works to finish drilling, twisting and countersinking tasks at one time;
s5, the nail feeding module completes a nail feeding task while the hole making module 2 works;
s6, after receiving the control system signal, the station conversion module 6 converts the glue injection module or the riveting module into a processing station, and after the glue injection or the riveting work is completed, the station conversion module 6 and the pressure foot module 4 return to the initial positions, so that the end effector assembly task is completed.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (8)
1. A bore and rivet integration end effector that is used for aircraft combined material major assembly to assemble, its characterized in that: comprises a mounting frame, wherein a drilling module (2) for drilling, reaming and countersinking rivet holes is arranged on the mounting frame; the station conversion module (6) is used for converting among a drilling station, a glue injection station, a riveting station and a tool changing station according to assembly requirements; a riveting module (5) for a rivet assembly; a pressure foot module (4) for pressing the workpiece; a reference detection module (1) for measuring the profile of the object; a normal detection module (3) for normal alignment; the pressure foot module (4) comprises a pressing plate and a pressing nose which are used for being matched with and pressing a workpiece under the driving of the pressure foot cylinder (16); the normal detection module (3) comprises four laser displacement sensors (3) vertically arranged on two sides of the compacting plates; the reference detection module (1) is provided with a 2D laser displacement sensor (18) which can measure the outline of a target object on a workpiece.
2. The integrated end effector for the assembly of aircraft composite parts according to claim 1, wherein: the hole making module (2) comprises an electric spindle (9) which is arranged on the first integrated sliding table (8) in a sliding manner, and a feeding motor (7) which is fixedly arranged on the first integrated sliding table (8) and used for controlling the feeding of the electric spindle (9); a drilling tool for hole machining is arranged on the electric spindle (9); the hole making module (2) further comprises a displacement sensor for feeding detection.
3. The integrated end effector for the assembly of aircraft composite parts according to claim 1, wherein: the station conversion module (6) comprises an integrated precise sliding table (12); a servo motor (11) for station conversion and a guide rail brake (10) for station locking are arranged on the integrated precise sliding table (12).
4. A drill and rivet integrated end effector for aircraft composite large part assembly according to claim 3, characterized in that: the riveting module (5) comprises a riveting power head (13) which is arranged on the guide rail (15) in a sliding manner, and a cylinder (14) for driving the riveting power head (13) to rivet rivets inserted into the prepared holes.
5. The integrated end effector for the assembly of aircraft composite parts according to claim 1, wherein: the pressure foot module (4) also comprises a vacuum chip suction pipeline (17).
6. The integrated end effector for the assembly of aircraft composite parts according to claim 1, wherein: the reference detection module (1) further comprises a servo motor (19) for driving the second integrated sliding table (20) to move; the 2D laser displacement sensor (18) is fixedly arranged on the second integrated sliding table (20).
7. The integrated end effector for the assembly of aircraft composite parts according to claim 1, wherein: and the normal detection module (3) fits a normal vector of an approximate plane where the hole to be processed is located through a 4-point and 3-point normal detection algorithm, and compensates the normal posture deviation.
8. A drill and rivet integrated end effector for aircraft composite large part assembly according to claim 3, characterized in that: the integrated precise sliding table (12) of the station conversion module (6) is driven by a servo motor to slide, a linear grating ruler is arranged on the integrated precise sliding table (12), the positioning position of the integrated precise sliding table (12) can be controlled through a grating ruler feedback value, and after the integrated precise sliding table (12) is positioned at a processing station, a guide rail brake (10) locks a guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311546106.7A CN117359314A (en) | 2023-12-13 | 2023-12-13 | Drilling and riveting integrated end effector for assembling large part of aircraft composite material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311546106.7A CN117359314A (en) | 2023-12-13 | 2023-12-13 | Drilling and riveting integrated end effector for assembling large part of aircraft composite material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117359314A true CN117359314A (en) | 2024-01-09 |
Family
ID=89400470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311546106.7A Pending CN117359314A (en) | 2023-12-13 | 2023-12-13 | Drilling and riveting integrated end effector for assembling large part of aircraft composite material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117359314A (en) |
-
2023
- 2023-12-13 CN CN202311546106.7A patent/CN117359314A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104698968B (en) | Multi-functional automatic Drilling/Riveting end effector and automatic Drilling/Riveting method | |
| US8096038B2 (en) | Robotic end effector and clamping method | |
| US4955119A (en) | Multi-task end effector for robotic machining center | |
| CN110549116B (en) | Automatic drilling and riveting actuating mechanism and method suitable for riveting rocket cabin | |
| EP0338117B1 (en) | Improved riveting process and apparatus | |
| CA2613128C (en) | Manufacturing system for aircraft structures and other large structures | |
| CN204975930U (en) | A many function executing ware for airplane assembling | |
| CN105149645A (en) | Device and hole-drilling method for dimple depth control of robot hole-drilling system | |
| CN105773632A (en) | Multifunctional end executor of automatic drilling and riveting machine | |
| CN106378409B (en) | A kind of automatic drill riveter heading height control method | |
| CN111360293B (en) | Bidirectional drilling device for connection frame and wing joint of unmanned aerial vehicle body framework | |
| CN110561443A (en) | Auxiliary machining device for robot drilling end effector | |
| EP2017024A1 (en) | Drilling robot comprising a tool support frame which can be secured to the stand of the workpiece | |
| Liu et al. | A helical milling and oval countersinking end-effector for aircraft assembly | |
| EP2332669A1 (en) | Multi-functional device and method for performing automatic riveting by means of numerical control | |
| CN102059369B (en) | Feeding drill applicable to quick change arrangement of joint of robot | |
| CN201419367Y (en) | Positioning device for secondary processing of automobile U-beam | |
| CN117359314A (en) | Drilling and riveting integrated end effector for assembling large part of aircraft composite material | |
| CN113085018B (en) | Multifunctional end effector for ceramic matrix composite material hole-making plug pin | |
| EP1329270A1 (en) | Device for riveting longitudinal reinforcing members onto aluminium panels | |
| CN210294871U (en) | Control system of gantry numerical control machining center | |
| CN116900349B (en) | Aviation structural part end effector and part machining method | |
| Xiao et al. | Research on automatic assembly technology for final assembly of helicopter fuselage | |
| CN2923128Y (en) | Column moving type milling-turning machine tool | |
| CN208728711U (en) | A kind of high-precision drilling aperture apparatus of computer control |
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 |