CN110340683A - A kind of robot end's drilling actuator - Google Patents
A kind of robot end's drilling actuator Download PDFInfo
- Publication number
- CN110340683A CN110340683A CN201910701181.3A CN201910701181A CN110340683A CN 110340683 A CN110340683 A CN 110340683A CN 201910701181 A CN201910701181 A CN 201910701181A CN 110340683 A CN110340683 A CN 110340683A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- pedestal
- drilling equipment
- actuator
- carriage
- 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
- 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
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
- B23Q1/017—Arrangements of ways
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
-
- 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
- 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
- B23Q17/2233—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Drilling And Boring (AREA)
Abstract
The invention discloses a kind of robot end drilling actuators, are fixedly connected respectively with feed arrangement and propulsion device including pedestal, drilling equipment, the feed arrangement being set on pedestal and propulsion device, drilling equipment, grating scale and target ball are additionally provided on pedestal；Feed arrangement includes cylinder and carriage, and the piston rod of cylinder is fixedly connected with carriage, and carriage is also fixedly connected with drilling equipment, and cylinder and carriage are fixedly connected with pedestal, and feed arrangement is provided with two groups, is respectively arranged at drilling equipment two sides；Propulsion device includes servo motor, screw rod and the feed screw nut's seat being sheathed on screw rod, is fixedly connected with feeding mainboard on feed screw nut's seat, feeding mainboard is fixedly connected by clamping piece with drilling equipment, and feeding mainboard is fixedly connected by connecting plate with grating scale.The drilling actuator can effectively solve the problems, such as that existing boring and riveting machine volume is big, low precision.
Description
Technical field
The invention belongs to the actuation technologies fields that drills, and in particular to a kind of robot end's drilling actuator.
Background technique
The manufacturing process of modern aircraft includes many stages, and wherein important link is aircraft assembly.Traditional aircraft assembly
Mode uses sample plate generally to guarantee that aircraft manufacturing is coordinated, that is, coordinates foundation with sample plate for manufacture, by setting
Coordination route successively carry out size transmitting, this method is also referred to as analog quantity coordination approach.Under this manufacturing mode, manufacture
Process can only be serially unfolded, it is necessary to which then progress loft design first defines the detailed dimensions and installation site of part, then
It can be carried out Fixture Design, otherwise many tooling sizes can not determine, same many technical papers also will be after sample plate determines
It can just work out, the woollen size of column such as part, it is column with fighter plane that tooling manufacture and part, which process more too busy to get away template,
To aircraft first-fly since being drawn loft, the lead time of this operating mode aircraft is 3 to 4 years.Assembler in aircraft manufacturing
Account for the 50%-70% of direct manufacturing effort as amount, and the part connection method of modern aircraft is based on rivet interlacement, important
Joint also application is bolted.
Aircraft assembly is different from other assembly, it is high to the required precision of drilling, however aircraft is assembled.If complete
Manual work is relied on entirely, is taken time and effort in the extreme, and the quality of drilling is low, reconciliation precision is extremely difficult to matching requirements, and
And efficiency is also very low.It drills according to automatic drill riveter, but can have that equipment own vol is big, is difficult to carry out curved surface
Processing, causes the problem that applicable surface is narrow.
Summary of the invention
For above-mentioned deficiency in the prior art, the present invention provides a kind of robot end drilling actuator, the drillings
Actuator can effectively solve the problems, such as that existing boring and riveting machine volume is big, low precision.
To achieve the above object, the technical solution adopted by the present invention to solve the technical problems is:
A kind of robot end's drilling actuator, including pedestal, drilling equipment, the feed arrangement being set on the pedestal
And propulsion device, the drilling equipment are fixedly connected with the feed arrangement and propulsion device respectively, are also set up on the pedestal
There are grating scale and target ball；
The feed arrangement includes cylinder and carriage, and the piston rod of the cylinder and the carriage, which are fixed, to be connected
It connects, the carriage is also fixedly connected with the drilling equipment, and the cylinder and the carriage are solid with the pedestal
Fixed connection, the feed arrangement are provided with two groups, are respectively arranged at the drilling equipment two sides；
The propulsion device includes servo motor, screw rod and the feed screw nut's seat being sheathed on the screw rod, the screw rod
Feeding mainboard is fixedly connected on nut seat, the feeding mainboard is fixedly connected by clamping piece with the drilling equipment, described
Feeding mainboard is fixedly connected by connecting plate with the grating scale.
Further, carriage includes short lead rail and the heavily loaded sliding block that is slidably connected with it, is set on the heavy duty sliding block
It is equipped with connection presser feet, the connection presser feet is fixedly connected by positioning plate with the drilling equipment, and the connection presser feet passes through work
Moving part is fixedly connected with the piston rod of the cylinder.
Further, movable part includes adapter and oscillating bearing, and the adapter is fixedly connected with the oscillating bearing.
Further, propulsion device further includes two long guideways, and the weight supporting slide is provided on the long guideway, described
Feeding mainboard is fixedly connected with the weight supporting slide.
Further, positioning plate includes side plate and bottom plate, and the side plate and bottom plate constitute U-shaped structure, the side plate difference
It is fixedly connected with the drilling equipment, is provided with the aperture passed through for the drilling equipment, the bottom plate in the middle part of the bottom plate
Outside is fixedly connected with presser feet.
Further, drilling equipment includes electro spindle and the brill countersink tool for being set to electro spindle front end, the brill countersink tool
It is connect by connection knife handle with the electro spindle.
Further, target ball is provided with 4, and the target ball is respectively arranged at the quadrangle of the pedestal, the target ball setting
In the bottom of the pedestal.
Further, pedestal lower part is provided with terminal pad, and the terminal pad is set to the middle part of the pedestal, the connection
The height of disk is greater than the diameter of the target ball.
It takes and is had the beneficial effect that caused by above scheme
1, it is provided with oscillating bearing between cylinder and connection presser feet, when cylinder and connects presser feet in installation and motion process
In, there is the micro adjustment of certain length direction and rotation direction, actuator overall assembling error can be adapted to and be compensated,
Improve the precision of drilling.
2, it is respectively arranged with two long guideways and two short lead rails on pedestal, propulsion device can be improved and feed arrangement is mobile
When stability, and then improve drilling precision, meanwhile, can also carry out the fixation for having certain to propulsion device and feed arrangement
Effect, improves the fastness of device.
3, short lead rail and cylinder are set on same straight line, so that the actuator volume after assembly is more compact, it is convenient
It uses.
4, pedestal lower part is provided with 4 terminal pads, for installing 4 target balls, real-time monitoring can execute from different perspectives
The position of device is simultaneously timely feedbacked to controller, and controller can carry out pair according to the actual position of real-time measurement and target position
Than, and then by the error compensation of feed arrangement and propulsion device realization position, improve drilling effect.
5, grating scale is provided on pedestal, grating scale is connect with feeding mainboard, for monitoring the displacement of measurement feeding mainboard,
Guarantee the precision and drilling depth of feeding, improves using effect.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is overlooking structure diagram of the invention；
Fig. 3 is present invention looks up structural representation of the invention；
Fig. 4 is schematic view of the front view of the invention；
Fig. 5 is side structure schematic view of the invention；
Appended drawing reference: 1, pedestal；2, grating scale；3, target ball；4, cylinder；5, servo motor；6, screw rod；7, feed screw nut
Seat；8, mainboard is fed；9, clamping piece；10, connecting plate；11, short lead rail；12, heavily loaded sliding block；13, presser feet is connected；14, positioning plate；
15, adapter；16, oscillating bearing；17, long guideway；18, weight supporting slide；19, side plate；20, bottom plate；21, presser feet；22, electricity is main
Axis；23, countersink tool is bored；24, knife handle is connected；25, terminal pad；26, cylinder saddle；27, riser；28, transverse slat；29, stiffening plate；
30, support end；31, fixing end；32, reading head；33, mounting base.
Specific embodiment
Specific embodiments of the present invention will be described in detail with reference to the accompanying drawing.
In one embodiment of the present of invention, as shown in Figs. 1-5, a kind of robot end's drilling actuator is provided, including
Pedestal 1, drilling equipment, the feed arrangement being set on pedestal 1 and propulsion device, drilling equipment respectively with feed arrangement and propulsion
Device is fixedly connected, and grating scale 2 and target ball 3 is additionally provided on pedestal 1, pedestal 1 is for carrying feed arrangement, propulsion device and brill
Whole device and robot end are attached by aperture apparatus, to realize boring work；
Feed arrangement includes cylinder 4 and carriage, and the piston rod of cylinder 4 is fixedly connected with carriage, carriage
It is also fixedly connected with drilling equipment, cylinder 4 and carriage are bolted to connection with pedestal 1, and feed arrangement is provided with
Two groups, it is respectively arranged at drilling equipment two sides；Cylinder 4 is fixedly connected by cylinder saddle 26 with pedestal 1, cylinder 4, cylinder saddle
It passes sequentially through bolt between 26 and pedestal 1 to be attached, carriage and cylinder 4 are set on same straight line, and cylinder 4 is for pushing away
Dynamic carriage moves forward, and then drilling equipment is driven to move forward, and realizes the purpose of drilling；It is provided with two groups of carriages
With cylinder 4, stability when drilling equipment advances can be improved.
Optimally, carriage includes short lead rail 11 and the heavily loaded sliding block 12 that is slidably connected with it, is set on heavily loaded sliding block 12
It is equipped with connection presser feet 13, heavily loaded sliding block 12 is to be bolted with presser feet 13 is connect；It connects presser feet 13 and passes through positioning plate 14 and drilling
Device is fixedly connected, and connection presser feet 13 is fixedly connected by movable part with the piston rod of cylinder 4.Optimally, movable part includes turning
Fitting 15 and oscillating bearing 16, adapter 15 are connect with 16 pin of oscillating bearing.Adapter 15 is located at and connects through connection presser feet 13
It connects and is provided with nut on the adapter 15 of 13 two sides of presser feet, adapter 15 is fixedly connected by double nut with presser feet 13 is connect；If
It is equipped with adapter 15 and oscillating bearing 16, when cylinder 4 and presser feet 13 is connected in installation and motion process, there is certain length direction
With the micro adjustment of rotation direction, actuator overall assembling error can be adapted to and be compensated.Wherein, connection presser feet 13 wraps
The riser 27 and transverse slat 28 being arranged alternately are included, is mutually perpendicular between riser 27 and transverse slat 28, is provided on riser 27 and transverse slat 28
Stiffening plate 29, adapter 15 by double nut are connect through stiffening plate 29 and with stiffening plate 29, are provided with stiffening plate 29, make to bring about the desired sensation
It is arranged in a mutually vertical manner between cylinder 4 and connection presser feet 13, using effect can be improved.
Optimally, positioning plate 14 includes side plate 19 and bottom plate 20, and side plate 19 and bottom plate 20 constitute U-shaped structure, 20 He of bottom plate
Side plate 19 is integrally formed, and side plate 19 is bolted with drilling equipment respectively, is provided in the middle part of bottom plate 20 and passes through for drilling equipment
Aperture, presser feet 21 is fixedly connected on the outside of bottom plate 20, positioning plate 14 is used to directly contact with the plate to drill is needed, to plate
It is fixed, improves the stability when accuracy and drilling of drilling；The aperture being arranged in the middle part of bottom plate 20 is logical for drilling equipment
It crosses, presser feet 21 is to be fixedly connected with bottom plate 20, is provided with presser feet 21, the fixed effect of plate can be improved.
Propulsion device includes servo motor 5, screw rod 6 and the feed screw nut's seat 7 being sheathed on screw rod 6, and servo motor 5 passes through
Motor support base is attached with pedestal 1, and 6 both ends of screw rod are respectively arranged with support end 30 and fixing end 31, screw rod 6 by bearing with
Support end 30 is connected with 31 interference of fixing end, to improve the stability of the rotation of screw rod 6；It is bolted on feed screw nut's seat 7
It is connected with feeding mainboard 8, feeding mainboard 8 is fixedly connected by clamping piece 9 with drilling equipment, and clamping piece 9 is tubular construction, cladding
In the outside of drilling equipment, to improve the fixed effect of drilling equipment, clamping piece 9 is bolted with feeding mainboard 8；Feeding
Mainboard 8 is fixedly connected by connecting plate 10 with grating scale 2, and connecting plate 10 is connected with feeding mainboard 8 and grating scale 2 by bolt respectively
It connects.Reading head 32 is provided on grating scale 2, feeding mainboard 8 is bolted with reading head 32, and reading head 32 is for precisely true
Fixed feeding displacement；Optimally, propulsion device further includes two long guideways 17, is provided with weight supporting slide 18, load-bearing on long guideway 17
Sliding block 18 is to be slidably connected with long guideway 17, and feeding mainboard 8 is bolted to connection with weight supporting slide 18, is provided with long guideway
17 and weight supporting slide 18, stability when drilling equipment advances can be improved, and then improve the precision of drilling.
Optimally, drilling equipment includes electro spindle 22 and the brill countersink tool 23 for being set to 22 front end of electro spindle, bores countersink tool
23 are connect by connecting knife handle 24 with electro spindle 22, and the aperture on bottom plate 20 passes through for boring countersink tool 23 and connection knife handle 24.
Optimally, target ball 3 is provided with 4, and target ball 3 is respectively arranged at the quadrangle of pedestal 1, and target ball 3 is set to the bottom of pedestal 1, pedestal 1
Bottom is fixedly connected with mounting base 33, and target ball 3 is connect by mounting base 33 with pedestal 1, and target ball 3 is magnetic between mounting base 33 to be connected
It connects, conveniently retracts and install.Optimally, 1 lower part of pedestal is provided with terminal pad 25, and terminal pad 25 is set to the middle part of pedestal 1, even
The height for connecing disk 25 is greater than the diameter of target ball 3, and terminal pad 25 is for pedestal 1 to be attached with robot, the height of terminal pad 25
Spend it is larger, in use, smaller to the interference of target ball 3, so that positioning is more accurate.Above-mentioned servo motor 5, cylinder 4 and grating
Ruler 2 is electrically connected with ambient controller, is operated according to the instruction of controller.
Above structure use process is as follows: driving robot, so that robot end is moved to sheet material workpiece vertical range
At about 50mm, the cylinder 4 of two sides is then driven, cylinder 4 successively drives oscillating bearing, connection presser feet 13 sliding on rolling guide
It is dynamic, electro spindle 22 is moved forward, cylinder 4 is then controlled and works, by the drilling equipment being connect with feeding mainboard 8 along screw rod 6 to being pushed forward
Dynamic, the brill countersink tool 23 of 22 front end of electro spindle just drills to plate, the depth to be drilled by 2 real-time and accurate measurement of grating scale
Degree, and data are timely feedbacked to controller, so that drilling depth is guaranteed, finally, control cylinder 4 and servo motor 5 return
It receives, drilling is completed.
Claims (8)
- The actuator 1. a kind of robot end drills, which is characterized in that including pedestal (1), drilling equipment, be set to the pedestal (1) feed arrangement and propulsion device on, the drilling equipment are fixedly connected with the feed arrangement and propulsion device respectively, institute It states and is additionally provided with grating scale (2) and target ball (3) on pedestal (1)；The feed arrangement includes cylinder (4) and carriage, and the piston rod and the carriage of the cylinder (4) are fixed to be connected Connect, the carriage is also fixedly connected with the drilling equipment, the cylinder (4) and the carriage with the pedestal (1) it is fixedly connected, the feed arrangement is provided with two groups, is respectively arranged at the drilling equipment two sides；The propulsion device include servo motor (5), screw rod (6) and be sheathed on the screw rod (6) feed screw nut seat (7), Feeding mainboard (8) is fixedly connected on feed screw nut's seat (7), the feeding mainboard (8) passes through clamping piece (9) and the brill Aperture apparatus is fixedly connected, and the feeding mainboard (8) is fixedly connected by connecting plate (10) with the grating scale (2).
- The actuator 2. robot end according to claim 1 drills, which is characterized in that the carriage includes short-range missile The heavily loaded sliding block (12) that rail (11) He Yuqi is slidably connected is provided with connection presser feet (13) on heavy duty sliding block (12), described Connection presser feet (13) be fixedly connected by positioning plate (14) with the drilling equipment, the connection presser feet (13) pass through movable part and The piston rod of the cylinder (4) is fixedly connected.
- The actuator 3. robot end according to claim 2 drills, which is characterized in that the movable part includes adapter (15) it is fixedly connected with oscillating bearing (16), the adapter (15) with the oscillating bearing (16).
- The actuator 4. robot end according to claim 1 drills, which is characterized in that the propulsion device further includes two Long guideway (17) is provided with weight supporting slide (18) on the long guideway (17), the feeding mainboard (8) and the weight supporting slide (18) it is fixedly connected.
- The actuator 5. robot end according to claim 2 drills, which is characterized in that the positioning plate (14) includes side Plate (19) and bottom plate (20), the side plate (19) and bottom plate (20) constitute U-shaped structure, the side plate (19) respectively with the drilling Device is fixedly connected, and is provided with the aperture passed through for the drilling equipment in the middle part of the bottom plate (20), the bottom plate (20) is outside Side is fixedly connected with presser feet (21).
- The actuator 6. robot end according to claim 1 drills, which is characterized in that the drilling equipment includes that electricity is main Axis (22) and the brill countersink tool (23) for being set to electro spindle (22) front end, the brill countersink tool (23) by connection knife handle (24) with Electro spindle (22) connection.
- The actuator 7. robot end according to claim 1 drills, which is characterized in that the target ball (3) is provided with 4 A, the target ball (3) is respectively arranged at the quadrangle of the pedestal (1), and the target ball (3) is set to the bottom of the pedestal (1).
- The actuator 8. robot end according to claim 1 drills, which is characterized in that pedestal (1) the lower part setting Have terminal pad (25), the terminal pad (25) is set to the middle part of the pedestal (1), and the height of the terminal pad (25) is greater than institute State the diameter of target ball (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910701181.3A CN110340683A (en) | 2019-07-31 | 2019-07-31 | A kind of robot end's drilling actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910701181.3A CN110340683A (en) | 2019-07-31 | 2019-07-31 | A kind of robot end's drilling actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110340683A true CN110340683A (en) | 2019-10-18 |
Family
ID=68183468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910701181.3A Pending CN110340683A (en) | 2019-07-31 | 2019-07-31 | A kind of robot end's drilling actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110340683A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842242A (en) * | 2019-11-26 | 2020-02-28 | 湖南大学 | Boring processing equipment suitable for large-scale component |
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|---|---|---|---|---|
| CN102059369A (en) * | 2010-11-12 | 2011-05-18 | 浙江大学 | Feeding drill applicable to quick change arrangement of joint of robot |
| CN102756138A (en) * | 2012-08-01 | 2012-10-31 | 西北工业大学 | High-accuracy hole forming device for aircraft wall panel and a method of high-accuracy hole forming device |
| CN102794491A (en) * | 2012-08-22 | 2012-11-28 | 浙江大学 | Device and method of automatic helical milling of hole |
| CN202910339U (en) * | 2012-08-01 | 2013-05-01 | 西北工业大学 | High-precision drilling device of aircraft panels |
| EP3069807A1 (en) * | 2015-03-20 | 2016-09-21 | Fuji Jukogyo Kabushiki Kaisha | Drilling machine and method of manufacturing drilled product |
| CA2857827C (en) * | 2013-08-28 | 2016-12-13 | The Boeing Company | System and method for forming perforations in a barrel section |
| CN107554813A (en) * | 2017-09-05 | 2018-01-09 | 西北工业大学 | A kind of drilling interference plug pin integrated apparatus and method |
| CN108015312A (en) * | 2017-10-27 | 2018-05-11 | 上海拓璞数控科技股份有限公司 | For robot high accuracy drilling and the end effector and measuring method of counter boring |
-
2019
- 2019-07-31 CN CN201910701181.3A patent/CN110340683A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102059369A (en) * | 2010-11-12 | 2011-05-18 | 浙江大学 | Feeding drill applicable to quick change arrangement of joint of robot |
| CN102756138A (en) * | 2012-08-01 | 2012-10-31 | 西北工业大学 | High-accuracy hole forming device for aircraft wall panel and a method of high-accuracy hole forming device |
| CN202910339U (en) * | 2012-08-01 | 2013-05-01 | 西北工业大学 | High-precision drilling device of aircraft panels |
| CN102794491A (en) * | 2012-08-22 | 2012-11-28 | 浙江大学 | Device and method of automatic helical milling of hole |
| CA2857827C (en) * | 2013-08-28 | 2016-12-13 | The Boeing Company | System and method for forming perforations in a barrel section |
| EP3069807A1 (en) * | 2015-03-20 | 2016-09-21 | Fuji Jukogyo Kabushiki Kaisha | Drilling machine and method of manufacturing drilled product |
| CN107554813A (en) * | 2017-09-05 | 2018-01-09 | 西北工业大学 | A kind of drilling interference plug pin integrated apparatus and method |
| CN108015312A (en) * | 2017-10-27 | 2018-05-11 | 上海拓璞数控科技股份有限公司 | For robot high accuracy drilling and the end effector and measuring method of counter boring |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842242A (en) * | 2019-11-26 | 2020-02-28 | 湖南大学 | Boring processing equipment suitable for large-scale component |
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Application publication date: 20191018 |