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Robotic hole making end effector

An end-effector, industrial robot technology, applied in the direction of manufacturing tools, boring/drilling, drilling/drilling equipment, etc., can solve the problems of thermal damage to the base material, severe tool wear, poor hole wall roughness, etc. Achieve the effect of improving delamination and tearing, enhancing process flexibility, and improving reliability

Inactive Publication Date: 2016-01-20
ZHENGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When processing laminated materials by traditional drilling methods, it is easy to cause defects such as out-of-tolerance hole diameter, poor hole wall roughness, severe tool wear, interlayer burrs, exit burrs, and composite material delamination, tearing, fiber prolapse, and thermal damage to the matrix material.

Method used

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  • Robotic hole making end effector

Examples

Experimental program
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Effect test

Embodiment Construction

[0057] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0058] see figure 1 As shown, the robotic hole making end effector includes a cutting unit 1 , a connecting unit 2 , a feeding unit 3 , a pressing unit 4 and a measuring unit 5 . Before implementing hole making, the hole making end effector needs to move to the target hole position with the robot first; Numerical value, cooperate with verticality adjustment algorithm, complete the cutter 103 verticality adjustments before pressing; The measured value of the photoelectric distance sensor 52C cooperates with the verticality adjustment algorithm to complete the verticality adjustment of the tool 103 after pressing; the feed unit 3 drives the cutting unit 1 to perform planetary drilling and hole making on the workpiece.

[0059] (1) Cutting unit

[0060] see figure 2 , Figure 2A and Figure 2B As shown, the cutting unit 1 includes an electric spindle 101,...

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Abstract

The invention discloses a drilling end actuator suitable for an industrial robot. The drilling end actuator comprises a cutting unit, a connecting unit, a feeding unit, a pressing unit and a measuring unit. The cutting unit mainly comprises a motorized spindle, a cutter handle, a cutter, a servo motor and a cutting transmission assembly and is used for achieving planetary drilling and cutting; the connecting unit mainly comprises a connecting plate and tool fast-switching devices and is used for achieving three installation modes and fast switching between the different installation modes; the feeding unit mainly comprises a lead screw nut pair, a feed motor and a feed transmission assembly and is used for achieving feed movement of planetary drilling and cutting; the pressing unit mainly comprises an air cylinder, a pressing plate, a pressing pipe and a pressing head and is used for pressing a workpiece; the measuring unit comprises a photoelectricity distance sensor and a force sensor and is used for detecting the perpendicularity of the cutter before and after pressing and monitoring the state of the cutter during the drilling process in real time. The drilling end actuator can form a flexible drilling system when used in cooperation with the industrial robot, and precise drilling of stacked materials can be achieved.

Description

technical field [0001] The invention belongs to the field of automatic hole making, and relates to a hole making end effector suitable for industrial robots. Background technique [0002] At present, aircraft assembly has become the bottleneck of my country's aircraft development and production, and the development of intelligent manufacturing equipment will also become the focus of competition among countries around the world. Mechanical connection is an important means of aircraft assembly. For example, the Melbourne branch of Boeing Australia, which undertakes part of the production task of 787 aircraft, needs to process 280,000 assembly holes per month. It can be seen that the quality and efficiency of hole making have a great impact on improving the quality and assembly of aircraft components. Efficiency, shortening the assembly cycle of the whole machine is of great significance. [0003] The robot hole making system has programmability and motion flexibility, and can...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23B41/00B23B19/02B23B41/06B23B47/20B23B47/00
CPCB23B41/00B23Q5/10B23Q5/406B23Q17/0952B23Q17/2428
Inventor 梁杰张兴华
Owner ZHENGZHOU UNIV
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