CN104759939B - A kind of normal direction centering pose_adjuster and attitude-adjusting method thereof - Google Patents
A kind of normal direction centering pose_adjuster and attitude-adjusting method thereof Download PDFInfo
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- CN104759939B CN104759939B CN201510081366.0A CN201510081366A CN104759939B CN 104759939 B CN104759939 B CN 104759939B CN 201510081366 A CN201510081366 A CN 201510081366A CN 104759939 B CN104759939 B CN 104759939B
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- 238000000034 method Methods 0.000 title claims description 14
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- 230000008859 change Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 12
- 210000003141 lower extremity Anatomy 0.000 abstract description 10
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 238000005553 drilling Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 239000012636 effector Substances 0.000 description 3
- 238000004080 punching Methods 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- HEMJJKBWTPKOJG-UHFFFAOYSA-N Gemfibrozil Chemical compound CC1=CC=C(C)C(OCCCC(C)(C)C(O)=O)=C1 HEMJJKBWTPKOJG-UHFFFAOYSA-N 0.000 description 1
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- 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
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
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Abstract
The invention discloses a kind of normal direction centering pose_adjuster, including leg body and Suction cup assembly, X, Y, Z-direction position and the regulation at the inclination angle relative to workpiece planarization can be realized, it applies in normal direction on-line tuning mechanism, normal direction on-line tuning mechanism is a kind of normal direction on-line tuning mechanism with eight walking lower limbs, article four, lower limb one group, walks and posture adjustment, and eight lower limb structures are roughly the same.The normal direction centering pose_adjuster of the present invention is wherein one leg.It is an advantage of the current invention that: 1, make full use of mechanism's self-characteristic, structure simplifies；2, without redundancy actuating mechanism, construction weight is alleviated；3, compact conformation, is not take up exceptional space；4, there is multiple degree regulative mode, be suitable for the autonomous posture adjustment of fuselage surface.
Description
Technical field
The present invention relates to automatic punching system position online compensation technical field, particularly relate to a kind of normal direction centering pose_adjuster and attitude-adjusting method thereof.
Background technology
The vertical precision of connecting hole is one of important indicator evaluating drilling quality, and aircraft product proposes the highest requirement to the vertical precision of position, hole.The most conventional attitude-adjusting method has: the motionless product posture adjustment of (1) main shaft, such as automatic drill riveter and numerical control bracket system, main shaft can only realize moving in both direction, and the attitude leveling of product is controlled by full-automatic numerical control bracket, and this mode requires that product tune type is easy and opening character good.(2) product motionless main shaft posture adjustment, such as robot automatic punching system, utilizes the high flexibility ratio of robot, the problem that can solve size wallboard big, baroque series products tune type difficulty well.(3) principal shaft product interaction posture adjustment, this mode has mobile decoupling and easily controllable advantage, but is difficult to meet Long travel and the demand of the real-time posture adjustment in scene when processing.
Research about the on-line tuning problem of drilling normal direction is more and more extensive.Qin Xiansheng etc. are for the bracket levelling problems of GEMCOR company G400BCH/39A-96 type numerical control drilling riveter, utilize three non-contact electric eddy measurement value sensors, approximation builds the spatial attitude of position, hole to be processed regional area, and against solving the target location of each kinematic pair, the method can be effectively improved the drilling vertical precision of large-scale wallboard series products；Tomas
Olsson etc. are uniform 3 feelers around end effector of robot is fixed a cutting tool, and utilize power and torque sensor to obtain the pressure between product and feeler, judge the consistent degree of product normal direction and tool axis with this.Dan Yicai etc. devise the series-parallel connection pose_adjuster of five degree of freedom, this mechanism has the advantage of parallel institution and serial mechanism concurrently, not only work space is big and has higher rigidity and bearing capacity, and inverse arithmetic is the most relatively easy, but is not suitable for the industrial robot punching system of high flexibility.Zhang Laixi etc. have studied the online attitude-adjusting method of attitude of a kind of curve flexibility drilling robot, 4 displacement transducers are used to determine curved surface actual direction, but the robot that this system uses only has three moving sets, and the regulation of final carriage is to be performed by the two of end effector kinematic pairs.
For the brill riveting system of creeping of fuselage surface, there is more deficiency in said method:
1) bracket leveling method poor universality, different curved surfaces needs to do different subdivisions；
2) parallel institution volume is relatively big, heavier-weight, belongs to relatively heavy duty, is not suitable for wall system normal direction of creeping and adjusts；
3) end effector structures is required higher, be unsuitable for the wall of light load request and creep brill riveting system.
Summary of the invention
The technical problem to be solved is for the above-mentioned state of the art, and for a kind of portable construction, wall can be met creep and bore the needs of riveting system curved surface centering, it is achieved in high precision, the normal direction centering pose_adjuster that adjusts of high efficiency normal direction and attitude-adjusting method thereof.
The present invention solves the technical scheme that above-mentioned technical problem used:
nullA kind of normal direction centering pose_adjuster，Including leg body and Suction cup assembly，Leg body includes encoder、Servomotor、Decelerator、Scale crossed by motor、Leading screw、Line slideway、Supporting leg overcoat、Z-direction slide block and interior supporting leg，Servomotor is connected with decelerator，Leading screw is connected with decelerator，Leading screw is fixing with interior supporting leg to be connected，Interior supporting leg is fixedly connected with a slide block，Interior supporting leg is slidably arranged in supporting leg overcoat，Slide block is slidably disposed on line slideway，Line slideway is fixed on outside supporting leg and puts，Suction cup assembly is fixed on the bottom of interior supporting leg，Suction cup assembly includes Y-direction line slideway、Y-direction bridge crossing plate、Y-direction slide block、Spring leaf、Support、Ball-joint、X is to locker、X is to bridge crossing plate、X is to slide block、X is to line slideway、X is to spring、Y-direction locker、Y-direction spring，X is to slide block、Y-direction slide block is all connected with Suction cup assembly main body，Ball-joint is fixed on support and makes support hinged with Suction cup assembly body rotation，X all fixes with sucker to line slideway and Y-direction line slideway，X can slide along horizontal X direction of principal axis on line slideway at X to slide block，Y-direction slide block can slide along horizontal Y direction on Y-direction line slideway，Spring leaf、X is to spring、Y-direction spring can make Suction cup assembly main body respectively、X is to slide block、Y-direction slide block playbacks.
For optimizing technique scheme, the concrete measure taked also includes:
By connecting, sheet and mobile platform framework are fixing to be connected above-mentioned supporting leg overcoat.
Use motor to cross scale between above-mentioned servomotor and leading screw to be connected.
Realize being screwed by the screw thread on support between above-mentioned Suction cup assembly and interior supporting leg.
The periphery of above-mentioned sucker is provided with the sucker lip for increasing suction.
Above-mentioned X is used for connecting X to locker and X to slide block to bridge crossing plate, enables the two group to be integrated and slides to line slideway along X, and Y-direction bridge crossing plate is used for connecting Y-direction locker and Y-direction slide block, enables the two group to be integrated and slides along Y-direction line slideway.
The attitude-adjusting method of a kind of normal direction centering pose_adjuster, is characterized in that: comprise the following steps:
Step one, when normal direction centering pose_adjuster moves to precalculated position, normal direction centering pose_adjuster by external force make normal direction centering pose_adjuster bottom fit surface of the work, make sucker stably adsorb at surface of the work；
Step 2, system control normal direction centering pose_adjuster and carry out posture adjustment, change the X of normal direction centering pose_adjuster, Y, Z-direction position and the inclination angle relative to workpiece planarization；Particularly as follows:
X is to position adjustments: controls X and slides to line slideway along X to slide block, makes Suction cup assembly slide in the same direction to slide block also with X；And then make leg body in X upwards horizontal displacement；
Y-direction position adjustments: control Y-direction slide block and slide along Y-direction line slideway, make Suction cup assembly slide in the same direction to slide block also with X；And then make leg body horizontal displacement in Y-direction；
Z-direction position adjustments: control servomotor running, screw turns, makes interior supporting leg slide up and down relative to supporting leg overcoat, and then makes supporting leg overcoat increase with the Z-direction distance of sucker or shorten, mobile platform framework is consequently increased with the distance of workpiece planarization or shortens, it is achieved Z-direction position adjustments；
Inclination angle regulates: controls ball-joint and rotates in Suction cup assembly, fixes because of ball-joint and leg body and is connected, and realizes inclination angle regulation by controlling the rotational angle of ball-joint.
The high rotating speed of servomotor is converted into the response of suitable landing leg stretching by decelerator, and utilizes encoder feedback can improve the feed accuracy of interior supporting leg.
Compared with prior art, a kind of normal direction centering pose_adjuster of the present invention, X, Y, Z-direction position and the regulation at the inclination angle relative to workpiece planarization can be realized, it applies in normal direction on-line tuning mechanism, normal direction on-line tuning mechanism is a kind of normal direction on-line tuning mechanism with eight walking lower limbs, article four, lower limb one group, walks and posture adjustment, and eight lower limb structures are roughly the same.The normal direction centering pose_adjuster of the present invention is wherein one leg.The high rotating speed of servomotor can be converted into the flexible response of suitable leg by the decelerator of the present invention, and utilize encoder feedback can improve the feed accuracy of leg assembly, use connection sheet that slide block is fixed therein side, in supporting leg both sides, two line slideways are installed, simultaneously, it is attached by the screw thread on support between Suction cup assembly and supporting leg, and makes this supporting leg move up and down in overcoat by driven by servomotor leading screw, it is achieved the Telescopic of leg structure.Suction cup assembly includes support, ball-joint, sucker, lip, and in order to increase absorption affinity, it uses lip form.Using source of the gas to be received on vacuum generator by air inlet pipeline, its vacuum one produced terminates pressure transducer, and vacuum cup secret room is received through outlet pipe in one end, makes sucker adsorbed close.Sucker structure specifically include that support, ball-joint, spring leaf, sucker lip, X to spring, X direction guiding rail and slide block, X to bridge crossing plate, X direction guiding rail locker, Y-direction spring, Y-direction guide rail and slide block, Y-direction bridge crossing plate, Y-direction guide rail locker.Ball-joint is used to be connected between sucker with support, spring leaf resets for sucker, X all has two groups of guide rail slide block assemblies to, Y-direction, bridge crossing plate is used for connecting guide rail locker and slide block, can slide together along guide rail, guide rail locker can retrain slide block movement on guide rail, and X, Y-direction spring reset for slide block.
It is an advantage of the current invention that: 1, make full use of mechanism's self-characteristic, structure simplifies；2, without redundancy actuating mechanism, construction weight is alleviated；3, compact conformation, is not take up exceptional space；4, there is multiple degree regulative mode, be suitable for the autonomous posture adjustment of fuselage surface.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of Suction cup assembly.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in further detail.
Fig. 1 to Fig. 2 show the structural representation of the present invention.
Reference therein is: encoder 1, servomotor 2, decelerator 3, motor cross scale 4, leading screw 5, line slideway 6, Suction cup assembly 7, supporting leg overcoat 8, Z-direction slide block 9, interior supporting leg 10, Y-direction line slideway 11, Y-direction bridge crossing plate 12, Y-direction slide block 13, spring leaf 14, support 15, ball-joint 16, X to locker 17, X to bridge crossing plate 18, X to slide block 19, X to line slideway 20, X to spring 21, Y-direction locker 22, Y-direction spring 23, sucker lip 24, connect sheet 25.
nullA kind of normal direction centering pose_adjuster，Including leg body and Suction cup assembly 7，Leg body includes encoder 1、Servomotor 2、Decelerator 3、Scale 4 crossed by motor、Leading screw 5、Line slideway 6、Supporting leg overcoat 8、Z-direction slide block 9 and interior supporting leg 10，Servomotor 2 is connected with decelerator 3，Leading screw 5 is connected with decelerator 3，Leading screw 5 is fixing with interior supporting leg 10 to be connected，Interior supporting leg 10 is fixing with slide block 9 to be connected，Interior supporting leg 10 is slidably arranged in supporting leg overcoat 8，Slide block 9 is slidably disposed on line slideway 6，Line slideway 6 is fixed on supporting leg overcoat 8，Suction cup assembly 7 is fixed on the bottom of interior supporting leg 10，Suction cup assembly 7 includes Y-direction line slideway 11、Y-direction bridge crossing plate 12、Y-direction slide block 13、Spring leaf 14、Support 15、Ball-joint 16、X is to locker 17、X is to bridge crossing plate 18、X is to slide block 19、X is to line slideway 20、X is to spring 21、Y-direction locker 22、Y-direction spring 23，X is to slide block 19、Y-direction slide block 13 is all connected with Suction cup assembly 7 main body，Ball-joint 16 is fixed on support 15 and makes support 15 hinged with Suction cup assembly 7 body rotation，X all fixes with sucker to line slideway 20 and Y-direction line slideway 11，X can slide along horizontal X direction of principal axis on line slideway 20 at X to slide block 19，Y-direction slide block 13 can slide along horizontal Y direction on Y-direction line slideway 11，Spring leaf 14、X is to spring 21、Y-direction spring 23 can make Suction cup assembly 7 main body respectively、X is to slide block 19、Y-direction slide block 13 playbacks.
In embodiment, by connecting, sheet 25 and mobile platform framework are fixing to be connected supporting leg overcoat 8.
In embodiment, use motor to cross scale 4 between servomotor 2 with leading screw 5 and be connected.
In embodiment, realize being screwed by the screw thread on support 15 between Suction cup assembly 7 and interior supporting leg 10.
In embodiment, the periphery of sucker is provided with the sucker lip 24 for increasing suction.
In embodiment, X is used for connecting X to locker 17 and X to slide block 19 to bridge crossing plate 18, enabling the two group to be integrated to slide along X to line slideway 20, Y-direction bridge crossing plate 12 is used for connecting Y-direction locker 22 and Y-direction slide block 13, enables the two group to be integrated and slides along Y-direction line slideway 11.
The attitude-adjusting method of a kind of normal direction centering pose_adjuster, is characterized in that: comprise the following steps:
Step one, when normal direction centering pose_adjuster moves to precalculated position, normal direction centering pose_adjuster by external force make normal direction centering pose_adjuster bottom fit surface of the work, make sucker stably adsorb at surface of the work；
Step 2, system control normal direction centering pose_adjuster and carry out posture adjustment, change the X of normal direction centering pose_adjuster, Y, Z-direction position and the inclination angle relative to workpiece planarization；Particularly as follows:
X is to position adjustments: controls X and slides to line slideway 20 along X to slide block 19, makes Suction cup assembly 7 slide in the same direction to slide block 19 also with X；And then make leg body in X upwards horizontal displacement；
Y-direction position adjustments: control Y-direction slide block 13 and slide along Y-direction line slideway 11, make Suction cup assembly 7 slide in the same direction to slide block 19 also with X；And then make leg body horizontal displacement in Y-direction；
Z-direction position adjustments: control servomotor 2 and operate, leading screw 5 rotates, and makes interior supporting leg 10 slide up and down relative to supporting leg overcoat 8, and then makes supporting leg overcoat 8 increase with the Z-direction distance of sucker or shorten, mobile platform framework is consequently increased with the distance of workpiece planarization or shortens, it is achieved Z-direction position adjustments；
Inclination angle regulates: controls ball-joint 16 and rotates in Suction cup assembly 7, fixes because of ball-joint 16 and leg body and is connected, and realizes inclination angle regulation by controlling the rotational angle of ball-joint 16.
The high rotating speed of servomotor 2 is converted into the response of suitable landing leg stretching by decelerator 3, and utilizes encoder 1 feedback can improve the feed accuracy of interior supporting leg 10.
Mobile platform relies on eight lower limbs walk and adsorb, and eight lower limbs are divided into inside and outside two groups, and alternating movement realizes the motion of platform.Remove the difference of Suction cup assembly 7, article eight, lower limb remainder structure is identical, as shown in Figure 1, included that scale 4 etc. crossed by encoder 1, decelerator 3, motor by electric machine assembly, the high rotating speed of servomotor 2 can be converted into the flexible response of suitable leg by decelerator 3, and utilize encoder 1 feedback can improve the feed accuracy of lower limb side chain, use motor to cross scale 4 between servomotor 2 with leading screw 5 and be connected；Supporting leg overcoat 8 is fixed on mobile platform framework, use connection sheet that slide block is fixed therein side, two line slideways 6 are installed in supporting leg both sides, simultaneously, it is attached by the screw thread on support between Suction cup assembly 7 and supporting leg, and drive leading screw 5 to make this supporting leg move up and down in overcoat by servomotor 2, complete the flexible of leg.
As in figure 2 it is shown, Suction cup assembly 7 plays an important role with correcting in route direction in posture adjustment.Suction cup assembly 7 specifically include that support 15, ball-joint 16, spring leaf 14, sucker lip 24, X to spring 21, X direction guiding rail and slide block, X to bridge crossing plate, X direction guiding rail locker, Y-direction spring, Y-direction guide rail and slide block, Y-direction bridge crossing plate, Y-direction guide rail locker.Ball-joint is used to be connected between sucker with support, spring leaf resets for sucker, X all has two groups of guide rail slide block assemblies to, Y-direction, bridge crossing plate is used for connecting guide rail locker and slide block, can slide together along guide rail, guide rail locker can retrain slide block movement on guide rail, and X, Y-direction spring reset for slide block.
Below being only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment, and all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that, for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be regarded as protection scope of the present invention.
Claims (8)
- null1. a normal direction centering pose_adjuster，Including leg body and Suction cup assembly (7)，Described leg body includes encoder (1)、Servomotor (2)、Decelerator (3)、Scale (4) crossed by motor、Leading screw (5)、Line slideway (6)、Supporting leg overcoat (8)、Z-direction slide block (9) and interior supporting leg (10)，Described servomotor (2) is connected with decelerator (3)，Described leading screw (5) is connected with decelerator (3)，Described leading screw (5) is fixing with interior supporting leg (10) to be connected，Described interior supporting leg (10) is fixing with slide block (9) to be connected，Described interior supporting leg (10) is slidably arranged in supporting leg overcoat (8)，Described slide block (9) is slidably disposed on line slideway (6)，Described line slideway (6) is fixed on supporting leg overcoat (8)，Described Suction cup assembly (7) is fixed on the bottom of interior supporting leg (10)，Described Suction cup assembly (7) includes Y-direction line slideway (11)、Y-direction bridge crossing plate (12)、Y-direction slide block (13)、Spring leaf (14)、Support (15)、Ball-joint (16)、X is to locker (17)、X is to bridge crossing plate (18)、X is to slide block (19)、X is to line slideway (20)、X is to spring (21)、Y-direction locker (22) and Y-direction spring (23)，Described X is to slide block (19)、Y-direction slide block (13) is all connected with Suction cup assembly (7) main body，Described ball-joint (16) is fixed on support (15) above and makes support (15) hinged with Suction cup assembly (7) body rotation，Described X all fixes with sucker to line slideway (20) and Y-direction line slideway (11)，Described X can slide along horizontal X direction of principal axis on line slideway (20) at X to slide block (19)，Described Y-direction slide block (13) can slide along horizontal Y direction on Y-direction line slideway (11)，Described spring leaf (14)、X is to spring (21)、Y-direction spring (23) can make Suction cup assembly (7) main body respectively、X is to slide block (19)、Y-direction slide block (13) playbacks.
- A kind of normal direction centering pose_adjuster the most according to claim 1, is characterized in that: by connecting, sheet (25) and mobile platform framework are fixing to be connected described supporting leg overcoat (8).
- A kind of normal direction centering pose_adjuster the most according to claim 1, is characterized in that: uses motor to cross scale (4) between described servomotor (2) and leading screw (5) and is connected.
- A kind of normal direction centering pose_adjuster the most according to claim 1, is characterized in that: realize being screwed by the screw thread on support (15) between described Suction cup assembly (7) and interior supporting leg (10).
- A kind of normal direction centering pose_adjuster the most according to claim 1, is characterized in that: the periphery of described sucker is provided with the sucker lip (24) for increasing suction.
- A kind of normal direction centering pose_adjuster the most according to claim 1, it is characterized in that: described X is used for connecting X to locker (17) and X to slide block (19) to bridge crossing plate (18), enable the two group to be integrated to slide along X to line slideway (20), described Y-direction bridge crossing plate (12) is used for connecting Y-direction locker (22) and Y-direction slide block (13), enables the two group to be integrated and slides along Y-direction line slideway (11).
- 7. an attitude-adjusting method for normal direction centering pose_adjuster as claimed in claim 1, is characterized in that: comprise the following steps:Step one, when normal direction centering pose_adjuster moves to precalculated position, normal direction centering pose_adjuster by external force make normal direction centering pose_adjuster bottom fit surface of the work, make sucker stably adsorb at surface of the work；Step 2, system control normal direction centering pose_adjuster and carry out posture adjustment, change the X of normal direction centering pose_adjuster, Y, Z-direction position and the inclination angle relative to workpiece planarization；Particularly as follows:X is to position adjustments: controls X and slides to line slideway (20) along X to slide block (19), makes Suction cup assembly (7) slide in the same direction to slide block (19) also with X；And then make leg body in X upwards horizontal displacement；Y-direction position adjustments: control Y-direction slide block (13) and slide along Y-direction line slideway (11), make Suction cup assembly (7) slide in the same direction to slide block (19) also with X；And then make leg body horizontal displacement in Y-direction；Z-direction position adjustments: control servomotor (2) running, leading screw (5) rotates, interior supporting leg (10) is made to slide up and down relative to supporting leg overcoat (8), and then make supporting leg overcoat (8) increase with the Z-direction distance of sucker or shorten, mobile platform framework is consequently increased with the distance of workpiece planarization or shortens, it is achieved Z-direction position adjustments；Inclination angle regulates: control ball-joint (16) rotates in Suction cup assembly (7), fixes because of ball-joint (16) and leg body and is connected, and realizes inclination angle regulation by controlling the rotational angle of ball-joint (16).
- The attitude-adjusting method of normal direction centering pose_adjuster the most according to claim 7, it is characterized in that: the high rotating speed of servomotor (2) is converted into the response of suitable landing leg stretching by described decelerator (3), and utilizes encoder (1) feedback can improve the feed accuracy of interior supporting leg (10).
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| CN201510081366.0A CN104759939B (en) | 2015-02-15 | 2015-02-15 | A kind of normal direction centering pose_adjuster and attitude-adjusting method thereof |
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| KR101734241B1 (en) * | 2015-12-10 | 2017-05-11 | 현대자동차 주식회사 | Trunk lid hinge intellectual loader unit |
| CN113770675A (en) * | 2021-09-18 | 2021-12-10 | 中航西安飞机工业集团股份有限公司 | Structural component posture adjusting positioner and use method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5429009A (en) * | 1993-05-20 | 1995-07-04 | Carnegie Mellon University | Robot with cruciform geometry |
| CN102107371A (en) * | 2010-12-07 | 2011-06-29 | 中国商用飞机有限责任公司 | Walking and positioning device for walking and positioning on workpiece |
| CN102513575A (en) * | 2012-01-10 | 2012-06-27 | 袁培江 | Aviation hole-forming robot end effector capable of adjusting attitude |
| CN103084913A (en) * | 2013-01-28 | 2013-05-08 | 南京航空航天大学 | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7607234B2 (en) * | 2007-09-05 | 2009-10-27 | Hiwin Mikrosystem Corp. | Positive load alignment mechanism |
| JP2009063540A (en) * | 2007-09-10 | 2009-03-26 | Hiwin Mikrosystem Corp | Alignment apparatus for ultrahigh positive direction load |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5429009A (en) * | 1993-05-20 | 1995-07-04 | Carnegie Mellon University | Robot with cruciform geometry |
| CN102107371A (en) * | 2010-12-07 | 2011-06-29 | 中国商用飞机有限责任公司 | Walking and positioning device for walking and positioning on workpiece |
| CN102513575A (en) * | 2012-01-10 | 2012-06-27 | 袁培江 | Aviation hole-forming robot end effector capable of adjusting attitude |
| CN103084913A (en) * | 2013-01-28 | 2013-05-08 | 南京航空航天大学 | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture |
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