CN110202084B - End effector for riveting airplane body - Google Patents
End effector for riveting airplane body Download PDFInfo
- Publication number
- CN110202084B CN110202084B CN201910350856.4A CN201910350856A CN110202084B CN 110202084 B CN110202084 B CN 110202084B CN 201910350856 A CN201910350856 A CN 201910350856A CN 110202084 B CN110202084 B CN 110202084B
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- Prior art keywords
- bracket
- riveting
- sliding
- mounting plate
- supporting plate
- 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.)
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- 239000012636 effector Substances 0.000 title claims abstract description 7
- 238000005553 drilling Methods 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000009471 action Effects 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
- B21J15/142—Aerospace structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
- B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B47/00—Constructional features of components specially designed for boring or drilling machines; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/01—Aircraft parts
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
- Presses And Accessory Devices Thereof (AREA)
Abstract
The invention relates to an end effector for riveting an aircraft fuselage, which is provided with a bracket, a drilling and riveting mechanism, a reference hole detection module for reference hole alignment and a presser foot mechanism for normal alignment and pressing of a workpiece to be machined; the support comprises an upper support and a lower support; an electric push rod is arranged on the upper bracket; the upper bracket is rotationally connected with the lower bracket through a first rotating shaft; the electric push rod is rotationally connected with the lower bracket through a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft. According to the invention, the reference hole detection module and the presser foot mechanism can be aligned, and the electric push rod is used for compensation adjustment, so that higher-precision drilling and riveting processing can be realized.
Description
Technical Field
The present invention relates to an end effector for riveting an aircraft fuselage.
Background
Aircraft wings or some fuselages are fabricated by riveting a support skeleton and a thin-walled skin. Because aircraft wing and fuselage have certain curved surface, consequently in traditional riveting assembly, through artificial mode, its machining precision obtains not fine assurance, and assembly efficiency is low moreover.
Therefore, in order to improve the assembly efficiency and the assembly precision, development and design are carried out on automatic drilling and riveting equipment aiming at the processing requirements of the aircraft wings and the aircraft fuselage. Although many automatic drilling and riveting machines for aircraft wings and airframes are developed, the machining precision of the automatic drilling and riveting machines cannot be well guaranteed all the time because multidirectional compensation cannot be realized.
Disclosure of Invention
The invention aims to provide an end effector for riveting an aircraft fuselage, which can realize multidirectional compensation.
The technical scheme for realizing the aim of the invention is as follows: the invention is provided with a bracket, a drilling and riveting mechanism, a reference hole detection module for reference hole alignment and a presser foot mechanism for normal alignment and pressing of a workpiece to be processed; the support comprises an upper support and a lower support; an electric push rod is arranged on the upper bracket; the upper bracket is rotationally connected with the lower bracket through a first rotating shaft; the electric push rod is rotationally connected with the lower bracket through a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft.
The lower bracket comprises a supporting plate and a rotating bracket; the upper bracket is rotationally connected with the supporting plate through a first rotating shaft; the electric push rod is rotationally connected with the supporting plate through a second rotating shaft; the rotating support is rotationally connected with the supporting plate through a turntable; the rotation axis of the rotation bracket is vertical to the support plate; a first swing foot seat is rotatably arranged on the supporting plate; the rotating bracket is rotatably provided with a second swinging foot seat; the rotation axis of the first swing foot seat, the rotation axis of the second swing foot seat and the rotation axis of the rotation bracket are parallel to each other; a screw rod sliding seat is fixedly arranged on the first swing foot seat, and an electric screw rod is fixedly arranged on the second swing foot seat; the electric screw rod is connected with the screw rod sliding seat in a matched mode. When the lower bracket turns relative to the upper bracket, the swing angle can be detected through a magnetic grating ruler arranged on the first rotating shaft. The turntable is provided with a magnetic grating ruler capable of realizing precise detection of rotation.
The drilling and riveting mechanism comprises a drilling device for drilling, a riveting device for riveting and a rivet receiving and transferring device; the rotating bracket is provided with a mounting plate in a sliding manner, and the mounting plate is provided with a first driving device capable of driving the mounting plate to slide; the drilling device is arranged on the mounting plate in a sliding manner, and a second driving device capable of driving the drilling device to slide along the sliding direction perpendicular to the mounting plate is arranged on the drilling device; the riveting device is arranged on the mounting plate in a sliding manner, and a third driving device capable of driving the riveting device to slide along the sliding direction perpendicular to the mounting plate is arranged on the riveting device; the rivet receiving and transferring device comprises a rivet output pipe, a telescopic cylinder, a turnover motor and a pneumatic finger for clamping rivets; the rivet output pipe is fixedly arranged on the mounting plate, the telescopic cylinder is fixedly arranged on the lower bracket, the overturning motor is fixedly connected with a telescopic shaft of the telescopic cylinder, an output shaft of the overturning motor is fixedly connected with a pneumatic finger, the pneumatic finger is driven by the overturning motor to come and go between the rivet output pipe and the riveting device, and the rivet output pipe and the riveting device are respectively used for taking nails and installing nails under the action of the telescopic cylinder. And detection sensors for detecting the diameter and the length of the rivet are correspondingly arranged on the rivet output pipe.
The reference hole detection module comprises a servo motor, a linear sliding table and a 2D laser profiler; the 2D laser profiler is fixedly arranged on the linear sliding table; the servo motor is fixedly arranged on the lower support and drives the linear sliding table to slide.
The presser foot mechanism comprises a sliding supporting plate, a driving cylinder, a presser foot opening and a normal detection sensor; the sliding supporting plate is arranged on the lower bracket in a sliding manner; the driving cylinder is fixedly connected to the lower bracket, and a pushing shaft of the driving cylinder is fixedly connected with the sliding supporting plate; the sliding supporting plate slides along the direction perpendicular to the sliding direction of the mounting plate under the pushing of the driving air cylinder; the presser foot opening is fixedly arranged on the sliding supporting plate, and a normal detection sensor is fixedly arranged at the periphery of the presser foot opening; the drilling device and the riveting device can be respectively matched with the presser foot opening in a corresponding manner through sliding of the mounting plate.
The invention has the positive effects that: (1) According to the invention, the lower bracket can be turned over by the electric push rod, and one-azimuth compensation is added, so that the processing precision of drilling and riveting is further improved;
(2) According to the invention, through the cooperation of the electric screw rod and the screw rod sliding seat, the rotation between the rotating bracket and the supporting plate can be realized, namely, the swing compensation in one direction is added, so that the processing precision of drilling and riveting is further improved;
(3) The invention utilizes the reference hole detection module and the presser foot mechanism and combines multidirectional compensation, thereby ensuring the processing precision of drilling and riveting to the greatest extent.
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 leg pressing mechanism according to the present invention;
FIG. 3 is a schematic structural view of the drilling and riveting mechanism according to the present invention;
FIG. 4 is a schematic view of a rivet receiving and transferring device according to the present invention;
FIG. 5 is a schematic diagram of a reference hole detection module according to the present invention;
Detailed Description
Referring to fig. 1 to 5, the invention is provided with a bracket 1, a drilling and riveting mechanism 2, a reference hole detection module 3 for reference hole alignment, and a presser foot mechanism 4 for normal alignment and pressing of a workpiece to be processed; the method is characterized in that: the bracket 1 comprises an upper bracket 11 and a lower bracket 12.
The lower bracket 12 includes a support plate 121 and a rotating bracket 122; the upper bracket 11 is rotatably connected with the supporting plate 121 through a first rotating shaft; the electric push rod 5 is rotatably connected with the supporting plate 121 through a second rotating shaft; the second rotating shaft is parallel to the first rotating shaft; the rotating bracket 122 is rotatably connected with the supporting plate 121 through a turntable 123; the rotation axis of the rotation bracket 122 is perpendicular to the support plate 121; the supporting plate 121 is rotatably provided with a first swinging foot seat 6; the rotating bracket 122 is rotatably provided with a second swinging foot seat 7; the rotation axis of the first swing foot 6, the rotation axis of the second swing foot 7 and the rotation axis of the rotation bracket 122 are parallel to each other; a screw rod sliding seat 8 is fixedly arranged on the first swing foot seat 6, and an electric screw rod 9 is fixedly arranged on the second swing foot seat 7; the electric screw rod 9 is connected with the screw rod sliding seat 8 in a matched mode.
The drilling and riveting mechanism 2 comprises a drilling device 21 for drilling holes, a riveting device 22 for riveting and a rivet receiving and transferring device 23; the rotating bracket 122 is provided with a mounting plate 24 in a sliding manner, and the mounting plate 24 is provided with a first driving device capable of driving the mounting plate to slide; the drilling device 21 is slidably arranged on the mounting plate 24, and a second driving device capable of driving the drilling device 21 to slide along a direction perpendicular to the sliding direction of the mounting plate 24 is arranged on the drilling device 21; the riveting device 22 is slidably arranged on the mounting plate 24, and a third driving device capable of driving the riveting device 22 to slide along a direction perpendicular to the sliding direction of the mounting plate 24 is arranged on the riveting device 22; the rivet receiving and transferring device 23 comprises a rivet output pipe 23-1, a telescopic cylinder 23-2, a turnover motor 23-3 and a pneumatic finger 23-4 for clamping rivets; the rivet output pipe 23-1 is fixedly arranged on the mounting plate 24, the telescopic cylinder 23-2 is fixedly arranged on the lower bracket 12, the overturning motor 23-3 is fixedly connected with a telescopic shaft of the telescopic cylinder 23-2, an output shaft of the overturning motor 23-3 is fixedly connected with the pneumatic finger 23-4, the pneumatic finger 23-4 is driven by the overturning motor to come and go between the rivet output pipe 23-1 and the riveting device 22, and nails and staples are respectively taken from the rivet output pipe 23-1 and the riveting device 22 under the action of the telescopic cylinder 23-2.
The reference hole detection module 3 comprises a servo motor 31, a linear sliding table 32 and a 2D laser profiler 33; the 2D laser profiler 33 is fixedly arranged on the linear sliding table 32; the servo motor 31 is fixedly installed on the lower bracket 12, and drives the linear sliding table 32 to slide.
The presser foot mechanism 4 comprises a sliding supporting plate 41, a driving cylinder 42, a presser foot opening 43 and a normal detection sensor 44; the sliding support plate 41 is arranged on the lower bracket 12 in a sliding way; the driving air cylinder 42 is fixedly connected to the lower bracket 12, and a pushing shaft of the driving air cylinder 42 is fixedly connected with the sliding supporting plate 41; the sliding support plate 41 slides along a direction perpendicular to the sliding direction of the mounting plate 24 under the pushing of the driving air cylinder 42; the presser foot opening 43 is fixedly arranged on the sliding supporting plate 41, and a normal detection sensor 44 is fixedly arranged on the periphery of the presser foot opening 43; the drilling device 21 and the riveting device 22 can be respectively correspondingly matched with the presser foot opening 43 through the sliding of the mounting plate 24.
The working process of the invention is as follows:
firstly, taking out rivets from a rivet output pipe 23-1 by a pneumatic finger 23-4 under the action of a telescopic cylinder 23-2, and then enabling the rivets clamped by the pneumatic finger 23-4 to be aligned with the rivet mounting holes of a riveting device 22 under the action of a turnover motor 23-3; then the pneumatic finger 23-4 sends the rivet into the rivet installing hole of the riveting device 22 under the action of the telescopic cylinder 23-2, and then the pneumatic finger 23-4 loosens the rivet and resets to accept and transfer the rivet next time;
meanwhile, the reference hole detection module 3 is used for finding out a reference hole, the laser displacement sensor 44 in the presser foot mechanism 4 is used for carrying out normal alignment on a position to be processed, and at the moment, the electric push rod 5 and the electric screw rod 9 work simultaneously for alignment. After alignment, the presser foot opening 43 compresses the workpiece to be machined, the drilling device 21 performs hole making and countersinking on the workpiece to be machined, and then the mounting plate 24 slides, so that the riveting device 22 aligns with the presser foot opening 43, and then press riveting is performed.
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 (2)
1. An end effector for riveting an aircraft fuselage is provided with a bracket (1), a drilling and riveting mechanism (2), a reference hole detection module (3) for aligning a reference hole and a presser foot mechanism (4) for normal alignment and pressing of a workpiece to be machined; the method is characterized in that: the bracket (1) comprises an upper bracket (11) and a lower bracket (12); an electric push rod (5) is arranged on the upper bracket (11); the upper bracket (11) is rotationally connected with the lower bracket (12) through a first rotating shaft; the electric push rod (5) is rotationally connected with the lower bracket (12) through a second rotating shaft, and the second rotating shaft is parallel to the first rotating shaft;
the lower bracket (12) comprises a supporting plate (121) and a rotating bracket (122); the upper bracket (11) is rotationally connected with the supporting plate (121) through a first rotating shaft; the electric push rod (5) is rotationally connected with the supporting plate (121) through a second rotating shaft; the rotating bracket (122) is rotationally connected with the supporting plate (121) through a turntable (123); the rotation axis of the rotation bracket (122) is vertical to the support plate (121); a first swing foot seat (6) is rotatably arranged on the supporting plate (121); a second swing foot seat (7) is rotatably arranged on the rotating bracket (122); the rotation axis of the first swing foot seat (6), the rotation axis of the second swing foot seat (7) and the rotation axis of the rotation bracket (122) are parallel to each other; a screw rod sliding seat (8) is fixedly arranged on the first swing foot seat (6), and an electric screw rod (9) is fixedly arranged on the second swing foot seat (7); the electric screw rod (9) is connected with the screw rod sliding seat (8) in a matching way;
the drilling and riveting mechanism (2) comprises a drilling device (21) for drilling, a riveting device (22) for riveting and a rivet receiving and transferring device (23); the rotating bracket (122) is provided with a mounting plate (24) in a sliding manner, and the mounting plate (24) is provided with a first driving device capable of driving the mounting plate to slide; the drilling device (21) is arranged on the mounting plate (24) in a sliding manner, and a second driving device capable of driving the drilling device (21) to slide along the sliding direction perpendicular to the mounting plate (24) is arranged on the drilling device; the riveting device (22) is arranged on the mounting plate (24) in a sliding manner, and a third driving device which can drive the riveting device (22) to slide along the sliding direction perpendicular to the mounting plate (24) is arranged on the riveting device; the rivet receiving and transferring device (23) comprises a rivet output pipe (23-1), a telescopic cylinder (23-2), a turnover motor (23-3) and a pneumatic finger (23-4) for clamping rivets; the rivet output pipe (23-1) is fixedly arranged on the mounting plate (24), the telescopic cylinder (23-2) is fixedly arranged on the lower bracket (12), the overturning motor (23-3) is fixedly connected with a telescopic shaft of the telescopic cylinder (23-2), an output shaft of the overturning motor (23-3) is fixedly connected with the pneumatic finger (23-4), the pneumatic finger (23-4) moves back and forth between the rivet output pipe (23-1) and the riveting device (22) under the driving of the overturning motor, and the rivet output pipe (23-1) and the riveting device (22) are respectively used for taking nails and binding nails under the action of the telescopic cylinder (23-2);
the reference hole detection module (3) comprises a servo motor (31), a linear sliding table (32) and a 2D laser profiler (33); the 2D laser profiler (33) is fixedly arranged on the linear sliding table (32); the servo motor (31) is fixedly arranged on the lower bracket (12) and drives the linear sliding table (32) to slide.
2. An end effector for riveting an aircraft fuselage according to claim 1, wherein: the presser foot mechanism (4) comprises a sliding supporting plate (41), a driving cylinder (42), a presser foot opening (43) and a normal detection sensor (44); the sliding supporting plate (41) is arranged on the lower bracket (12) in a sliding way; the driving air cylinder (42) is fixedly connected to the lower bracket (12), and a pushing shaft of the driving air cylinder (42) is fixedly connected with the sliding supporting plate (41); the sliding supporting plate (41) slides along the sliding direction perpendicular to the mounting plate (24) under the pushing of the driving air cylinder (42); the presser foot opening (43) is fixedly arranged on the sliding supporting plate (41), and a normal detection sensor (44) is fixedly arranged on the periphery of the presser foot opening (43); the drilling device (21) and the riveting device (22) can be respectively correspondingly matched with the presser foot opening (43) through sliding of the mounting plate (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350856.4A CN110202084B (en) | 2019-04-28 | 2019-04-28 | End effector for riveting airplane body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350856.4A CN110202084B (en) | 2019-04-28 | 2019-04-28 | End effector for riveting airplane body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110202084A CN110202084A (en) | 2019-09-06 |
| CN110202084B true CN110202084B (en) | 2024-02-23 |
Family
ID=67786530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910350856.4A Active CN110202084B (en) | 2019-04-28 | 2019-04-28 | End effector for riveting airplane body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110202084B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202185737U (en) * | 2011-06-17 | 2012-04-11 | 南京航空航天大学 | Self-adaptation fine adjustment device for pressure pins of automatic drilling and riveting end effectors |
| CN103231250A (en) * | 2013-05-03 | 2013-08-07 | 西北工业大学 | Multi-functional drilling-riveting actuator |
| CN104698968A (en) * | 2015-02-11 | 2015-06-10 | 南京航空航天大学 | Multifunctional automatic drilling and riveting end executor and automatic drilling and riveting method |
| CN105643278A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | Horizontal automatic drilling and riveting machine tool used for assembling aircraft panel |
| CN105798706A (en) * | 2016-02-24 | 2016-07-27 | 浙江大学 | Terminal accuracy gravity compensation method for aircraft panel horizontal type automatic boring and riveting machine |
| CN108115532A (en) * | 2017-12-19 | 2018-06-05 | 大连理工大学 | The processing unit (plant) and processing method of composite material component intracavity sidewall root pilot hole |
| CN210160345U (en) * | 2019-04-28 | 2020-03-20 | 常州市三利精机有限公司 | Be used for riveted end effector of aircraft fuselage |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016110914A1 (en) * | 2015-11-23 | 2017-05-24 | Broetje-Automation Gmbh | End effector for a riveting device |
-
2019
- 2019-04-28 CN CN201910350856.4A patent/CN110202084B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202185737U (en) * | 2011-06-17 | 2012-04-11 | 南京航空航天大学 | Self-adaptation fine adjustment device for pressure pins of automatic drilling and riveting end effectors |
| CN103231250A (en) * | 2013-05-03 | 2013-08-07 | 西北工业大学 | Multi-functional drilling-riveting actuator |
| CN104698968A (en) * | 2015-02-11 | 2015-06-10 | 南京航空航天大学 | Multifunctional automatic drilling and riveting end executor and automatic drilling and riveting method |
| CN105798706A (en) * | 2016-02-24 | 2016-07-27 | 浙江大学 | Terminal accuracy gravity compensation method for aircraft panel horizontal type automatic boring and riveting machine |
| CN105643278A (en) * | 2016-02-29 | 2016-06-08 | 浙江大学 | Horizontal automatic drilling and riveting machine tool used for assembling aircraft panel |
| CN108115532A (en) * | 2017-12-19 | 2018-06-05 | 大连理工大学 | The processing unit (plant) and processing method of composite material component intracavity sidewall root pilot hole |
| CN210160345U (en) * | 2019-04-28 | 2020-03-20 | 常州市三利精机有限公司 | Be used for riveted end effector of aircraft fuselage |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110202084A (en) | 2019-09-06 |
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