CN211391742U - Novel ball head and socket device for airplane butt joint assembly - Google Patents
Novel ball head and socket device for airplane butt joint assembly Download PDFInfo
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- CN211391742U CN211391742U CN201921562121.XU CN201921562121U CN211391742U CN 211391742 U CN211391742 U CN 211391742U CN 201921562121 U CN201921562121 U CN 201921562121U CN 211391742 U CN211391742 U CN 211391742U
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Abstract
The utility model provides a novel ball head ball socket device for airplane butt joint assembly, which comprises an airplane part connecting piece for connecting airplane parts; the aircraft part connecting piece comprises a connecting rod, the upper end of the connecting rod is provided with a connecting flange for connecting an aircraft part, the lower end of the connecting rod is provided with a ball head, and the bottom of the ball head is provided with a cross mark; the ball socket assembly is used for clamping the ball head and is arranged at the tail end of the numerical control positioner; the ball socket assembly comprises a ball socket seat, a lower end cover, a sliding ring, a limiting ring, an ultrasonic sensor, an air supply system, an industrial camera, a three-dimensional force sensor and a PLC control system. The utility model has the advantages of can realize freedom, three kinds of ball socket subassembly states automatic switch-over of escape prevention and locking, can not lead to the change of ball socket state because of malfunction signal such as outage or disconnected gas, it is efficient, have general suitability.
Description
Technical Field
The utility model relates to an aircraft butt joint joins in marriage dress technical field, specifically relates to a novel bulb ball socket device for aircraft butt joint assembly.
Background
In the process of aircraft assembly, in order to meet the requirements of interchangeability and coordination of large components of an aircraft, a six-degree-of-freedom parallel mechanism consisting of a plurality of three-degree-of-freedom numerical control positioners is often adopted to automatically adjust the postures and the positions of the components. Usually, the positioner is connected with the aircraft component or its tool in a spherical hinge mode, and the connection process is called a ball head positioning process.
In order to meet the requirement of six-degree-of-freedom posture adjustment of airplane components, a ball head and socket structure is generally adopted as a connecting mechanism between the airplane components and a positioner, for example, chinese patent CN105539876B discloses a posture adjustment ball head device for airplane assembly, which comprises a ball socket seat and a mounting seat for connecting and supporting a fuselage, wherein the upper part of the mounting seat is provided with a connecting flange, the lower part of the mounting seat is fixedly connected with a ball head through a connecting rod, the center of the seat body of the ball socket seat is provided with a mounting seat mounting cavity, the lower part of the mounting cavity is provided with a ball socket corresponding to the ball head, and the mounting seat is arranged in the ball; 3 clamping devices are uniformly arranged on the side part of the ball socket along the circumferential direction, and a positioning detection switch is arranged at the bottom of the ball socket; therefore, the conventional ball socket device of the ball head generally adopts an electrically-driven three-jaw chuck or adopts a pneumatic and hydraulic mode to lock and fix the ball head. By adopting the clamping mode, all driving parts are rigid bodies, the change of the clamping force can be caused due to the loss of power under the condition of unexpected power failure or gas failure, and the situations of looseness of the ball head, non-fit between part of the clamping jaw and the ball head and the like can be caused in practical application due to the elastic deformation of materials, reverse clearance of a mechanical structure and the like; in addition, the traditional ball head ball socket device generally does not have a ball head measuring function or has a complex measuring operation process, and mainly depends on manual completion, namely, the degree of automation is low, a high-efficiency measuring means is lacked, and great inconvenience is brought to the butt joint assembly work of an airplane.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing a novel bulb ball socket device for aircraft butt joint assembly.
The utility model provides a novel ball head ball socket device for airplane butt joint assembly, which comprises an airplane part connecting piece for connecting airplane parts;
the aircraft component connecting piece comprises a connecting rod, a connecting flange for connecting an aircraft component is arranged at the upper end of the connecting rod, a ball head is arranged at the lower end of the connecting rod, and a cross mark is arranged at the bottom of the ball head;
the ball socket assembly is used for clamping the ball head and is arranged at the tail end of the numerical control positioner;
characterized in that said ball and socket assembly comprises
The ball socket seat is characterized in that the middle of the upper end of the ball socket seat is provided with a ball socket corresponding to the ball head, a plurality of steel ball containing cavities are formed in the side wall of the ball socket at intervals along the circumferential direction of the ball socket, steel balls are arranged in the steel ball containing cavities, the middle of the lower end of the ball socket seat is provided with an installation cavity, and the outer peripheral surface of the upper end of the ball socket seat is provided with an upper end cover extending outwards;
the lower end cover corresponds to the upper end cover and is arranged at the lower end of the ball socket seat;
the outer ring is arranged between the upper end cover and the lower end cover, the upper end of the outer ring is connected with the lower end of the upper end cover, and the lower end surface of the outer ring is connected with the upper end of the lower end cover;
the sliding ring is arranged between the outer ring and the ball socket seat, is sleeved on the lower part of the ball socket seat and can slide up and down along the axial direction of the ball socket seat, and a limiting convex shoulder for limiting the upward sliding distance of the sliding ring is arranged on the inner wall of the outer ring;
the limiting ring is sleeved on the side wall of the sliding ring and can slide up and down along the axial direction of the sliding ring, the inner circumferential surface of the upper end of the limiting ring protrudes outwards to form a pressing convex foot pressed on the steel ball, a plurality of spring accommodating cavities are arranged on the upper end surface of the limiting ring at intervals along the circumferential direction of the limiting ring, springs are arranged in the spring accommodating cavities, the lower ends of the springs are arranged on the bottoms of the spring accommodating cavities, and the upper ends of the springs are arranged on the upper end cover;
the ultrasonic sensor is used for measuring the distance between the aircraft component and the tail end of the numerical control positioner and is arranged on one side of the outer ring through the bracket;
the air supply system is used for providing sliding power for the sliding ring and the limiting ring;
the industrial camera is used for adopting a ball head image and identifying a cross mark at the bottom of the ball head image, and is arranged in the mounting cavity through the mounting plate;
the upper end of the three-way force sensor is arranged on the mounting plate, and the lower end of the three-way force sensor is provided with an integral connecting flange;
and the PLC control system is respectively in communication connection with the numerical control positioner, the ultrasonic sensor, the gas supply system, the industrial camera and the three-way force sensor.
In a preferred embodiment of the present invention, the novel ball socket device for aircraft docking assembly further includes a manual locking system for preventing misoperation of an operator, the manual locking system includes a knob plunger disposed on the outer ring, one end of the knob plunger facing the limit ring is provided with a limit pin, and the limit ring is provided with a limit slot corresponding to the limit pin.
In a preferred embodiment of the present invention, a first sealing ring is disposed on an outer peripheral surface of the sliding ring contacting the outer ring, and a second sealing ring is disposed on an inner peripheral surface of the sliding ring contacting the ball socket.
In a preferred embodiment of the present invention, a third seal ring is disposed on the outer peripheral surface of the stop ring contacting the outer ring, and a fourth seal ring is disposed on the inner peripheral surface of the stop ring contacting the side wall of the sliding ring.
In a preferred embodiment of the present invention, the gas supply system comprises
The first air passage is formed in the lower end cover, the air outlet is positioned at the bottom of the sliding ring, a first quick-change connector is arranged on the air inlet of the first air passage, and the first quick-change connector is communicated with an air source through a first pipeline;
and the second air passage is arranged in the outer ring, the air outlet of the second air passage is positioned at the bottom of the limiting ring, a second quick-change connector is arranged on the air inlet of the second air passage, and the second quick-change connector is communicated with the air source through a second pipeline.
In a preferred embodiment of the present invention, a plurality of spring limit bolts corresponding to the springs are disposed on the upper end cap at intervals along the circumferential direction of the upper end cap, and a limit screw is further disposed on the upper end cap to prevent the limit ring from rotating relatively on the sliding ring.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the utility model discloses only an integrated industry camera on ball socket assembly, through the automatic flexible income position of monocular vision system measurement auxiliary technique realization bulb, integrated ultrasonic sensor has guaranteed the safe and reliable of the process of going into the position simultaneously.
2. The utility model discloses a pneumatic drive can realize freedom, prevent escaping and three kinds of ball socket subassembly states automatic switch-over of locking.
3. The utility model discloses can realize manual locking, can not lead to the change of ball socket state because of malfunction signal such as outage or disconnected gas, functional stability is good.
4. The utility model discloses relative tradition device is efficient, has general suitability.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a cross-sectional view of the present invention.
Fig. 3 is a schematic structural diagram of the connecting member of the present invention.
Fig. 4 is a cross-sectional view of the manual locking system of the present invention after locking.
Fig. 5 is a cross-sectional view of the manual locking system of the present invention after unlocking.
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
Referring to fig. 1-5, a novel ball and socket arrangement for an aircraft docking assembly is shown, comprising an aircraft component connector 6 for connecting aircraft components and a ball and socket assembly for clamping onto a ball.
The aircraft component 6 connecting piece comprises a connecting rod 601, a connecting flange 602 for connecting aircraft components is arranged at the upper end of the connecting rod 601, a ball head 603 is arranged at the lower end of the connecting rod 601, a cross mark 604 is arranged at the bottom of the ball head 603, and a ball socket assembly is arranged at the tail end of the numerical control positioner.
The ball and socket assembly comprises a ball and socket seat 4, a lower end cover 16, a sliding ring 18, a limiting ring 17, an ultrasonic sensor 8, an air supply system, an industrial camera 14, a three-way force sensor 12 and a PLC control system.
The middle part of the upper end of the ball socket seat 4 is provided with a ball socket 402 corresponding to the ball head, a plurality of steel ball containing cavities are arranged on the side wall of the ball socket 402 at intervals along the circumferential direction, steel balls 5 are arranged in the steel ball containing cavities, the middle part of the lower end of the ball socket seat 4 is provided with an installation cavity 403, and the outer peripheral surface of the upper end of the ball socket seat 4 is provided with an upper end cover 401 extending outwards.
The lower end cover 16 corresponds to the upper end cover 403, the lower end cover 16 is fixedly installed on the lower end of the ball socket seat 4 through bolts, the outer ring 2 is arranged between the upper end cover 401 and the lower end cover 16, the upper end of the outer ring 2 is fixedly installed on the upper end cover 401 through bolts, and the lower end of the outer ring 2 is fixedly installed on the lower end cover 16 through bolts.
The sliding ring 18 is arranged between the outer ring 2 and the ball socket seat 4, the sliding ring 18 is sleeved on the lower portion of the ball socket seat 4 and can slide up and down along the axial direction of the ball socket seat, and a limiting convex shoulder for limiting the upward sliding distance of the sliding ring 18 is arranged on the inner wall of the outer ring 2.
The first sealing ring is arranged on the outer peripheral surface of the sliding ring 18 contacted with the outer ring 2, and the second sealing ring is arranged on the inner peripheral surface of the sliding ring 18 contacted with the ball socket seat 4.
The limiting ring 17 is sleeved on the side wall of the sliding ring 18 and can slide up and down along the axial direction of the sliding ring, the inner circumferential surface of the upper end of the limiting ring 17 protrudes outwards to form a compression joint convex foot 1701 which is compressed on the steel ball 5, a plurality of spring accommodating cavities are arranged on the upper end surface of the limiting ring 18 at intervals along the circumferential direction of the limiting ring, the springs 3 are arranged in the spring accommodating cavities, the lower ends of the springs 3 are arranged on the bottoms of the spring accommodating cavities, and the upper ends of the springs 3 are arranged on the upper end cover 401.
The third sealing ring is arranged on the outer peripheral surface of the limiting ring 17, which is in contact with the outer ring 2, and the fourth sealing ring is arranged on the inner peripheral surface of the limiting ring 17, which is in contact with the side wall of the sliding ring 18.
The outer peripheral surface of the limiting ring 17 is provided with a rubber magnet 1, the inner peripheral surface of the outer ring 2 is provided with 3 magnet switches 20 corresponding to the rubber magnet 1, the 3 magnet switches 20 are respectively arranged at positions corresponding to three states of free, anti-escape and locking, and the three states of the ball head are automatically detected through the rubber magnet 1 and the 3 magnetic switches 20.
When the ball head state is switched, the limiting ring 17 inside the ball socket assembly is at different heights, namely the rubber magnet is at different heights. The three corresponding heights of the rubber magnet 1 are respectively provided with 1 magnetic switch 20, and when the rubber magnet 1 is close to the magnetic switches 20, the magnetic switches 20 obtain detection signals, so that the corresponding state of the ball head can be automatically detected.
The gas supply system is used for providing sliding power for the sliding ring 18 and the limiting ring 17, the gas supply system comprises a first gas passage and a second gas passage, the first gas passage is formed in the lower end cover, the gas outlet of the first gas passage is located at the bottom of the sliding ring, the second gas passage is formed in the outer ring, the gas outlet of the second gas passage is located at the bottom of the limiting ring, a first quick-change connector 11 is arranged on the gas inlet of the first gas passage, the first quick-change connector 11 is communicated with a gas source through a first pipeline, a second quick-change connector 23 is arranged on the gas inlet of the second gas passage, and the second quick-.
The industrial camera 14 is used for taking an image of the ball head 603 and recognizing a cross mark 604 at the bottom of the ball head, the industrial camera 14 is arranged in the mounting cavity 403 through the mounting plate 15, and the mounting plate 15 is fixedly mounted on the lower end cover 16 through bolts.
The three-way force sensor 12 is installed on the tail end of the numerical control positioner, the upper end of the three-way force sensor 12 is fixedly installed on the installation plate 15 through bolts, the lower end of the three-way force sensor 12 is provided with the integral connecting flange 13, and the integral connecting flange 13 is fixedly installed on the lower end of the three-way force sensor 12 through bolts.
The PLC control system is respectively in communication connection with the numerical control positioner, the ultrasonic sensor 8, the air supply system, the industrial camera 14 and the three-way force sensor 12.
This a novel bulb ball socket device for aircraft butt joint assembly still includes a manual locking system who prevents operating personnel maloperation, and manual locking system is served and is equipped with the spacing 2201 of participating in including setting up the knob plunger 22 on the outer lane at the relative spacing ring 17 of knob plunger 22, is equipped with on spacing ring 17 and participates in the corresponding spacing slot 1701 of 2201 with the spacing, adopts this kind of structure to avoid operating personnel to carry out the maloperation, the effectual security performance that improves this novel bulb ball socket device.
A plurality of spring limiting bolts 7 corresponding to the springs 3 are arranged on the upper end cover 401 at intervals along the circumferential direction, and limiting screws 21 are further arranged on the upper end cover 401 to prevent the limiting ring 17 from rotating relatively on the sliding ring.
The ball head ball socket device has two technical effects: 1. the ball head can be flexibly positioned; 2. the state of the ball head can be automatically switched.
1. Can make the ball head flexibly positioned
The ball socket assembly can automatically capture the position of the ball head, and the flexible positioning of the ball head is realized. The three-dimensional coordinate of the ball center of the ball head can be calculated through the industrial camera, the PLC control system controls the numerical control positioner to firstly carry out two-dimensional translation according to the coordinate of the ball center of the ball head so as to align the ball socket and the ball head, and then drives the Z axis so that the ball head is close to the ball socket assembly. And finally, a set safety stroke is reserved, the ball head is manually adjusted to an accurate position through manual fine adjustment and force feedback data of the three-way force sensor, and finally the ball head is flexibly positioned.
2. Can automatically switch the state of the ball head
The ball socket assembly adopts a pneumatic driving mode, and can realize three states of freedom, escape prevention and locking.
In the airplane posture adjusting process, the system can independently set the working state of each ball socket assembly according to the needs of the general posture adjusting process, and the automatic switching of the state of the process ball head is realized. For example: in the gesture adjusting process, the gesture adjusting device is switched to an anti-escape state; in the butt joint process, switching to a locking state; and the upper frame and the lower frame are automatically switched to a free state in the butt joint process. The whole process is automatically completed by the system.
a. Free state
The lower part of the limiting ring is ventilated, the spring is compressed, the limiting ring is completely separated from the steel ball, and the ball head can be placed into or taken out of the ball socket at will.
b. Escape-proof state
The lower part of the sliding ring is ventilated in an escape-proof state, the limiting ring is pushed upwards for a short distance, a small amount of clearance is kept between a compression joint convex foot of the limiting ring and the steel balls, the ball head is not contacted by the contact force of the steel balls after being placed, but the maximum distance between each pair of steel balls is smaller than the diameter of the ball head, and the ball head can move freely in the ball socket but cannot escape from the ball socket.
c. Locked state
The air circuits are all kept in a pressure relief state, the spring 3 is in a compression state in a locking state, the limiting ring is jacked to the lowest position, the compression convex foot, the steel ball and the ball head are kept in mutual contact, the steel ball is firmly pressed on the ball head through the spring force, and a stable locking state is kept.
The ball socket assembly is locked in a spring form with a rectangular cross section, and can accommodate 12 springs at most. A locking force of 6100N maximum can be provided. Even under the gas or power-off state, the stable locking state can be realized, and the change of the tool posture caused by sudden electric and pneumatic fluctuation can be avoided.
In the normal use process, rectangular spring can be dismantled in pairs to reduce the clamp force and satisfy operating mode requirement. Specific parameters are shown in table 1:
TABLE 1 number of springs and clamping force parameters
| Number of | Locking force | |
| 12 root of | 6100N | |
| 10 root of | 5100N | |
| 8 root of | 4000N | |
| 6 root of Chinese goldthread | 3000N | |
| 4 root of Chinese thorowax | 2000N |
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (6)
1. A novel bulb ball socket device for aircraft butt joint assembly includes
An aircraft component connector for connecting aircraft components;
the aircraft component connecting piece comprises a connecting rod, a connecting flange for connecting an aircraft component is arranged at the upper end of the connecting rod, a ball head is arranged at the lower end of the connecting rod, and a cross mark is arranged at the bottom of the ball head;
the ball socket assembly is used for clamping the ball head and is arranged at the tail end of the numerical control positioner;
characterized in that said ball and socket assembly comprises
The ball socket seat is characterized in that the middle of the upper end of the ball socket seat is provided with a ball socket corresponding to the ball head, a plurality of steel ball containing cavities are formed in the side wall of the ball socket at intervals along the circumferential direction of the ball socket, steel balls are arranged in the steel ball containing cavities, the middle of the lower end of the ball socket seat is provided with an installation cavity, and the outer peripheral surface of the upper end of the ball socket seat is provided with an upper end cover extending outwards;
the lower end cover corresponds to the upper end cover and is arranged at the lower end of the ball socket seat;
the outer ring is arranged between the upper end cover and the lower end cover, the upper end of the outer ring is connected with the lower end of the upper end cover, and the lower end surface of the outer ring is connected with the upper end of the lower end cover;
the sliding ring is arranged between the outer ring and the ball socket seat, is sleeved on the lower part of the ball socket seat and can slide up and down along the axial direction of the ball socket seat, and a limiting convex shoulder for limiting the upward sliding distance of the sliding ring is arranged on the inner wall of the outer ring;
the limiting ring is sleeved on the side wall of the sliding ring and can slide up and down along the axial direction of the sliding ring, the inner circumferential surface of the upper end of the limiting ring protrudes outwards to form a pressing convex foot pressed on the steel ball, a plurality of spring accommodating cavities are arranged on the upper end surface of the limiting ring at intervals along the circumferential direction of the limiting ring, springs are arranged in the spring accommodating cavities, the lower ends of the springs are arranged on the bottoms of the spring accommodating cavities, and the upper ends of the springs are arranged on the upper end cover;
the ultrasonic sensor is used for measuring the distance between the aircraft component and the tail end of the numerical control positioner and is arranged on one side of the outer ring through the bracket;
the air supply system is used for providing sliding power for the sliding ring and the limiting ring;
the industrial camera is used for adopting a ball head image and identifying a cross mark at the bottom of the ball head image, and is arranged in the mounting cavity through the mounting plate;
the upper end of the three-way force sensor is arranged on the mounting plate, and the lower end of the three-way force sensor is provided with an integral connecting flange;
and the PLC control system is respectively in communication connection with the numerical control positioner, the ultrasonic sensor, the gas supply system, the industrial camera and the three-way force sensor.
2. The novel ball socket assembly for the aircraft docking assembly as claimed in claim 1, further comprising a manual locking system for preventing the misoperation of the operator, wherein the manual locking system comprises a knob plunger disposed on the outer ring, a limit pin is disposed on one end of the knob plunger opposite to the limit ring, and a limit slot corresponding to the limit pin is disposed on the limit ring.
3. The novel ball head and socket assembly for airplane docking assembly as claimed in claim 1, wherein a first sealing ring is provided on the outer peripheral surface of the sliding ring contacting with the outer ring, and a second sealing ring is provided on the inner peripheral surface of the sliding ring contacting with the ball socket.
4. The novel ball head and socket device for airplane butt joint assembly according to claim 1, wherein a third sealing ring is arranged on the outer peripheral surface of the limiting ring contacting with the outer ring, and a fourth sealing ring is arranged on the inner peripheral surface of the limiting ring contacting with the side wall of the sliding ring.
5. The novel ball head and socket assembly for aircraft docking assembly as claimed in claim 1, wherein said air supply system comprises
The first air passage is formed in the lower end cover, the air outlet is positioned at the bottom of the sliding ring, a first quick-change connector is arranged on the air inlet of the first air passage, and the first quick-change connector is communicated with an air source through a first pipeline;
and the second air passage is arranged in the outer ring, the air outlet of the second air passage is positioned at the bottom of the limiting ring, a second quick-change connector is arranged on the air inlet of the second air passage, and the second quick-change connector is communicated with the air source through a second pipeline.
6. The novel ball head and socket assembly for aircraft docking assembly as claimed in claim 1, wherein a plurality of spring limit bolts corresponding to the springs are provided at intervals along the circumferential direction of the upper end cap, and a limit screw is provided on the upper end cap to prevent the limit ring from rotating relative to the sliding ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921562121.XU CN211391742U (en) | 2019-09-19 | 2019-09-19 | Novel ball head and socket device for airplane butt joint assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921562121.XU CN211391742U (en) | 2019-09-19 | 2019-09-19 | Novel ball head and socket device for airplane butt joint assembly |
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| Publication Number | Publication Date |
|---|---|
| CN211391742U true CN211391742U (en) | 2020-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921562121.XU Active CN211391742U (en) | 2019-09-19 | 2019-09-19 | Novel ball head and socket device for airplane butt joint assembly |
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| Country | Link |
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| CN (1) | CN211391742U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110589011A (en) * | 2019-09-19 | 2019-12-20 | 上海拓璞数控科技股份有限公司 | Novel ball head and socket device for airplane butt joint assembly and positioning method |
| CN113681590A (en) * | 2021-08-27 | 2021-11-23 | 中国矿业大学 | Modular robot docking device and docking method |
| CN113917212A (en) * | 2021-08-25 | 2022-01-11 | 珠海电默科技有限公司 | Intelligent electricity utilization monitoring system based on non-invasive high-voltage measurement technology |
| CN114476116A (en) * | 2022-01-27 | 2022-05-13 | 成都九系机器人科技有限公司 | Flexible butt joint system for large helicopter assembly |
-
2019
- 2019-09-19 CN CN201921562121.XU patent/CN211391742U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110589011A (en) * | 2019-09-19 | 2019-12-20 | 上海拓璞数控科技股份有限公司 | Novel ball head and socket device for airplane butt joint assembly and positioning method |
| CN113917212A (en) * | 2021-08-25 | 2022-01-11 | 珠海电默科技有限公司 | Intelligent electricity utilization monitoring system based on non-invasive high-voltage measurement technology |
| CN113917212B (en) * | 2021-08-25 | 2024-01-30 | 珠海电默科技有限公司 | Intelligent electricity consumption monitoring system based on non-invasive high-voltage measurement technology |
| CN113681590A (en) * | 2021-08-27 | 2021-11-23 | 中国矿业大学 | Modular robot docking device and docking method |
| CN114476116A (en) * | 2022-01-27 | 2022-05-13 | 成都九系机器人科技有限公司 | Flexible butt joint system for large helicopter assembly |
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