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1. 发明授权

US06141848A Contoured stringer/clip drilling 失效
标题翻译：轮廓纵梁/夹钻
公开(公告)号：US06141848A
公开(公告)日：2000-11-07
申请号：US106636
申请日：1998-06-28
申请人： David A. Yousko , Hugh R. Schlosstein , David M. Kozy , Dennis M. Cordy , Edward F. Neary , Hinrich C. Patjens
发明人： David A. Yousko , Hugh R. Schlosstein , David M. Kozy , Dennis M. Cordy , Edward F. Neary , Hinrich C. Patjens
IPC分类号： B21J15/10 , B23B41/00 , B23B47/28 , B23P21/00 , B64F5/00 , B21J15/14
CPC分类号： B64F5/0009 , B21J15/10 , B21J15/142 , B23B41/00 , B23B47/28 , B23P21/00 , B23P2700/01 , Y10T29/5118 , Y10T29/5191
摘要： An assembly cell for accurate placement of stringer clips in a channel of a stringer for a compound contour section of an airplane fuselage, and for holding the clips at a predetermined orientation while drilling holes for fastening the clips in the stringers includes a fixture having locating surfaces for holding the stringer in a configuration that is the same as the configuration it will have when installed at its designated position in the airplane. The fixture has headers adjustable to conform to the shape of the airplane in which the stringers will be installed, The headers have clamps for securing the stringers against accurately machined reference surfaces on the headers. An end effector is held by a machine tool in the assembly cell for gripping a stringer clip and inserting it into the stringer channel. The end effector has spreader bars for insertion in the stringer channel operable to spread sidewalls of the stringer and widen the channel to facilitate insertion of the stringer clip, and has clamp bars positionable on opposide sides of the stringer and operable to close on the stringer to squeeze the stringer sidewalls on the stringer clip after insertion in the channel. Opposed drills on the end effector have right angle drives holding drill bits for simultaneously match drilling holes through the sidewalls and through the stringer clip. The end effector machine tool operates as a positioning mechanism for accurately for positioning the drills at each stringer clip location along the stringer clip to positions corresponding to the contour of the fuselage at each of the locations under control of a CNC machine controller.
摘要翻译：一种用于将桁条夹准确地放置在用于飞机机身的复合轮廓部分的纵梁的通道中并用于将夹子保持在预定取向同时钻出用于将夹子紧固在桁条中的孔的组装单元包括具有定位表面用于将桁条保持在与安装在飞机上的指定位置时将具有的配置相同的构造。夹具具有可调节的头部，以符合其中将要安装桁条的飞机的形状。头部具有用于将桁条固定在标头上的精确加工的参考表面的夹具。端部执行器由装配单元中的机床保持，用于夹紧桁条夹并将其插入桁条通道。末端执行器具有用于插入在纵梁通道中的扩张杆，其可操作地扩展纵梁的侧壁并且加宽通道以便于插入桁条夹子，并且具有可定位在桁条的反对面侧上的夹持杆，并可操作以在纵梁上闭合至在插入通道后挤压桁条夹子上的纵梁侧壁。末端执行器上的相对的钻头具有保持钻头的直角驱动器，用于同时匹配通过侧壁和通过桁条夹的钻孔。末端执行器机床用作定位机构，用于在CNC机器控制器的控制下的每个位置处精确地将钻杆沿着纵梁夹具定位在与每个位置相对应的机身轮廓处的位置。

2. 发明授权

US5482409A Part positioning and drilling end effector 失效
标题翻译：零件定位和钻头末端执行器
公开(公告)号：US5482409A
公开(公告)日：1996-01-09
申请号：US2364
申请日：1993-01-06
申请人： Zenna J. Dunning , Paul E. Nelson , Hinrich C. Patjens , James A. Shofner , David A. Yousko
发明人： Zenna J. Dunning , Paul E. Nelson , Hinrich C. Patjens , James A. Shofner , David A. Yousko
IPC分类号： B23Q3/18 , B23Q9/00 , B23B35/00 , B23B41/00
CPC分类号： B23Q9/00 , B23Q3/18 , Y10T408/03 , Y10T408/3811 , Y10T408/3844 , Y10T408/385 , Y10T408/563
摘要： An end effector adapted for attachment to and accurate positioning by a robot is provided for positioning a right angle shaped workpiece at a desired position against a panel and drilling a pair of accurately located positioning holes through the workpiece and the panel. The end effector includes a rear plate having a conventional tool connector and adapter that can be grasped and manipulated by the robot. A frame is cantilevered on the rear plate and supports a shuttle mounted on horizontal linear bearings for lateral motion of the shuttle. A pair of vertical bearings on the shuttle supports two horizontal support plates for vertical motion on the shuttle. A drill and an inserter are mounted on the support plates for lateral motion with the shuttle, and for vertical motion on the shuttle. Two servomotors under control of a system controller control the lateral motion of the shuttle and the vertical motion of the support plates, and a linear motion encoder provides feedback to the controller to attain accurate positioning of the support plates and the drills mounted thereon.
摘要翻译：提供适于附接到机器人并且由机器人精确定位的末端执行器，用于将直角成形工件定位在相对于面板的期望位置处，并且穿过工件和面板钻一对精确定位的定位孔。末端执行器包括具有可由机器人抓握和操纵的常规工具连接器和适配器的后板。框架悬挂在后板上，并支撑安装在水平线性轴承上的梭子，用于梭子的横向运动。梭子上的一对垂直轴承支撑两个用于垂直运动的水平支撑板。钻头和插入器安装在支撑板上以与梭子横向运动，并且用于梭子上的垂直运动。在系统控制器的控制下的两个伺服电动机控制梭的横向运动和支撑板的垂直运动，并且线性运动编码器向控制器提供反馈以获得安装在其上的支撑板和钻头的精确定位。

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