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    • 2. 发明授权
    • Stringer clip end effector
    • 丝杠夹端部执行器
    • US5127139A
    • 1992-07-07
    • US682622
    • 1991-04-08
    • Peter D. McCowinHugh R. Schlosstein
    • Peter D. McCowinHugh R. Schlosstein
    • B23B39/22
    • B23B39/22Y10T29/5107Y10T408/29Y10T408/378Y10T408/557Y10T408/5635
    • A stringer clip end effector (21) suitable for use with a computer-controlled (CC) machine tool is disclosed. The stringer clip end effector (21) includes a pair of jaws (45,47) for picking up a clip (23) at a presentation location. After being moved by the CC machine tool to an insertion location adjacent to a hat-shaped stringer (31), a pair of cams (60a, 60b) located on opposite sides of the clip (23) are extended into the stringer cavity (25) and rotated to spread the stringer walls (27,29). Thereafter, the clip (23) is positioned in the stringer cavity (25). Then, the cams (60a, 60b) are rotated to a nonspread position, and clamp elements (49a, 49b, 51a, 51b) are actuated to press the walls (27, 29) of the stringer (31) against the clip (23). Next, drill bits (57a, 57b, 59a, 59b) that face the outer surface of the stringer walls (27, 29) are energized and moved toward the stringer walls. After holes are drilled through the stringer walls and the clip, the drill bits are withdrawn. Thereafter, the clip (23) is either released while lying between the walls of the stringer (31), or withdrawn from the stringer (31) and moved to a temporary storage location.
    • 公开了一种适用于计算机控制(CC)机床的纵梁夹具端部执行器(21)。 桁条夹端部执行器(21)包括用于在呈现位置拾取夹子(23)的一对钳口(45,47)。 在通过CC机床移动到靠近帽形桁条(31)的插入位置之后,位于夹子(23)相对两侧的一对凸轮(60a,60b)延伸到桁条腔(25) )并旋转以扩展纵梁壁(27,29)。 此后,夹子(23)位于纵梁腔(25)中。 然后,凸轮(60a,60b)旋转到非扩展位置,并且致动夹紧元件(49a,49b,51a,51b)以将桁条(31)的壁(27,29)压靠在夹子(23)上 )。 接下来,面向纵梁壁(27,29)的外表面的钻头(57a,57b,59a,59b)被激励并朝向纵梁移动。 钻孔穿过纵梁和夹子后,钻头被取出。 此后,将夹子(23)放置在桁条(31)的壁之间,或从桁条(31)中取出并移动到临时存放位置。
    • 6. 发明授权
    • Contoured stringer/clip drilling
    • 轮廓纵梁/夹钻
    • US06141848A
    • 2000-11-07
    • US106636
    • 1998-06-28
    • David A. YouskoHugh R. SchlossteinDavid M. KozyDennis M. CordyEdward F. NearyHinrich C. Patjens
    • David A. YouskoHugh R. SchlossteinDavid M. KozyDennis M. CordyEdward F. NearyHinrich C. Patjens
    • B21J15/10B23B41/00B23B47/28B23P21/00B64F5/00B21J15/14
    • B64F5/0009B21J15/10B21J15/142B23B41/00B23B47/28B23P21/00B23P2700/01Y10T29/5118Y10T29/5191
    • 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.
    • 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。
    • 7. 发明授权
    • Stringer/clip placement and drilling
    • US5477596A
    • 1995-12-26
    • US225197
    • 1994-04-04
    • Hugh R. SchlossteinJames D. McCowin
    • Hugh R. SchlossteinJames D. McCowin
    • B23B47/28B23Q3/18B23Q9/00B23Q11/10B23P21/00B23B41/00
    • B23B47/28B23Q11/10B23Q3/186B23Q9/0064Y10T29/49996Y10T29/5107Y10T29/5191Y10T29/53013Y10T29/53978
    • A machine for positioning clips in channel-shaped airplane fuselage stringers, and drilling holes in the stringers and clips, includes an elongated beam support having a box beam supported on five floor engaging legs and supporting a carriage assembly positioned on said beam and supported on bearings traveling along rails on the beam for longitudinal movement therealong. A motive mechanism, including a servomotor in the carriage and driving a pinion engaged with a rack fastened to the beam moves carriage longitudinally along the beam. An index mechanism including a fixed end stop at a known position indexes a stringer on the beam at a fixed reference position thereon. The stringer is centered under a drill by a centering mechanism mounted on the carriage, and a drill system drills a series of vertical holes along the channel floor of the stringer at locations specified in a digital product definition of said part. A multiplicity of clips is held in a clip cartrige for feeding the clips in order to a gripper for gripping, moving and placing a series of clips in the stringer channel and holding the clips in a specified position while they are drilled by two opposed drills disposed on a horizontal axis orthogonal to the stringer axis for drilling through side walls of the stringer and the clip positioned in said stringer. A pads positioner mounted for lateral movement toward and away from the axis of the stringer receives the clip cartrige and positions clips from the cartrige at a specified position to be gripped and picked up by the gripper. A position feedback and control system receives product definition information from a central product definition repository and translates the product definition information into machine instructions for moving elements of the machine to correct positions for drilling holes in the stringer and stringer clip to match corresponding holes drilled in airplane fuselage panels and frames to enable the parts to be positioned accurately with respect to each other without use of hard tooling.