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    System for making a panel
    2.
    发明授权
    System for making a panel 失效
    制作面板的系统

    公开(公告)号：US5649888A

    公开(公告)日：1997-07-22

    申请号：US468587

    申请日：1995-06-06

    申请人： Antonio C. Micale ,  David E. Strand

    发明人： Antonio C. Micale ,  David E. Strand

    IPC分类号： B23P21/00 ,  B23Q35/02 ,  B25J9/16 ,  B64C1/00 ,  B64C1/06 ,  B64C1/12 ,  B64F5/00 ,  G05B19/418 ,  B23Q3/157

    CPC分类号： B64C1/12 ,  B23P21/00 ,  B23Q35/02 ,  B25J9/1687 ,  B64C1/061 ,  B64C1/064 ,  B64F5/0009 ,  G05B19/41805 ,  B23P2700/01 ,  G05B2219/35012 ,  G05B2219/39468 ,  G05B2219/45064 ,  G05B2219/45197 ,  Y02P90/04 ,  Y02P90/08 ,  Y02P90/087 ,  Y02P90/16 ,  Y02P90/265 ,  Y10T29/49622 ,  Y10T29/49629 ,  Y10T29/49771 ,  Y10T29/4978 ,  Y10T29/49956 ,  Y10T29/49996 ,  Y10T29/49998 ,  Y10T408/03 ,  Y10T409/303752 ,  Y10T409/304144 ,  Y10T483/13 ,  Y10T483/138

    摘要： A system for assembling parts on a sheet to form a panel includes a fixture for holding the sheet and presenting the sheet broadside to a robot. A rack within the reach of the robot holds a plurality of end effectors, each having an interconnect which can be gripped and centered by the robot when it picks up by the end effector. The end effectors include, 1) a drilling end effector having a drill for drilling holes in the sheet on centers determined by movement of the robot; 2) a routing end effector having a router for routing peripheral edge portions of the sheet along lines determined by movement of the router; 3) a probe end effector having a probe for sensing contact with surfaces on an index device mounted on the fixture at a known location to serve as a reference monument. A part program constituting a data set having complete panel assembly detail design information obtained directly from original digital engineering part definition records, including locations on the sheet of all fastener holes for fastening the parts needed to make up the panel, and the position on the sheet of the peripheral edge portions thereof relative to the holes, the part program also including machine instructions for directing the movement of the robot to carry the end effectors to the locations on the sheet at which machining operations are needed to fasten the parts in the correct locations and to produce peripheral routed edge portions of the correct configuration. A control computer controls the motion of the robot in accordance with the instructions contained in the part program and automatically performs absolute coordination probing to verify the accuracy of the robot and fixture positioning.

    摘要翻译： 用于组装片材上的部件以形成面板的系统包括用于保持片材并将片材宽边缘呈现给机器人的夹具。 在机器人到达的范围内的机架保持多个端部执行器，每个端部执行器各自具有互连件，当机器人由端部执行器拾起时，机架可被夹持并居中。 末端执行器包括：1）钻头末端执行器，具有用于在由机器人的运动确定的中心上的孔中钻孔的钻头; 2）路由末端执行器，其具有路由器，用于沿着由路由器的移动确定的线路布置片材的周边边缘部分; 3）探针端部执行器，其具有用于感测与在已知位置上安装在固定装置上的指示装置上的表面接触的探针，用作参考纪念碑。 构成数据组的零件程序，其具有直接从原始数字工程部件定义记录获得的具有完整的面板组装细节设计信息的数据组，包括用于紧固构成面板所需的部件的所有紧固件孔的片材上的位置以及片材上的位置 其部件程序还包括用于引导机器人运动的机器指令，以将末端执行器运送到需要加工操作的片材上的位置，以将部件紧固在正确的位置 并产生正确配置的周边路由边缘部分。 控制计算机根据零件程序中的指令来控制机器人的运动，并自动进行绝对协调探测，以验证机器人和夹具定位的精度。

    Airplane fuselage panel
    5.
    发明授权
    Airplane fuselage panel 失效
    飞机机身面板

    公开(公告)号：US6003812A

    公开(公告)日：1999-12-21

    申请号：US471664

    申请日：1995-06-06

    申请人： Antonio C. Micale ,  David E. Strand

    发明人： Antonio C. Micale ,  David E. Strand

    IPC分类号： B23P21/00 ,  B23Q35/02 ,  B25J9/16 ,  B64C1/00 ,  B64C1/06 ,  B64C1/12 ,  B64F5/00 ,  G05B19/418

    CPC分类号： B64C1/12 ,  B23P21/00 ,  B23Q35/02 ,  B25J9/1687 ,  B64C1/061 ,  B64C1/064 ,  B64F5/0009 ,  G05B19/41805 ,  B23P2700/01 ,  G05B2219/35012 ,  G05B2219/39468 ,  G05B2219/45064 ,  G05B2219/45197 ,  Y02P90/04 ,  Y02P90/08 ,  Y02P90/087 ,  Y02P90/16 ,  Y02P90/265 ,  Y10T29/49622 ,  Y10T29/49629 ,  Y10T29/49771 ,  Y10T29/4978 ,  Y10T29/49956 ,  Y10T29/49996 ,  Y10T29/49998 ,  Y10T408/03 ,  Y10T409/303752 ,  Y10T409/304144 ,  Y10T483/13 ,  Y10T483/138

    摘要： An airplane fuselage panel including a sheet having peripheral edges routed on routing surfaces, while the sheet is held immobile on a fixture, using a routing end effector carried by a precision computer controlled robot that is directed to the routing surfaces using a digital dataset taken directly from digital engineering part definition records. The sheet has coordination holes drilled while on the fixture using a drilling end effector carried by the precision computer controlled robot that is directed to drilling locations using the digital dataset taken directly from the digital engineering part definition records to accurately locate the hole locations relative to the peripheral edges. The airplane fuselage panel also includes parts, including stringers, stringer clips and shear ties, each having coordination holes drilled by computer controlled drills at locations that will match with corresponding coordination holes in the sheet, so that the parts will be accurately located in positions called for in the digital engineering part definition records when the coordination holes in the parts and the coordination holes in the sheet are aligned and the parts are riveted to the sheet in the accurately located positions.

    摘要翻译： 一种飞机机身面板，其包括具有在路线表面上布置的外围边缘的片材，同时使用由精确计算机控制的机器人承载的路由末端执行器将片材固定在固定装置上，该机器人使用直接取得的数字数据集指向路线表面 从数字工程部分定义记录。 该片材在固定装置上使用由精密计算机控制的机器人承载的钻孔末端执行器钻出的协调孔，其使用直接从数字工程部件定义记录取得的数字数据集定向到钻孔位置，以精确地定位相对于 外围边缘。 飞机机身面板还包括部件，包括桁条，桁条夹和剪切连接件，每个部件具有通过计算机控制的钻头在与片材中相应的协调孔匹配的位置钻出的协调孔，使得部件将被准确地位于称为 用于在数字工程部件定义记录中，当部件中的协调孔和片材中的协调孔对准并且部件在准确定位的位置铆接到片材上时。