SE511704C2 - Förfarande och anordning för montering av vinge - Google Patents

Förfarande och anordning för montering av vinge

Info

Publication number
SE511704C2
SE511704C2 SE9800928A SE9800928A SE511704C2 SE 511704 C2 SE511704 C2 SE 511704C2 SE 9800928 A SE9800928 A SE 9800928A SE 9800928 A SE9800928 A SE 9800928A SE 511704 C2 SE511704 C2 SE 511704C2
Authority
SE
Sweden
Prior art keywords
robot
wing
working
robot arm
tool holder
Prior art date
Application number
SE9800928A
Other languages
English (en)
Swedish (sv)
Other versions
SE9800928L (sv
SE9800928D0 (sv
Inventor
Per Dahlstroem
Haakan Andersson
Anders Hoegne
Ronnie Stensson
Roger Holmstedt
Johan Carlsson
Per Benkowski
Original Assignee
Saab Ab
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Saab Ab filed Critical Saab Ab
Priority to SE9800928A priority Critical patent/SE511704C2/sv
Publication of SE9800928D0 publication Critical patent/SE9800928D0/xx
Priority to IDW20002119A priority patent/ID29598A/id
Priority to BR9908906-8A priority patent/BR9908906A/pt
Priority to PCT/SE1999/000237 priority patent/WO1999047415A1/en
Priority to RU2000126303/11A priority patent/RU2230687C2/ru
Priority to US09/646,525 priority patent/US6428452B1/en
Priority to AT99910895T priority patent/ATE249965T1/de
Priority to EP99910895A priority patent/EP1062154B1/en
Priority to ES99910895T priority patent/ES2205790T3/es
Priority to CZ20003416A priority patent/CZ302447B6/cs
Priority to DE69911384T priority patent/DE69911384T2/de
Priority to JP2000536618A priority patent/JP2002506771A/ja
Publication of SE9800928L publication Critical patent/SE9800928L/xx
Publication of SE511704C2 publication Critical patent/SE511704C2/sv

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • 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
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S483/00—Tool changing
    • Y10S483/901—Robot end effectors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49778—Method of mechanical manufacture with testing or indicating with aligning, guiding, or instruction
    • Y10T29/4978—Assisting assembly or disassembly
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5116—Plural diverse manufacturing apparatus including means for metal shaping or assembling forging and bending, cutting or punching
    • Y10T29/5118—Riveting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/519—Turret
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5191—Assembly
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/10—Process
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/15—Tool changing with means to condition or adjust tool or tool support
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/179—Direct tool exchange between spindle and matrix
    • Y10T483/1793—Spindle comprises tool changer
    • Y10T483/1795—Matrix indexes selected tool to transfer position

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)
  • Toys (AREA)
  • Retarders (AREA)
SE9800928A 1998-03-19 1998-03-19 Förfarande och anordning för montering av vinge SE511704C2 (sv)

Priority Applications (12)

Application Number Priority Date Filing Date Title
SE9800928A SE511704C2 (sv) 1998-03-19 1998-03-19 Förfarande och anordning för montering av vinge
JP2000536618A JP2002506771A (ja) 1998-03-19 1999-02-22 翼組立ロボット
AT99910895T ATE249965T1 (de) 1998-03-19 1999-02-22 Montageroboter für tragflächen
BR9908906-8A BR9908906A (pt) 1998-03-19 1999-02-22 RobÈ para montagem de uma asa
PCT/SE1999/000237 WO1999047415A1 (en) 1998-03-19 1999-02-22 Assembly robot for wing
RU2000126303/11A RU2230687C2 (ru) 1998-03-19 1999-02-22 Способ выполнения операций по сборке на раме крыла и/или обшивке крыла самолета и устройство для его реализации
US09/646,525 US6428452B1 (en) 1998-03-19 1999-02-22 Assembly robot for wing
IDW20002119A ID29598A (id) 1998-03-19 1999-02-22 Robot perakit sayap pesawat terbang
EP99910895A EP1062154B1 (en) 1998-03-19 1999-02-22 Assembly robot for wing
ES99910895T ES2205790T3 (es) 1998-03-19 1999-02-22 Robot de ensamblaje de una ala de avion.
CZ20003416A CZ302447B6 (cs) 1998-03-19 1999-02-22 Zpusob montáže leteckého krídla a zarízení k provádení tohoto zpusobu
DE69911384T DE69911384T2 (de) 1998-03-19 1999-02-22 Montageroboter für tragflächen

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9800928A SE511704C2 (sv) 1998-03-19 1998-03-19 Förfarande och anordning för montering av vinge

Publications (3)

Publication Number Publication Date
SE9800928D0 SE9800928D0 (sv) 1998-03-19
SE9800928L SE9800928L (sv) 1999-09-20
SE511704C2 true SE511704C2 (sv) 1999-11-08

Family

ID=20410621

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9800928A SE511704C2 (sv) 1998-03-19 1998-03-19 Förfarande och anordning för montering av vinge

Country Status (12)

Country Link
US (1) US6428452B1 (id)
EP (1) EP1062154B1 (id)
JP (1) JP2002506771A (id)
AT (1) ATE249965T1 (id)
BR (1) BR9908906A (id)
CZ (1) CZ302447B6 (id)
DE (1) DE69911384T2 (id)
ES (1) ES2205790T3 (id)
ID (1) ID29598A (id)
RU (1) RU2230687C2 (id)
SE (1) SE511704C2 (id)
WO (1) WO1999047415A1 (id)

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DE10252824A1 (de) * 2002-11-13 2004-06-03 Deckel Maho Pfronten Gmbh Werkzeugmaschine
US7273333B2 (en) 2003-06-25 2007-09-25 The Boeing Company Methods and apparatus for counterbalance-assisted manufacturing operations
US7488144B2 (en) * 2003-06-25 2009-02-10 The Boeing Company Methods and apparatus for track members having a neutral-axis rack
US7264426B2 (en) * 2003-06-25 2007-09-04 The Boeing Company Apparatus and methods for servo-controlled manufacturing operations
US7137760B2 (en) * 2003-06-25 2006-11-21 The Boeing Company Methods and apparatus for manufacturing operations using opposing-force support systems
US6926094B2 (en) * 2003-06-25 2005-08-09 The Boeing Company Apparatus for manufacturing operations using non-contact position sensing
US6949057B2 (en) * 2003-09-02 2005-09-27 The Boeing Company Multi-function end effector
ES2255386B1 (es) 2004-05-13 2007-10-01 Loxin 2002, S.L. Sistema mejorado de remachado automatico.
US8667657B2 (en) 2006-01-18 2014-03-11 Abb Technology Ag Method and apparatus for engine piston installation by use of industrial robots
ES2325433B1 (es) * 2006-07-31 2010-06-21 Airbus Operations, S.L. Robot trepador equipado con una unidad de trabajo, y equipo de gobierno de tales robots trepadores.
RU2329183C1 (ru) * 2007-05-18 2008-07-20 Общество с ограниченной ответственностью "Самара ВВВ-Авиа" Способ сборки консоли крыла самолета
ES2330909B1 (es) * 2007-05-28 2010-09-21 Airbus Operations, S.L. Sistema de ejecucion de taladrado/remachado automatico en piezas de montajes aeronauticos.
ES2349217B1 (es) * 2007-12-28 2011-10-24 Airbus Operations, S.L. Sistema de integracion de tuercas remachables en piezas de plastico.
CN101497193B (zh) * 2008-02-03 2010-12-08 中国科学院沈阳自动化研究所 一种激光加工机器人机构
US8301302B2 (en) * 2008-05-08 2012-10-30 The Boeing Company Synchronous robotic operation on a structure having a confined space
US8923602B2 (en) * 2008-07-22 2014-12-30 Comau, Inc. Automated guidance and recognition system and method of the same
US20100217437A1 (en) * 2009-02-24 2010-08-26 Branko Sarh Autonomous robotic assembly system
US8666546B2 (en) * 2009-07-10 2014-03-04 The Boeing Company Autonomous robotic platform
CN101966504B (zh) * 2010-10-15 2012-11-28 江苏长虹汽车装备集团有限公司 基于平面三自由度并联机构的组合喷涂机器人
CN101966505B (zh) * 2010-10-15 2013-01-30 江苏长虹汽车装备集团有限公司 一种三自由度平面并联机构及喷涂机器人
CN101966506B (zh) * 2010-10-15 2012-12-12 江苏长虹汽车装备集团有限公司 平面三自由度并联机构及喷涂机器人
CN101966500B (zh) * 2010-10-15 2012-11-28 江苏长虹汽车装备集团有限公司 基于三自由度和四自由度并联机构的混联组合汽车喷涂机器人
US9090357B2 (en) * 2011-12-15 2015-07-28 The Boeing Company Method of assembling panelized aircraft fuselages
CN102581848B (zh) * 2012-03-21 2014-04-30 天津大学 具有三转动一平动自由度并联定位平台
CN102615641B (zh) * 2012-03-27 2014-05-21 天津大学 一种五自由度并联动力头
US9925628B2 (en) * 2012-03-29 2018-03-27 The Boeing Company Method for installing fasteners with electromagnetic effect protection
US9511496B2 (en) 2014-06-20 2016-12-06 The Boeing Company Robot alignment systems and methods of aligning a robot
US9862096B2 (en) 2015-03-30 2018-01-09 The Boeing Company Automated dynamic manufacturing systems and related methods
CN109466794B (zh) * 2018-11-22 2021-04-02 南京航空航天大学 一种力-位协同的复合材料翼盒装配方法
GB2579645A (en) * 2018-12-10 2020-07-01 Airbus Operations Ltd Method of manufacturing an aerodynamic structure
GB2584413A (en) * 2019-05-20 2020-12-09 Airbus Operations Ltd Method of manufacturing a structure
JP7481829B2 (ja) * 2019-11-11 2024-05-13 株式会社Subaru 組立装置
CN111230479A (zh) * 2020-01-19 2020-06-05 广东美的厨房电器制造有限公司 用于装配烹饪器具的定位装置及烹饪器具的装配方法
CN115771152A (zh) * 2022-12-07 2023-03-10 大连四达高技术发展有限公司 双机器人镜像钻铆系统
EP4389615B1 (de) * 2022-12-19 2025-10-01 Airbus Operations GmbH Verfahren und montagesystem zur montage eines profilbauteils auf einem flug-zeugstrukturbauteil
CN115945632B (zh) * 2022-12-21 2026-01-09 北京航星机器制造有限公司 用于铆接折叠展开类航天产品的铆接工装及铆接方法
US12297856B2 (en) * 2023-03-13 2025-05-13 The Boeing Company Nut plate grippers, end effectors that include nut plate grippers, robots that include end effectors, installation systems that include robots, and related methods
US12466086B2 (en) 2023-12-04 2025-11-11 The Boeing Company Robotic end effectors for templating fasteners and related systems and methods
CN120920590A (zh) * 2025-10-15 2025-11-11 沈阳埃克斯邦科技有限公司 一种智能控制的大尺寸部件制孔装配生产线

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Also Published As

Publication number Publication date
DE69911384D1 (de) 2003-10-23
SE9800928L (sv) 1999-09-20
ID29598A (id) 2001-09-06
CZ302447B6 (cs) 2011-05-25
BR9908906A (pt) 2000-11-28
JP2002506771A (ja) 2002-03-05
CZ20003416A3 (cs) 2001-03-14
ATE249965T1 (de) 2003-10-15
EP1062154A1 (en) 2000-12-27
DE69911384T2 (de) 2004-05-19
WO1999047415A1 (en) 1999-09-23
RU2230687C2 (ru) 2004-06-20
ES2205790T3 (es) 2004-05-01
EP1062154B1 (en) 2003-09-17
US6428452B1 (en) 2002-08-06
SE9800928D0 (sv) 1998-03-19

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