• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Drilling apparatus and method for drilling holes in a composite part The piercing apparatus may include an end effector, a drill, and a control system. The end effector may include an end effector housing, a drill attachment, a rotation actuator, and a linear motion actuator. The linear motion actuator can convert the rotational movement of a rotary motor into linear motion of the drill attachment. The drill bit may have a wider portion that cuts a hole in the workpiece and a narrow flute portion that limits the contact time between the bit and the workpiece. The control system can control a speed of the linear motion actuator, with a first speed when the drill is immersed in the workpiece and a second speed slower than the first speed, when the drill is removed from the workpiece.
    公开号:FR3070886A1
    申请号:FR1858231
    申请日:2018-09-13
    公开日:2019-03-15
    发明作者:Amitabh Vyas；John R Dye；Gregorio Balandran
    申请人:Spirit AeroSystems Inc；
    IPC主号:
    专利说明:

    DESCRIPTION
    TITLE: APPARATUS AND METHOD FOR MINIMIZING THE ELONGATION OF HOLES
    Context
    Sandwich panels with perforated coverings are typically incorporated into aircraft nacelles to reduce the amount of engine noise reaching the ground during flight. Perforated coverings include many holes, typically about 1mm in diameter, which cover between 5% and 10% of a nacelle panel area. This equals approximately 1,000,000 holes in a single panel, and each pod can contain multiple panels.
    The holes can be molded into composite coverings using spiked mats, but this process is labor intensive and time consuming, requires the coating to be pre-cooked before assembly of the sandwich panel, and requires a tools that otherwise would not have been necessary. The holes can also be formed with an abrasive erosion process, but this also has drawbacks. A masking agent must be applied manually to the coating, and as with the spiked carpet process, the coating must be precooked before assembly of the sandwich panel.
    Mechanical drilling using a conventional drill overcomes some of these limitations, since mechanically drilled holes can be formed in a finished sandwich panel, thereby eliminating separate firing operations for individual coatings. However, prior art drilling equipment is too slow and expensive to cost effectively drill the large number of holes required. To satisfy the desired production rates, many expensive machines would be required, operating in parallel. In addition to the expenses, these machines take up a large space on the ground and increase the stock which must be maintained in the work in progress at all times.
    Some perforating robots are significantly cheaper than conventional drilling machines, and are also significantly more compact. Unfortunately, these robots lack precision and stability to successfully serve as platforms for conventional drilling equipment operated on conventional means.
    Thus, there is a need for an improved apparatus and method for perforating the coatings of nacelle sandwich panels.
    Summary of the invention
    The embodiments of the present invention solve the above mentioned problems and provide a distinct advance in the art of nacelle sandwich panel manufacturing. One embodiment of the invention is a drilling apparatus having a terminal effector, a drill bit attached to the terminal effector and a control system. The drill may include a front end, a rear end opposite the front end, a point formed at the front end, a widest part towards the rear of the point, and a narrow groove part towards the rear of the widest part. The groove part can extend between the widest part and the end effector. The groove part can also have a smaller diameter than the widest part. The control system can send control signals to the actuators of the terminal effector controlling the rotation of the drill and controlling the terminal effector to move the drill laterally outward and inward.
    In another embodiment of the invention, the end effector can comprise a terminal effector housing, a drill attachment extending outward from the terminal effector housing, a rotation actuator, and a linear motion actuator. The rotation actuator can be coupled with the drill attachment to activate the rotation of the drill attachment. The linear motion actuator can actuate the linear movement of the drill attachment to and from the workpiece. The bit can be attached to the bit holder and can have a front end, a rear end opposite the front end, a point formed at the front end, the widest part towards the rear of the point , and a narrow groove part towards the rear of the widest part. The groove part may extend between the widest part and the end effector, and may have a smaller diameter than the widest part. In addition, the widest part may have a shorter length than the narrow groove part. The control system can send control signals to the terminal effector controlling the terminal effector so that it rotates the drill and controlling the terminal effector so that it moves laterally outward and inward . In addition, the control system can control the end effector so that it moves laterally outward towards the workpiece at a first speed and control the end effector so that it returns laterally inward at a distance from the piece at a second speed. The second speed may be faster than the first speed.
    Still in another embodiment of the invention, a drilling device described above can be implemented in a method of drilling holes in a composite part. The method may include the steps of rotating a drill attachment and a drill attached thereto, then actuating the drill attachment linearly toward the composite part at a first speed, thereby forming a hole in through the latter. The method may also include a step of actuating the drill fixture in a linear fashion away from the composite part at a second speed which is higher than the first speed, thereby limiting the time during which the widest part of the drill is in contact with the part while being removed from the hole.
    This summary is proposed to introduce a selection of concepts in a simplified form which are further described below in the detailed description. This summary is not intended to identify key or essential features of the claimed subject, nor is it intended to be used to limit the scope of the claimed subject. Other aspects and advantages of the present invention will emerge more clearly from the following detailed description of the embodiments and the accompanying drawings.
    Brief description of the drawings
    The embodiments of the present invention are described in detail above with reference to the accompanying drawings, in which:
    [Fig 1] Figure 1 is a side view of a piercing device for panel perforation manufactured according to the embodiments of the present invention;
    [Fig 2] Figure 2 is a perspective view of the piercing apparatus of Figure 1;
    [Fig 3] Figure 3 is a perspective view of the housing of the drilling apparatus of Figure 1;
    [Fig 4] Figure 4 is a perspective view of the drilling apparatus of Figure 1 with part of the housing removed;
    [Fig 5] Figure 5 is an alternative embodiment of the piercing apparatus for panel perforation;
    [Fig 6] Figure 6 is a side view of oval gears configured to modify a lateral movement speed of a drill of Figure 1;
    [Fig 7] Figure 7 is a schematic view of a drill bit of the drilling apparatus of Figure 1;
    [Fig 8] Figure 8 is a schematic view of an alternative embodiment of the drill of Figure 7;
    [Fig 9] Figure 9 is a block diagram of the drilling apparatus of Figure 1, comprising a coupled control system, in communication, with actuators which are mechanically connected to the drill and its drill attachment; and [Fig 10] Figure 10 is a flowchart illustrating a method for drilling holes in a workpiece according to the embodiments of the present invention.
    The figures do not limit the present invention to the specific embodiments illustrated and described here. The drawings are not necessarily to scale, the emphasis being rather on the clear illustration of the principles of the invention.
    Detailed description of the embodiments
    The following detailed description of the invention refers to the accompanying drawings which illustrate the specific embodiments in which the invention can be implemented. The embodiments are intended to describe the aspects of the invention in sufficient detail to allow those skilled in the art to practice the invention. Other embodiments can be used and changes can be made without departing from the scope of the present invention. The following detailed description should therefore not be taken in a limiting sense. The scope of the present invention is defined only by the appended claims, together with the full scope of the equivalents to which such claims can be made.
    In the present description, the references to "an embodiment" or "embodiments" mean that the characteristic or characteristics to which reference has been made, are included in at least one embodiment of the technology. Separate references to "an embodiment", or "embodiments" in the present description do not necessarily refer to the same embodiment and are not mutually exclusive either unless stated otherwise and / or except as noted clearly from the description for those skilled in the art. For example, a characteristic, structure, action, etc. described in one embodiment may also be included in other embodiments, but is not necessarily included. Thus, the present technology can include a variety of combinations and / or integrations of the embodiments described here.
    A drilling device 10 manufactured in accordance with the embodiments of the present invention is illustrated in FIG. 1. The drilling device 10 is configured to drill holes 12 in a part 14, such as composite panels of aircraft and a composite coating of noise reduction sandwich panels for an aircraft nacelle. However, the part 14 can be any other structure capable of piercing without departing from the scope of the invention. The drilling device 10 may comprise an end effector 16, a drill 18 which can be fixed to the end effector 16, and a control system 20 adapted to carry out the process steps of a drilling process described later.
    As illustrated in FIGS. 1 to 4, the end effector 16 may comprise a terminal effector housing 22, a drill attachment 24, a rotation actuator 26 configured to rotate the drill attachment 24 and the drill 18 to the inside the latter and / or a linear motion actuator 28 configured to provide a linear movement towards and at a distance from the part 14. The terminal effector housing 22, as shown in FIGS. 2 to 4, can support different components of the drilling device 10 and can have any size, shape or configuration to structurally support these components during drilling operations. In some embodiments of the invention, the end effector housing 22 may include a monolithic unit housing. In addition, as illustrated in FIG. 4, the terminal effector housing 22 can comprise and / or be fixed to a terminal effector carriage 30 supporting and stabilizing the drill attachment 24 and the actuators 26, 28 described here.
    The drill attachment 24 may include a hollow shaft, a drill chuck, a drill spindle and / or any type of pliers rotatably attached to the end effector housing 22 and suitable for holding the drill 18 in radial symmetry. At least part of the drill attachment 24 can extend outwardly from the end effector housing 22 and can be supported by the latter. At least a portion of the drill holder 24 can be actuated at any desired drilling speed via the rotary actuator 26, thereby rotating the bit 18. For example, the bit holder 24 can rotate the bit 18 at a speed of 50,000 to 100,000 rpm, or approximately 80,000 rpm. However, other rotational speeds can be used without departing from the scope of the invention.
    As shown schematically in Figure 9, the rotation actuator 26 can be coupled with at least a portion of the drill attachment 24 and configured to rotate the drill 18 clockwise and / or clockwise counterclockwise. The rotary actuator 26 may include a main rotary motor, such as a continuously variable motor, a servo motor, or the like. However, the rotary actuator 26 can be any actuator used to automate the rotation of drills or other rotary tools known in the art without departing from the scope of the invention.
    The linear motion actuator 28 can be configured to convert rotary motion to linear motion, thereby driving bit 18 into workpiece 14. Specifically, as shown in Figure 9, the linear motion actuator 28 can include a rotary motor secondary 32 or actuator and a rotary movement converter in linear movement 34 mechanically connected with the secondary rotary motor 32. The rotary movement converter in linear movement 34 can be mechanically connected or else fixed to provide linear movement to the drill attachment
    24. The rotary motion converter to linear motion 34 may include, for example, a crank, a cam, a rack mechanism, or any of the mechanical arrangements suitable for converting the rotary motion provided by the secondary rotary motor 32 into motion. linear of the drill 18.
    In certain embodiments of the invention, the secondary rotary motor 32 is a continuously variable motor or a servomotor which can be controlled by the control system 20 to have a first linear insertion speed in the part 14 and a second linear withdrawal speed when the drill bit 18 is withdrawn, at a distance from the part 14. The second speed may be faster than the first speed. For example, the servo servo feedback can be used by the control system 20 or other circuits to manage their speed based on angle readings or other position information obtained through the servo feedback. Alternatively, a stepping motor can be used to selectively switch the speed of the rotary motion converter to linear motion 34 between two or more speeds. Still in another embodiment of the invention, a cam with a predefined mechanical profile can be used to switch the speed of the rotary motion converter to linear motion 34 and thus the withdrawal of the drill 18 at a speed faster than the insertion of the drill. Still in another embodiment of the invention, as illustrated in FIG. 6, it is possible to provide oval or oblong gears 38 between the secondary rotary motor 32 and the rotary movement converter in linear movement 34, so that the speed of the linear movement of the drill 18 is changed between the first speed and the second speed at predetermined intervals.
    In some embodiments of the invention, the rotary motion converter to linear motion 34 may allow the secondary rotary motor 32 to operate continuously in one direction for both the forward and backward movement of the drill attachment 24 and / or the drill 18 towards and at a distance from the part 14. Since the secondary rotary motor 32 does not need to reverse the directions to remove the drill 18 from the part 14, this is results in faster acceleration and eliminates the response time present in the systems of the prior art without removing the drill 18 from the hole 12 created. However, other embodiments of the invention may include a linear motion actuator 28 configured so that the secondary rotary motor 32 does not reverse the directions for removing the drill 18 from the workpiece 14. For example, as illustrated in Figure 5, another embodiment of the invention may include an apparatus 510 substantially similar or identical to the apparatus 10 in many respects, but with a crank stepper motor 532 and a crank mechanism 534 serving linear motion actuator 528. In this embodiment of the invention, the crank stepper motor 532 reverses the directions for removing a drill 518 from a workpiece.
    Alternatively, the secondary rotary motor 32 can be omitted and the main rotary motor of the rotation actuator 26 can be used both to rotate the drill attachment 24 and / or the drill 18 and to activate its linear movement via fixing with the rotary motion converter in linear motion 34. In particular, a speed reduction gear train or the like can be used between the rotation actuator 26 and the rotary motion converter in linear motion 34. As a variant , the main motor of the rotary actuator 26 can be omitted and the secondary rotary motor 32 can be used to rotate both the drill attachment 24 and / or the drill 18 and to activate its linear movement via the attachment with the rotary motion converter to linear motion 34. Specifically, a speed increasing gear train or the like can be used between the secondary rotary motor 32 and the drill attachment 24.
    The drill bit 18, as illustrated in FIG. 7, can have a point or point 42, the widest part 44 and a narrow groove part 46. In certain embodiments of the invention, the drill bit 18 can also include a rod 48 for fixing inside the drill holder 24. For example, the rod 48 can be positioned at a rear end of the drill 18 and the tip 42 can be positioned at the front end of the drill drill bit 18. An angle formed from the tip 42 to the widest part 44 can form an included angle 50 smaller than the drills of the prior art. Specifically, this inclusive angle 50 can be somewhere between 50 degrees and 110 degrees or between 80 degrees and 100 degrees. In an exemplary embodiment of the invention, this included angle 50 can be approximately 90 degrees. Applicants have discovered that when compared to an included angle of 120 degrees common in the drilling industry, this narrower included angle reduces the force required during drilling, reducing the relative or side-to-side movement between the drill 18 and the workpiece
    14.
    The widest part 44 may have a shorter length than the groove part 46 or may even be simply an edge at which the groove part 46 and the included angle 50 meet. The groove part 46 of the drill 18, between the rod 48 and the widest part 44 of the drill 18, may have a reduced diameter compared to a diameter of the widest part 44. For example, the groove part 46 may gradually shrink from the widest part 44 to a narrower point closer to or at the level of the rod 48 positioned in the drill holder 24. However, other shapes, profiles or configurations of the groove part 46 having a smaller diameter than the widest part 44 can be used without departing from the scope of the invention.
    The rod 48, as illustrated in FIG. 7, can have any diameter sufficient to be fixed inside the drill attachment 24. Since only the widest part 44 of the drill 18 is in contact with the workpiece 14 at the limits of the holes 12 drilled in this way, and only for a short time, the drilling device 10 can better tolerate relative lateral movement or side by side between the drill bit 18 and the workpiece
    14. Specifically, during most of the time that the drill 18 is engaged with the part 14, there is play around the drill 18 inside the hole 12.
    In an alternative embodiment of the drill bit 18, the groove portion 46 may have a substantially uniform diameter from the widest portion 44 to the rod 48, as long as the diameter of the groove portion is less than the diameter of the portion the widest 44. For example, as illustrated in FIG. 8, a drill 118 substantially similar to the drill 18, but with an arrow-shaped configuration, can be used here. The drill 118 may have a point 142, the widest part 144, a groove part 146 having a uniform diameter which is smaller than the diameter of the widest part, and a rod 148.
    The control system 20, as illustrated in FIGS. 1 and 9, can comprise any number or combination of control elements, circuits, integrated circuits, programmable logic devices, computers, processors, microcontrollers or other devices. internal or external control and memory for storing data, status information, position information, actuator speeds and / or other information accessible and / or generated by different components of the drilling device 10. The control system may further include other circuits, sensors, connectors and hardware known in the art. The control system 20 can be coupled electrically and / or by communication with the rotation actuator 26, the linear motion actuator 28 and / or other sensors or circuits of the drilling device 10 through wired or wireless connections to allow information to be exchanged between different components. Wire connections can include wires or other electrical connectors, fiber optic cables, data buses, or the like. Wireless connections may include transceivers, transmitters, receivers, antenna, wireless sensors and / or other wireless communication devices known in the art.
    The control system 20 can implement a computer program and / or code segments to perform some of the functions and the method described here. The computer program may include an ordered list of executable instructions for implementing logic functions in the control system. The computer program may be implemented in any computer readable medium for use by or in conjunction with an instruction execution system, apparatus or device, and execute instructions. In the context of the present application, a "computer readable medium" can be any means which can contain, store, communicate, propagate or transport the program to be used by or in conjunction with the system, apparatus or device. execution of instructions. The computer-readable medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, apparatus or device. More specific, although not inclusive, examples of computer readable media include the following: an electrical connection having one or more wires, a laptop diskette, random access memory (RAM), read only memory (ROM), a reprogrammable read-only memory (EPROM or Flash memory), an optical fiber and a CD-ROM (CDROM).
    The characteristics of the control system 20 can be implemented in a stand-alone device, which then interfaces with other components of the drilling apparatus 10. The control characteristics of the present invention can also be distributed among the components of the drilling device 10. Thus, while certain characteristics are described as being found in the control system 20, the invention is not limited thereto and these characteristics can be implemented elsewhere. The control system 20 and the computer programs described herein are only examples of the computer equipment and programs that can be used to practice the present invention and can be replaced with or supplemented by other control devices and computer programs without departing from the scope of the present invention.
    In certain embodiments of the invention, the control system 20 may include or may be coupled in communication with a position sensor 52 fixed on the terminal effector housing 22 and configured to provide the control system 20 with data relating to the distance of the end effector from the part 14 along the z axis and / or its position concerned along a surface of the part 14 along an x axis and / or an axis there. For example, the position sensor 52 may be a laser distance sensor configured to transmit information corresponding to the distance of the terminal effector from the part 14 along the z axis.
    In use, the drilling device 10 can be used to carry out a method for punching or drilling holes in the part 14. The method can include the step of clamping the drill 18, having the narrow groove part 46, as described above, in the drill attachment 24. Next, the method may include the steps of positioning the drilling device 10, at a desired location relative to the part 14 and actuating the rotation actuator 26 , thereby rotating the drill bit 18 about its axis. Then, the method can comprise a step consisting in actuating the drill 18 towards and in the part 14 at the first speed until the widest part is released from the part 14, so that there is a space between the limits of the hole 12 thus formed and the groove part 46 of the drill 18. The method can also comprise a step consisting in actuating the drill 18 in a rear direction through the hole 12 and at a distance from the part 14 at second speed. The second speed may be higher than the first speed.
    The process steps for punching or drilling holes in the workpiece are now described in more detail, according to different embodiments of the present invention. The steps of method 1000 can be carried out in order, as shown in FIG. 10 or they can be carried out in a different order. In addition, certain steps can be carried out simultaneously as opposed to carrying out in sequence. In addition, some steps may not be performed.
    As illustrated in Figure 10, the method 1000 for punching or drilling holes in the workpiece 14 may include the step of clamping the bit 18 in the bit holder 24, as shown in box 1002. The bit 18 may include the tip 42, the widest part 44 and the narrow groove part 46, as described above. Then, the method 1000 can comprise the step consisting in positioning the drilling device 10 at a preselected perforation location on the part 14, as described in box 1004. The positioning of the drilling device 10 can be carried out by one or more of the actuators 26, 28 of the drilling device 10 via instructions from the control system 20 and / or proximity or location data received by the position sensor 52 described above. In addition, the control system 20 can use the CAD drawings or other of these stored data to determine a relative position on the workpiece to drill one of the holes. It should be noted that other robotic joints and actuators known in the art, but not described in detail here, can be used to move the drilling device 10 into position without departing from the scope of the invention. In addition or alternatively, at least a certain positioning of the drilling device 10 can be carried out manually by an operator without departing from the scope of the invention.
    The method 1000 can then comprise a step consisting in actuating the rotation actuator 26, as illustrated in box 1006, thereby rotating the drill 18 around its axis. The actuation of the rotary actuator 26 can be triggered simply by switching on or connecting the drilling device 10 to the power supply via an electrical plug, a battery and / or a switch, a button or the like. In addition or as a variant, the actuation of the rotation actuator 26 can be carried out via the instructions of the control system 20 which communicate, via wired or wireless communication channels, with the rotation actuator 26.
    In addition, method 1000 may include a step of operating drill 18 toward and into workpiece 14 at the first speed, as illustrated in box 1008, thereby immersing drill 18 into workpiece 14 until the portion the widest part 44 of the drill bit 18 has released the part 14. Due to the design of the narrow groove part 46 described above, when the widest part 44 releases the part 14, forming the hole 12 through the latter , there should be a space between the limits of the hole 12 and the groove portion 46 of the drill. The actuation of the drill 18 towards the part 14 can be carried out by the instructions supplied from the control system 20 to the linear motion actuator 28.
    Finally, the method 1000 may include a step of actuating the drill 18 in a backward direction through the hole 12 and away from the workpiece 14 at the second speed, as illustrated in box 1010. The second speed can be greater than the first speed. Specifically, the control system 20 can send a control signal to the linear motion actuator 28, controlling the linear motion actuator 28 to increase the speed of the secondary rotary motor 32 to the second speed. For example, this method step may include the step of receiving a sensor signal indicating a rotational location of the second secondary rotary motor 32, so that the sensor signal indicates a position in which the drill 18 begins to withdraw in a direction remote from the workpiece 14. Alternatively, this process step may include the control system 20 having access to the speed data stored therein or detected thereby, or any other sufficient data to calculate the moment when the secondary rotary motor 32 must be increased to the second speed. In certain embodiments of the invention, as described above, step 810 can be carried out substantially automatically via cams or oblong gears driven by the secondary rotary motor 32.
    The drilling apparatus 10 and the methods described herein advantageously provide the benefits and convenience of robotic drilling while producing a hole with the quality typical of slow and expensive machine tools. Prior art drilling equipment tends to operate at a constant force or constant flow. By allowing a continuously variable flow profile, the drilling device 10 allows a process that requires different flow rates at different parts of the drilling cycle. By using the rotary motion converter to linear motion 34, the secondary rotary motor 32 actuating the linear movement of the end effector 16 and / or the drill bit 18 continues to operate in only one direction, which results in faster acceleration. and a suppression of the response time present when the directions of the motor are reversed in the systems of the prior art during the withdrawal of the drill from the hole 12 created.
    Furthermore, the drilling apparatus 10 and the methods described herein are designed to minimize the time during which the outer sides of the drill 18 are in contact with the inner sides of the holes thus created. Specifically, the applicants have discovered that whenever there is contact between the sides of the holes and the sides of the drill 18, the relative movement between the drill and the part 14 can cause the elongation of the hole 12. Applicants have further discovered that this elongation requires not only contact, but also a certain length of residence time. If the side-by-side contact between the drill bit 18 and the hole 12 takes place, a hole without significant elongation can always be produced, provided that the duration of the contact is minimized. Due to variations in workpiece thickness, workpiece position accuracy 14, drill installation depth, robot accuracy, and other factors, drill 18 can be inserted into the workpiece. part 14 well beyond a point at which the hole 12 is completely formed. It is during this additional insertion that the reduced diameter of the drill bit 18 along the groove portion 46 provides play and prevents contact side by side. When the bit 18 is removed from the hole 12, the widest part 44 of the bit 18 necessarily returns to the hole 12, and for a moment there is no play during the removal. However, the linear motion with continuous variation or the power supply capacities of the main effector 16 make it possible to increase the extraction speed well beyond the speed used during the insertion of the drill 18 and the formation of the hole. This advantageously minimizes the elongation during removal.
    s Although the invention has been described with reference to the embodiments illustrated in the accompanying drawings, it should be noted that equivalents can be used and changes can be made without departing from the scope of the invention according to the claims.
    权利要求:
    Claims (20)
    [1" id="c-fr-0001]
    1. Drilling apparatus comprising:
    a terminal effector comprising a terminal effector housing and one or more actuators;
    a drill bit fixed to the end effector, in which the drill bit comprises a front end, a rear end opposite to the front end, a point formed at the front end, a widest part towards the rear of the tip, and a narrow groove part towards the rear of the widest part, in which the groove part extends between the widest part and the end effector, in which the groove part has a smaller diameter than the widest part; and a control system configured to send control signals to the actuators controlling the rotation of the bit and controlling the movement of the bit laterally outward and inward.
    [2" id="c-fr-0002]
    2. A drilling apparatus according to claim 1, wherein the control system is configured to control at least one of the actuators to move the drill laterally outward at a first speed and to bring the drill laterally inward. at a second speed, in which the second speed is faster than the first speed.
    [3" id="c-fr-0003]
    3. A drilling device according to claim 1, wherein the end effector comprises a drill attachment configured to clamp the drill centrally inside the latter.
    [4" id="c-fr-0004]
    4. A drilling apparatus according to claim 3, wherein the actuators of the end effector comprise a rotation actuator configured to actuate the rotation of the drill attachment.
    [5" id="c-fr-0005]
    5. A piercing apparatus according to claim 3, wherein the actuators of the end effector comprise a lateral movement actuator configured to laterally move the end effector and the drill bit outward and inward.
    [6" id="c-fr-0006]
    6. Drilling apparatus according to claim 5, wherein the lateral movement actuator comprises a rotary motor and a rotary movement converter
    15 in linear motion configured to convert the rotary motion of the rotary motor to linear motion of the bit holder and the bit.
    [7" id="c-fr-0007]
    7. A drilling apparatus according to claim 1, wherein an included angle of the drill between the tip and the widest part is between 50 degrees and 110 degrees.
    [8" id="c-fr-0008]
    8. A drilling apparatus according to claim 1, wherein an included angle of the drill between the tip and the widest part is between 80 degrees and 100 degrees.
    [9" id="c-fr-0009]
    9. A drilling apparatus according to claim 1, wherein the narrow groove portion has a gradually narrowed configuration, starting at the widest part of the drill and extending in a direction towards the rear end of the drill.
    [10" id="c-fr-0010]
    10. A drilling apparatus according to claim 1, in which the widest part of the drill has a shorter length than the narrow groove part.
    [11" id="c-fr-0011]
    11. A drilling apparatus according to claim 1, further comprising a position sensor coupled by communication with the control system and configured to indicate the proximity of the drill or the end effector to a workpiece.
    [12" id="c-fr-0012]
    12. A drilling device configured to drill holes in a composite part, the drilling device comprising:
    a terminal effector comprising:
    a terminal effector housing, a drill attachment extending outward from the terminal effector housing, a rotation actuator coupled with the drill attachment and configured to actuate the rotation of the drill attachment, and a linear motion actuator configured to actuate the linear movement of the drill attachment toward and away from the work;
    a drill bit attached to the drill attachment, wherein the drill bit includes a front end, a rear end opposite the front end, a point formed at the front end, a widest part towards the rear of the tip, and a narrow groove part towards the rear of the widest part, in which the groove part extends towards the widest part and the end effector, in which the part of
    16 groove has a smaller diameter than the widest part, in which the widest part has a shorter length than the narrow groove part; and a control system configured to send control signals to the end effector controlling the end effector to rotate the drill bit and controlling the end effector to move laterally outward and outward. interior, wherein the control system configured to control the end effector to move laterally outward toward the workpiece at a first speed and control the end effector to return laterally inward away from the workpiece at a second speed, in which the second speed is faster than the first speed.
    [13" id="c-fr-0013]
    13. A drilling apparatus according to claim 12, wherein the lateral movement actuator comprises a rotary movement converter into linear movement mechanically configured to convert the rotary movement into linear movement of the drill fixture.
    [14" id="c-fr-0014]
    14. A drilling apparatus according to claim 12, wherein an included angle of the drill between the tip and the widest part is between 80 degrees and 100 degrees.
    [15" id="c-fr-0015]
    15. A drilling device according to claim 12, further comprising a position sensor coupled, by communication, with the control system and configured to indicate the proximity of the drill or the end effector relative to the one part to be drilled.
    [16" id="c-fr-0016]
    16. A method for drilling holes in a composite part with a drilling device, the method comprising the steps consisting in:
    actuate the rotation of a drill attachment with a drill fixed inside the latter;
    actuating the drill fixture linearly towards the composite part at a first speed, thus forming a hole through the composite part; and actuating the drill fixture linearly away from the composite part at a second speed, in which the second speed is greater than the first speed in order to limit a period during which a relatively larger part of the drill is in contact with the part while removing the bit from the composite part.
    [17" id="c-fr-0017]
    17. The method of claim 16, further comprising the step of clamping the drill bit in the drill attachment prior to rotation actuation of the drill attachment.
    [18" id="c-fr-0018]
    18. The method of claim 16, further comprising a step of positioning, by a control system, the drilling apparatus at a preselected perforation location on the workpiece, according to at least one of the data among data stored in the control system and data to which the control system has access.
    [19" id="c-fr-0019]
    19. The method of claim 16, wherein the steps of actuating the drill attachment linearly towards the composite part and linearly away from the composite part are performed via a lateral movement actuator, in which the actuator Lateral motion device includes a rotary motion converter to linear motion mechanically configured to convert the rotary motion to linear motion of the drill fixture.
    [20" id="c-fr-0020]
    20. The method of claim 19, wherein the actuation of the drill attachment linearly to and from the workpiece comprises a rotary motor coupled with the rotary motion converter in linear motion, rotating in the same single direction of rotation to move both towards and away from the composite part.
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    同族专利:
    公开号 | 公开日
    US20190076932A1|2019-03-14|
    GB201813410D0|2018-10-03|
    GB2567307A|2019-04-10|
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    法律状态:
    2020-05-01| PLSC| Search report ready|Effective date: 20200501 |
    2020-10-16| ST| Notification of lapse|Effective date: 20200910 |
    优先权:
    申请号 | 申请日 | 专利标题
    US15/704,116|US20190076932A1|2017-09-14|2017-09-14|Apparatus and method for minimizing elongation in drilled holes|
    US15704116|2017-09-14|
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