End effector for automatically drilling curved surface

Abstract

The invention discloses an end effector for automatically drilling a curved surface, comprising a drilling unit, a compressing unit, a normal-direction measuring unit, a positioning ring, a two-dimensional normal-direction adjusting unit and an external support ring. The drilling unit and the compressing unit are fixed on the positioning ring; the normal-direction measuring unit is fixed on the compressing unit; a compressing head is connected to the compressing unit through a spherical joint; a measuring plate is fixed on the inner side of the compressing head; the measuring plate can rotate along with the compressing head; four displacement sensors are fixed on four corners of the compressing unit; the four corners of the measuring plate respectively contact with the four displacement sensors; the four displacement sensors respectively measure the displacements of four corners of the measuring plate so as to calculate the normal direction of the curved surface at the drilling coordinate; the compressing unit is driven by a servo motor and a ball screw; the compressing force can be controlled by controlling the torque of the servo motor; and the positioning rind is fixed on the two-dimensional normal-direction adjusting unit and can rotate around the X axis and the Y axis. Therefore, the normal-direction adjustment can be finished. The end effector with the structure can better finish drilling the curved surface.

Description

technical field [0001] The invention belongs to the field of automatic manufacturing, and in particular relates to an end effector for automatic hole-making on curved surfaces, especially suitable for automatic hole-making on aircraft wing surfaces. Background technique [0002] At present, the main connection method used in aircraft structural parts is still mechanical connection, and there are about 1.5 to 2 million connection parts on a large aircraft. Among the various safety faults of the aircraft, the number of faults caused by airframe damage has accounted for more than 30% of the total number of faults. Therefore, the total life of the aircraft is mainly determined by the life of the airframe. Fatigue damage is the root cause of the loss of working ability of the aircraft body, and 75% to 80% of the fatigue damage occurs at the connecting holes of the body structure. In order to meet the requirements of long-life, high reliability, low-cost and high-efficiency manuf...

AI Technical Summary

Problems solved by technology

However, due to the low rigidity, precision and small load of existing robots, the application level of traditional robots in aircraft assembly is low.

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