End effector for automatically drilling curved surface

An end-effector, automatic technology, used in manufacturing tools, boring/drilling, drilling/drilling equipment, etc., can solve problems such as low stiffness and precision, small load, and low level of robot application

Active Publication Date: 2011-06-15
HAIAN HUADA ALUMINUM SECTION +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the low rigidity, precision and small load of existing robo

Method used

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  • End effector for automatically drilling curved surface
  • End effector for automatically drilling curved surface
  • End effector for automatically drilling curved surface

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] The technical scheme of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0029] like figure 1 , 7 As shown, the curved surface automatic hole-making end effector of the present invention includes a hole-making unit 1 , a pressing unit 2 , a normal measurement unit 3 , a positioning ring 4 , a two-dimensional normal adjustment unit 5 , and an outer support ring 6 .

[0030] see image 3 , The pressing unit 2 includes a pressing servo motor and a reducer 25 fixed on the pressing base plate 24, a support frame 21 and a pressing head 23 etc. which are slidably arranged on the pressing base plate 24 along the z-axis through a linear slide rail. The compression servo motor and the speed reducer 25 are connected with the ball screw through a shaft coupling, and the ball screw is connected with the support frame 21 again. Pressing the action of the servo motor and the reducer 25 can drive the support frame 21 to move al...

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PUM

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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...

Claims

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Application Information

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IPC IPC(8): B23B41/00B23B49/00
Inventor 王兴松张来喜
Owner HAIAN HUADA ALUMINUM SECTION
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