Robotic hole making end effector

Abstract

The invention discloses a drilling end actuator suitable for an industrial robot. The drilling end actuator comprises a cutting unit, a connecting unit, a feeding unit, a pressing unit and a measuring unit. The cutting unit mainly comprises a motorized spindle, a cutter handle, a cutter, a servo motor and a cutting transmission assembly and is used for achieving planetary drilling and cutting; the connecting unit mainly comprises a connecting plate and tool fast-switching devices and is used for achieving three installation modes and fast switching between the different installation modes; the feeding unit mainly comprises a lead screw nut pair, a feed motor and a feed transmission assembly and is used for achieving feed movement of planetary drilling and cutting; the pressing unit mainly comprises an air cylinder, a pressing plate, a pressing pipe and a pressing head and is used for pressing a workpiece; the measuring unit comprises a photoelectricity distance sensor and a force sensor and is used for detecting the perpendicularity of the cutter before and after pressing and monitoring the state of the cutter during the drilling process in real time. The drilling end actuator can form a flexible drilling system when used in cooperation with the industrial robot, and precise drilling of stacked materials can be achieved.

Description

technical field [0001] The invention belongs to the field of automatic hole making, and relates to a hole making end effector suitable for industrial robots. Background technique [0002] At present, aircraft assembly has become the bottleneck of my country's aircraft development and production, and the development of intelligent manufacturing equipment will also become the focus of competition among countries around the world. Mechanical connection is an important means of aircraft assembly. For example, the Melbourne branch of Boeing Australia, which undertakes part of the production task of 787 aircraft, needs to process 280,000 assembly holes per month. It can be seen that the quality and efficiency of hole making have a great impact on improving the quality and assembly of aircraft components. Efficiency, shortening the assembly cycle of the whole machine is of great significance. [0003] The robot hole making system has programmability and motion flexibility, and can...

AI Technical Summary

Problems solved by technology

When processing laminated materials by traditional drilling methods, it is easy to cause defects such as out-of-tolerance hole diameter, poor hole wall roughness, severe tool wear, interlayer burrs, exit burrs, and composite material delamination, tearing, fiber prolapse, and thermal damage to the matrix material.

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