End effector for forming holes for aircraft assembly and using method thereof

Abstract

The invention relates to an end effector for forming holes for aircraft assembly, wherein the end effector is combined with an industrial mechanical arm. The end effector comprises a spindle-feeding module, a dual-eccentric-disk posture adjusting module, a scrap sucking and pressing module, a normal detection module and a visual detection module. The spindle-feeding module comprises a spindle motor, a feeding motor, a ball screw, a drill and the like and achieves the hole drilling function. The dual-eccentric-disk posture adjusting module comprises a posture adjusting motor, a large eccentric disk, a small eccentric disk and the like and achieves the drill posture adjusting function. The scrap sucking and pressing module comprises a pressing air cylinder, a pressing head and the like and achieves the workpiece pressing function and the drilling and cutting scrap sucking function. The normal detection module comprises a laser sensor and the like and achieves the function of calculating the normal direction of a hole forming point. The visual detection module comprises an industrial camera and the like and achieves the function of displaying the hole forming effect in real time. After the end effector is combined with the industrial mechanical arm, the error of perpendicularity of a hole in the hole forming process can be smaller than 0.5 degree, and according to the hole forming efficiency, five to six holes can be formed per minute. Not only is the hole forming quality for aircraft assembly improved, but also labor force is greatly reduced.

Description

Technical field [0001] The invention relates to a hole-making end effector used in combination with an industrial mechanical arm, in particular to an end effector suitable for aircraft assembly hole-making. Background technique [0002] According to reports, during the assembly process of foreign aircraft, the number of carbon fiber composite parts scrapped due to drilling defects accounted for more than 60% of all scrapped parts. Once the processing surface of carbon fiber composite material has serious defects such as tearing and delamination, it is almost impossible to repair and restore. Boeing's test on titanium alloy bolts shows that when the fastener is inclined more than 2° in the direction of the external load, the fatigue life is reduced by about 47%, and when the tilt is greater than 5°, the fatigue life is reduced by 95%. [0003] The assembly labor in the aircraft manufacturing process accounts for about 40% to 50% of the entire aircraft manufacturing labor. In aircr...

AI Technical Summary

Problems solved by technology

According to statistics, 70% of aircraft body fatigue failure accidents originate from the structural joints, and 80% of the fatigue cracks occur in the joint holes. Therefore, the quality of the connection greatly affects the life of the aircraft, and the traditional manual riveting is not only inefficient 1. The labor intensity of the workers is high, and it is difficult to ensure the quality of the hole making, which will lead to the instability of the mechanism connection during the assembly process of the aircraft

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