Electric and spring coupling pressure foot and control method of automatic hole-making end effector

Abstract

The invention relates to an electric and spring coupling pressure pin of an automatic hole manufacturing tail end actuator. The electric and spring coupling pressure pin is arranged on a main shaft bottom plate, a hole manufacturing main shaft is arranged on the main shaft bottom plate, the main shaft bottom plate is arranged on an inside cross slide table of the tail end actuator, and the hole manufacturing main shaft moves on the cross slide table for feeding. The electric and spring coupling pressure pin is characterized in that the pressure pin comprises a pressure pin body and a pressure pin servo system, wherein the pressure pin body is connected with a pressure fin base through a pressure pin connecting seat, the pressure pin connecting seat is arranged on a guide rail of the main shaft bottom plate through a first slide block, the pressure pin servo system comprises a servo motor and an upper computer for controlling the servo motor, the upper computer is arranged on a tail end actuator controller, the servo motor drives a ball screw, a screw rod connecting plate is fixedly arranged on the screw rod, springs are symmetrically arranged at two sides of the screw rod, are connected with the bottom of the screw rod connecting plate and are connected with the pressure pin body, the screw rod connecting plate is arranged on the guide rail through a second slide block, the second slide block and the first slide block share one guide rail, and the second slide block is positioned above the first slide block.

Description

technical field [0001] The invention relates to the technical field of automatic drilling and riveting, in particular to an electric / spring coupling pressure foot structure and a control method of an automatic hole-making end effector. Background technique [0002] With the improvement of modern aircraft performance requirements, automated assembly technology has been more and more widely used. The end effector, as the processing unit of the automatic drilling and riveting system, undertakes the functions of pressing the workpiece, detecting the normal direction, and processing the workpiece. In order to speed up the research and development cycle and reduce risks, the current mainstream processing units all adopt the modular development idea, and the pressure foot, as the main method to reduce the burr on the fitting surface, has become an important guarantee of processing quality. [0003] In aircraft assembly, it is required to control the generation of burrs and the ent...

AI Technical Summary

Problems solved by technology

Due to the high requirements on the overall quality of the end effector in the light-duty automatic drilling system, the control of the pressure foot mechanism generally adopts a pneumatic control system, and the pressure foot mechanism is driven by a cylinder. Giving a large pressing force with a compact structure, which is difficult to achieve with motor and electro-hydraulic control

However, the pneumatic control system does not have the high output stiffness of the electro-hydraulic control, nor does it have the high control accuracy of the motor control

Moreover, due to the compressibility of the gas, the feeding pressure of the individual cylinder is unstable, and the pressure foot cannot be stably maintained at the predetermined pressure state

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