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A device and hole-making method for controlling the depth of a countersink in a robot hole-making system

A technology of robot hole making and robot control cabinet, which is applied in automatic control devices, feeding devices, boring/drilling and other directions, can solve the problem that the gas compressibility is easily affected by external factors such as temperature, the air pressure stability is not high, and the system is affected. Hole quality and other issues, to ensure the depth of the spot facing, eliminate the position oscillation of the presser foot, and ensure the accuracy of the spot facing

Active Publication Date: 2017-04-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the above methods, the pressure of the presser foot is controlled by the pneumatic force of the cylinder, and the gas compressibility is easily affected by external factors such as temperature, and the stability of the air pressure is not high, which affects the control of the pressure and affects the hole making to a certain extent. quality

Method used

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  • A device and hole-making method for controlling the depth of a countersink in a robot hole-making system
  • A device and hole-making method for controlling the depth of a countersink in a robot hole-making system
  • A device and hole-making method for controlling the depth of a countersink in a robot hole-making system

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Embodiment Construction

[0027] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0028] Such as figure 1 As shown, the present invention includes a robot control cabinet 1, an industrial robot 2, a workbench 3 and an end effector 4; the robot control cabinet 1 and the industrial robot 2 are installed on the workbench 3 through bolt connections; the end effector 4 is installed on the workbench 3 through bolts. Industrial robot 2 ends.

[0029] Such as figure 2 As shown, the end effector 4 includes a presser foot module 5, a spindle 6 and a connecting plate module 14; wherein the presser foot module 5 includes a presser foot 7, a presser foot support 8, a force sensor 9, a grating ruler 10 and a spindle feed servo motor 11 . The first guide rail screw drive module 12 , the connecting plate module 14 includes a presser foot feed servo motor 15 , the second guide rail screw drive module 16 and a connecting plate 17 . The second guide rail scr...

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Abstract

The invention relates to a device and hole-drilling method for dimple depth control of a robot hole-drilling system. The structure that a spindle feeding module depends on a presser foot feeding module is adopted, so that the sum of the axial direction force between a presser foot and a wallboard and the axial direction force between a cutter and the wallboard is constant, and the pressure between the presser foot and the wallboard is measured through force sensors when the wallboard is pressed; when a preset pressure is reached, a presser foot feeding motor is braked and deadlocked, and the position of the presser foot remains constant in the hole-drilling process; a closed-loop system of error detection, feedback and correction is formed through a linear grating ruler and the spindle feeding module to detect the mechanical conveying error of the spindle feeding module and correct the error in closed-loop control. The dimple depth of the robot hole-drilling system can be ensured through the method.

Description

technical field [0001] The invention belongs to the field of advanced digital assembly manufacturing and automation, and specifically relates to a method and equipment for controlling the depth of a countersink based on a robot hole making system. The cooperation of the system and the control system can accurately control the feed rate of the hole making tool to ensure the depth of the spot facing. Background technique [0002] Riveting is widely used in aircraft assembly. When riveting countersunk rivets, spot facing is required after drilling. The depth of the spot spot has a great influence on the quality of the hole and the connection strength. If the spot spot is too deep, the rivet will loosen and the connection strength will be reduced after the skin is stressed; if the spot spot depth is insufficient, it will affect the flatness of the wall panel . Therefore, a stable and reliable control method of spot facing depth can improve the quality of hole making and ensure...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23B41/00B23B47/20B23Q15/013B23Q15/12
CPCB23B41/00B23B2270/483B23Q5/36B23Q5/40B23Q15/013B23Q15/12
Inventor 张开富程晖刘平钟衡谯成夏继军
Owner NORTHWESTERN POLYTECHNICAL UNIV