End effector and measurement method for robot high-precision hole making and countersinking

Abstract

The invention provides an end executor used for high-precision drilling and dimpling of a robot. The end executor comprises a spindle, a feeding unit of the spindle, a normal measuring device, a driving unit of the normal measuring device, a datum hole visual positioning unit and a guide rail installation plate. The spindle and the feeding unit of the spindle are installed on the guide rail installation plate. The normal measuring device is installed at one end of the guide rail installation plate. The datum hole visual positioning unit is installed on the back side of the guide rail installation plate. The end executor is compact in structure and comprises a plurality of function modules including a displacement detection module, a normal measuring module and a datum hole visual positioning module, and the measurement reliability is improved. The displacement detection module can detect the tool feeding amount and deformation amount of a workpiece when the workpiece is clamped and machined, and compensate for the deformation amount. The normal measuring device is small in size, multifunctional and high in measurement precision. The end executor is installed on an end flange plateof the industrial robot, and the drilling perpendicularity can be guaranteed.

Description

technical field [0001] The invention relates to an end effector for high-precision hole-making and spot-sinking used in combination with an industrial robot, in particular to an end-effector for high-precision hole-making and spot-sinking by a robot and a measuring method. Background technique [0002] In aircraft assembly, its connection quality has a crucial impact on the aerodynamic shape of the aircraft and its fatigue life. According to statistics, 70% of the fatigue failure accidents of the aircraft body are caused by the fatigue failure of the structural connection parts, and 80% of the fatigue cracks Occurs at the connection hole, so the quality of the hole making greatly affects the life of the aircraft. Boeing Co.'s test on titanium alloy bolts shows that when the fastener is inclined more than 2° along the direction of external load, the fatigue life is reduced by about 47%, and when the inclination is greater than 5°, the fatigue life is reduced by 95%. The qual...

AI Technical Summary

Problems solved by technology

The depth of the spot facing has a great influence on the quality of the hole and the connection strength. Due to the thin wall of the skin wall and poor rigidity, the deformation is serious when the hole is made, and the depth of the spot spot is difficult to control. If the spot is too deep, the connection strength of the skin will be reduced. ;If the spot facing depth is not enough, it will affect the flushness of the wall plate

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