A high-precision drilling and nail feeding device

Abstract

The invention discloses a high-precision drilling and nail feeding device. It includes a photogrammetry component, a pressing component, a 6D pose feedback component, an auxiliary measuring component, a drilling component, a nail feeding component and a control system; Multiple functional components such as nails can automatically realize a series of functions such as positioning, normal measurement, pose detection, posture adjustment, drilling, and nail feeding during the drilling and riveting process, with a high degree of automation; this device adopts the principle of iGPS positioning, through 6D The position and posture detection component detects the position and posture of the actuator in real time, which can achieve more accurate positioning.

Description

technical field [0001] The invention belongs to the technical field of drilling, and in particular relates to a high-precision drilling and nail feeding device. Background technique [0002] The research and application of automatic drilling and nail feeding devices in foreign countries is earlier. Many aviation manufacturing enterprises use multi-functional end effectors to complete the drilling and riveting of wall panels during the assembly process of aircraft panels. The multi-functional terminal developed abroad The actuator integrates functions such as positioning, alignment, drilling, nail feeding, gluing, riveting, and detection. The multi-functional end effector is installed on a robot or a multi-coordinate work platform to perform drilling and riveting of aircraft panels. , improve the position accuracy, aperture accuracy and spot-sink depth accuracy of drilling, obtain better drilling, spot-sink and riveting quality, high equipment stability, and foreign equipment...

AI Technical Summary

Problems solved by technology

Some aviation manufacturing companies and colleges and universities have begun to develop multifunctional end effectors, but they have single functions, low integration, large volume, bloated structure, large mass, and large inertia.

Installed on a robot or a multi-coordinate platform, the stability is poor, the positioning accuracy is low, and it is prone to chatter, and it is difficult to obtain high drilling, spot facing, and riveting quality; the pose of the end effector belongs to open-loop or semi-closed-loop control, and the positioning accuracy Low; the normal change of the hole-making area of ​​the wall plate caused by the pressure of the weak rigid wall plate cannot be accurately measured, and it is difficult to meet the normal positioning requirements of the large-curvature wall plate of the new generation of aircraft

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