A flexible eccentric hole-making end device based on 3D vision, its working method and application

Abstract

This invention belongs to the field of mechanical processing and manufacturing, and more specifically, relates to a flexible eccentric drilling end-effector based on three-dimensional vision. This equipment achieves automated positioning for drilling through visual servoing; the drill bit adopts an eccentric structure design, enabling it to smoothly extend into extremely narrow semi-enclosed spaces such as stringers; it employs a pressure foot design based on parallel finger cylinders to solve the problem of difficulty in clamping and holding the drill bit in narrow drilling positions; the installation angle of the three-dimensional camera can be adjusted as needed to adapt to different working environments; the overall equipment integrates functions such as visual servoing, automatic clamping, high-precision feeding, and offset machining, realizing automated drilling operations in narrow spaces; the overall equipment adopts a modular design, and while meeting drilling requirements, it achieves miniaturization and compactness through optimized design and component selection, enabling it to adapt to the size and weight requirements of machining tools in large aircraft cabins, and possessing good economy, safety, and maintainability.

Description

Technical Field

[0001] This invention belongs to the field of mechanical processing and manufacturing, and more specifically, relates to a flexible eccentric hole-making end device based on three-dimensional vision. Background Technology

[0002] In the assembly of large civil aircraft, the connection of different cabin sections is a crucial step. Aircraft cabin sections are large, thin-walled components, and their connections are mainly made using bolts and riveting, requiring the machining of tens of thousands of connection holes. These connection holes are stress concentration points, and their quality significantly affects the fatigue life of the connecting components. However, the limited working space and tool weight within the aircraft cabin, coupled with the interlacing of stringers, bulkheads, and other components at the connection points, create numerous narrow local structures. Conventional machining tools struggle to reach these locations, posing a significant challenge to the application of automated assembly. Currently used manual machining methods are not only inefficient and labor-intensive but also lack auxiliary tools, suffer from poor stability, and struggle to guarantee the quality of machined holes, severely restricting the improvement of mass production capabilities for large aircraft.

[0003] In summary, in order to meet the demand for high-quality and high-efficiency hole making in extremely narrow spaces, it is necessary to develop an automated hole making equipment that is compact, lightweight, can reach extremely narrow working positions, and can autonomously position and clamp, so as to break through the key technical bottlenecks in aircraft assembly processes. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a flexible eccentric hole-making end device based on three-dimensional vision, which aims to solve the technical problem of high-quality and high-efficiency hole making in extremely narrow space.

[0005] To achieve the above objectives, according to one aspect of the present invention, a flexible eccentric drilling end device based on three-dimensional vision is provided, comprising: an eccentric drill with an elbow, a feed module, a clamping module, a three-dimensional camera, and a connecting component. The output axis of the elbow eccentric drill is parallel to the main body axis and separated by a distance, so that the drill bit is eccentric relative to the main body. The feed module is a ball screw linear module driven by a servo motor; the main body of the bent eccentric drill is fixed on the slider of the ball screw linear module, and the axis of the main body is parallel to the movement direction of the slider. The clamping module includes: a parallel finger cylinder and dedicated pressure feet; wherein, the parallel finger cylinder has two parallel claws that can output force, driven by air pressure, and has two states: closed and open; two dedicated pressure feet are symmetrically mounted on the two claws, each claw having a hollow cylinder for the drill bit to pass through; when the cylinder is in the closed state, the pressure feet can clamp the workpiece; when the cylinder is in the open state, the pressure feet release the workpiece, at which point the entire equipment can enter or leave the working position; wherein, the dimensions of the dedicated pressure feet are set such that they do not obstruct the passage of the drill bit while being able to enter narrow spaces and meet the requirements for clamping contact area; The 3D camera is used to sense the state of the target workpiece and identify the target drilling position. The target drilling position is converted into robot coordinates, thereby driving the end effector to reach the working position. The connecting components include a base plate and a flange connecting plate; wherein, the clamping module and the feed module are mounted on the base plate, with the clamping module mounted directly below the feed module, and the cylindrical axis of the dedicated pressure foot coincides with the axis of the drill bit; the 3D camera is mounted on one side of the base plate via a camera connector, and the mounting angle of the 3D camera is variable; the flange connecting plate is used to mount the base plate to the end effector of the robot.

[0006] Furthermore, the connecting components include camera connector one and camera connector two. Camera connector one is fixed to the 3D camera, and camera connector two is fixed to the base plate. Camera connector two has multiple mounting positions at different angles. Camera connector one is installed at different mounting positions to change the mounting angle of the 3D camera.

[0007] Furthermore, the eccentric elbow drill is an angular air drill, comprising an air drill body, an elbow shaft, and a drill bit. The axes of the air drill body and the drill bit are parallel and spaced apart by a distance, and are connected by the elbow shaft. The air drill body is fixed on the slider.

[0008] Furthermore, the connecting assembly includes a first fixed seat, a second fixed seat, and an adapter plate; the adapter plate is fixedly mounted on the slider, and the angular air drill is fixedly mounted on the adapter plate via the first fixed seat and the second fixed seat, wherein the first fixed seat is mounted on the air drill body, and the second fixed seat is mounted on the elbow shaft.

[0009] Furthermore, the ball screw linear module includes an optical shaft, a ball screw, a base one, a base two, a slider, an adapter plate, and a coupling; Base 1 and Base 2 are fixed to the base plate along the feed direction; The ball screw is mounted on base one and base two at both ends via bearings; two optical shafts are respectively arranged parallel to each other on both sides of the ball screw and are fixedly connected to base one and base two; the slider is mounted on the optical shafts and the ball screw; the end of the ball screw is connected to the output shaft of the servo motor via a coupling; the servo motor is fixedly connected to the adapter plate, and the adapter plate is fixed on the base plate; when the servo motor rotates, it drives the ball screw to rotate, thereby causing the slider to move horizontally and driving the drill bit to achieve linear motion.

[0010] Furthermore, during use, the flange connection plate is installed at the end of the robot, and the robot moves to different working positions through visual servo. In the process parameters of hole making, the hole making feed speed is changed by adjusting the servo motor speed; the speed can be changed by adjusting the input air pressure; the clamping force of the clamping module is changed by adjusting the input air pressure.

[0011] According to another aspect of the present invention, a method for operating a flexible eccentric hole-making end device based on three-dimensional vision as described in any of the preceding claims is provided, comprising the following steps: Step 1: The robot drives the flexible eccentric hole-making end device to the predetermined photo-taking position; Step 2: The 3D camera takes pictures of the workpiece to obtain visual information of the workpiece. The shape and position information of the target hole position is calculated by the visual algorithm and converted into robot motion coordinates. Step 3: The robot moves according to the coordinate information obtained in the previous step, so that the flexible eccentric hole-making end equipment reaches the hole-making working position; Step 4: The clamping module operates, the parallel finger cylinder enters the closed state, and the cylindrical jaws clamp the workpiece. Step 5: The drill bit rotates and enters the working state; Step 6: The feed module drives the drill bit to achieve feed motion and perform hole making; Step 7: After the hole-making process is completed, the drill bit stops rotating; the feed module drives the drill bit to retract; the cylinder of the claw opens and releases the clamp; then the robot drives the flexible eccentric hole-making end equipment to return to a safe position or enter the next station.

[0012] According to another aspect of the present invention, an application of a flexible eccentric hole-making end-effector based on three-dimensional vision as described in the preceding claim is provided in the field of aircraft assembly.

[0013] In summary, the technical solutions conceived in this invention, compared with the prior art, can achieve the following beneficial effects: 1. This invention achieves automated positioning for hole making through visual servo robot control, improving the positioning and alignment accuracy of the end-of-line equipment. The drill bit adopts an eccentric structure design, allowing the equipment to smoothly extend into extremely narrow semi-enclosed spaces such as stringers, solving the industry problem that conventional hole-making tools cannot adapt to narrow space operations. The pressure foot design based on parallel finger cylinders solves the problem of difficulty in clamping and holding in narrow hole-making positions. The installation angle of the 3D camera can be adjusted as needed to adapt to different working environments. The overall equipment integrates functions such as visual servo, automatic clamping, high-precision feeding, and offset machining, realizing automated hole making operations in narrow spaces. The overall equipment adopts a modular design, which, while meeting hole-making requirements, optimizes the design and selects components to make the whole unit smaller and more compact, adapting to the size and weight requirements of machining tools in large aircraft cabins, and has good economy, safety, and maintainability.

[0014] 2. This invention solves the problem of automating the drilling process inside the cabin of large aircraft and fills the technological gap in drilling for long stringer components of cabin walls; this invention can effectively improve the efficiency of large aircraft assembly, shorten the manufacturing cycle, reduce production costs, and has significant economic benefits. Attached Figure Description

[0015] Figure 1 This is an overall isometric view of a flexible eccentric hole-making end device based on three-dimensional vision, according to a preferred embodiment of the present invention. Figure 2 The right view of the flexible eccentric hole-making end device based on three-dimensional vision according to a preferred embodiment of the present invention; Figure 3 This is a front view of the feed module of the flexible eccentric hole-making end device based on three-dimensional vision according to a preferred embodiment of the present invention. Figure 4 An overall view of a mobile drilling robot equipped with a flexible, eccentric drilling end effector based on 3D vision; Figure 5 A simulation scene of a flexible eccentric hole-making end-effector based on 3D vision; Figure 6 This is a partial side view of a simulation scene of a flexible eccentric hole-making end device based on 3D vision.

[0016] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1. Angle air drill; 1-1. Air drill body; 1-2. Bend shaft; 1-3. Drill bit; 2. Feed module; 2-1. Servo motor; 2-2. Adapter plate; 2-3. Coupling; 2-4. Base one; 2-5. Slider; 2-6. Ball screw; 2-7. Optical shaft; 2-8. Base two; 3. Clamping module; 3-1. Parallel finger cylinder; 3-2. Dedicated presser foot; 4. 3D camera; 5. Connecting components; 5-1. Base plate; 5-2. Rib plate one; 5-3. Connecting plate one; 5-4. Flange connecting plate; 5-5. Rib plate two; 5-6. Camera connector one; 5-7. Camera connector two; 5-8. Mounting seat one; 5-9. Mounting seat two; 5-10. Adapter plate. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0018] like Figure 1 , Figure 2 As shown, this embodiment of the invention provides a flexible eccentric hole-making end device based on three-dimensional vision, including an angular air drill 1, a feed module 2, a clamping module 3, a three-dimensional camera 4, and a connecting component 5; The angular air drill 1 consists of a drill body 1-1, an elbow shaft 1-2, and a drill bit 1-3. The axis of the drill bit 1-3 is slightly eccentric to the axis of the body 1-1, allowing for the installation of drill bits of different diameters as needed. The angular air drill 1 is fixedly mounted on the slider 2-5 of the feed module 2 via an adapter plate 5-10 and fixing seats 5-8 and 5-9. Specifically, the adapter plate 5-10 is fixedly mounted on the slider 2-5, and the angular air drill 1 is fixedly mounted on the adapter plate 5-10 via fixing seats 5-8 and 5-9. Fixing seat one 5-8 is mounted on the body 1-1, and fixing seat two 5-8 is mounted on the elbow shaft 1-2, ensuring a secure installation of the angular air drill 1.

[0019] like Figure 3As shown, the feed module 2 includes a servo motor 2-1 and a dual-axis ball screw linear module. The dual-axis ball screw linear module consists of components such as an optical axis 2-7, a ball screw 2-6, a base 1 2-4, a base 2-8, a slider 2-5, an adapter plate 2-2, and a coupling 2-3. Specifically, the ball screw 2-6 is mounted on bases 2-4 and 2-8 via bearings; the optical axis 2-7 is located on both sides of the ball screw 2-6 and is directly and fixedly connected to bases 2-4 and 2-8; the slider 2-5 is mounted on the optical axis 2-7 and the ball screw 2-6; the end of the ball screw 2-6 is connected to the output shaft of the servo motor 2-1 via the coupling 2-3; the servo motor 2-1 is fixedly connected to the adapter plate 2-2. When the servo motor 2-1 rotates, it drives the ball screw 2-6 to rotate, thereby causing the slider 2-5 to translate, driving the air drill 1 to achieve linear motion.

[0020] The clamping module 3 includes a parallel finger cylinder 3-1 and a dedicated pressure foot 3-2. The parallel finger cylinder 3-1 has two parallel claws that can output force and have both closed and open states. The dedicated pressure foot 3-2 has a hollow cylinder through which a drill bit can pass. The two dedicated pressure feet 3-2 are symmetrically mounted on the two claws. The workpiece is clamped and fixed by the opening and closing of the parallel finger cylinder 3-1. When the cylinder 3-1 is in the closed state, the dedicated pressure foot 3-2 approaches to clamp the workpiece, assisting in drilling. When the cylinder 3-1 is in the open state, the dedicated pressure foot 3-2 separates to release the workpiece, allowing the equipment to enter or leave the working position.

[0021] The 3D camera 4 can sense the visual information of the workpiece, thereby identifying the target hole location and converting it into robot motion coordinates, which in turn drive the robot to move the equipment installed at the end of the robot to the working position; its installation angle can be changed as needed, thereby adjusting its visual coverage area to adapt to different working environments.

[0022] The connecting components include: base plate 5-1, rib plate one 5-2, connecting plate one 5-3, flange connecting plate 5-4, rib plate two 5-5, camera connector one 5-6, camera connector two 5-7, mounting base one 5-8, mounting base two 5-9, and adapter plate 5-10. The feed module 2 is fixedly mounted on the base plate 5-1 via bases 2-4 and 2-8; the clamping module 3 is directly fixedly connected to the base plate 5-1; the clamping module 3 is installed directly below the feed module 2, and the cylindrical axis of the special pressure foot 3-2 coincides with the axis of the drill bit 1-3 of the angular air drill 1, ensuring that the drill bit 1-3 can pass through the special pressure foot 3-2 to reach the hole-making position; the 3D camera 4 is mounted on one side of the base plate via camera connector 1 5-6 and camera connector 2 5-7, with camera connector 2 5-7 having multiple mounting positions at different angles, allowing the mounting angle of the 3D camera 4 to be changed; the flange connecting plate 5-4 is fixedly connected to the robot end effector; the remaining connecting components include connecting plate 1 5-3, rib 1 5-2, rib 2 5-5, etc., used to connect various parts and strengthen the structural strength. All connecting components are fixedly connected by bolts.

[0023] Among the main process parameters of the hole-making process, the hole-making feed speed can be changed by adjusting the speed of the servo motor 2-1; the speed of the angular air drill 1 can be changed by adjusting the input air pressure; and the clamping force of the clamping module 3 can be changed by adjusting the input air pressure.

[0024] In a preferred embodiment, the operation of the present invention is as follows: Step 1: The robot drives the flexible hole-making end device to the predetermined photo-taking position; Step 2: The 3D camera 4 takes pictures of the workpiece to obtain visual information of the workpiece. The shape and position information of the target hole position is calculated by the visual algorithm and converted into robot motion coordinates. Step 3: The robot moves according to the coordinate information obtained in the previous step, so that the flexible hole-making end equipment reaches the hole-making working position; Step 4: Clamping module 3 operates, parallel finger cylinder 3-1 is ventilated and enters the closed state to clamp the workpiece; Step 5: Pneumatic drill 1 is ventilated, drill bits 1-3 rotate, and the drill enters the working state; Step 6: Drive the servo motor 2-1 to rotate through the external program and driver, which in turn drives the ball screw 2-6 to rotate, thereby causing the angular air drill 1 to feed and perform hole making. Step 7: After the hole-making process is completed, stop the air supply to the air drill 1 to stop it from rotating; the servo motor 2-1 rotates in the opposite direction to drive the air drill 1 to retract; the parallel finger cylinder 3-1 opens to release the clamp; then the robot drives the flexible hole-making end equipment back to a safe position.

[0025] This invention is specifically applied in the field of aircraft assembly, and can be used in conjunction with industrial robots, AGVs, and other components to form a mobile drilling robot, such as... Figure 4 As shown, the AGV (Automated Guided Vehicle) can drive the robot to move between different assembly stations. A flexible eccentric drilling end effector based on 3D vision is mounted on the end effector of the industrial robot. The robot drives the flexible eccentric drilling end effector to the target drilling position, and the flexible eccentric drilling end effector is responsible for the specific implementation of the drilling process. Conventional drilling tools cannot enter the drilling position inside the long stringer of the cabin wall panel designed by this invention. This invention uses an eccentric spindle to allow the drill bit to enter the interior of the long stringer, and the main body of the end effector (including the spindle, camera, etc.) does not interfere with the wall panel or other workpieces. By setting an appropriate installation angle for the camera, the camera can capture information inside the long stringer, thereby locating and aligning the target drilling position through a visual processing algorithm. At the same time, it can also monitor the spatial relationship between the equipment and the workpiece based on real-time images to avoid collisions.

[0026] Figure 5 , Figure 6 This is an example of the device operating in a simulated scenario. The invention is mounted on the end effector of a robot, and the workpiece is a simplified cabin wall truss model; the target hole location is inside a narrow, transverse stringer. From... Figure 5 The output end of the elbow shaft 1-2, the drill bit 1-3, and the special pressure foot 3-2 can be inserted into the target hole-making position without interfering with other parts, which verifies the feasibility of this equipment.

[0027] In continuous hole-making experiments, with a target hole diameter of 5mm, the present invention can achieve the following hole-making effects: hole-making accuracy reaches H9, hole-making efficiency reaches 4 holes / min, hole-making angle error is better than 0.5°, and hole-making positioning accuracy is better than 0.3mm.

[0028] It should be noted that embodiments of the present invention can be implemented in hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the above-described devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of the present invention can be implemented by hardware circuitry such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field-programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of the above-described hardware circuitry and software, such as firmware.

[0029] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A flexible eccentric hole-making end device based on three-dimensional vision, characterized in that, include: Elbowed eccentric drill, feed module (2), clamping module (3), 3D camera (4) and connecting assembly (5); The output axis of the elbow eccentric drill is parallel to the main body axis and separated by a distance, so that the drill bit is eccentric relative to the main body. The feed module (2) is a ball screw linear module driven by a servo motor (2-1); the main body of the bent eccentric drill is fixed on the slider (2-5) of the ball screw linear module, and the axis of the main body is parallel to the movement direction of the slider (2-5); The clamping module (3) includes: a parallel finger cylinder (3-1) and a special pressure foot (3-2); wherein, the parallel finger cylinder (3-1) has two parallel claws that can output force, driven by air pressure, and has two states: closed and open; the two special pressure feet (3-2) are symmetrically mounted on the two claws, each claw having a hollow cylinder for the drill bit to pass through; when the cylinder is in the closed state, the pressure foot can clamp the workpiece; when the cylinder is in the open state, the pressure foot releases the workpiece, at which time the entire equipment can enter or leave the working position; wherein, the size of the special pressure foot (3-2) is set so that it does not hinder the drill bit from passing through, can enter narrow spaces, and meets the clamping contact area requirements; The three-dimensional camera (4) is used to sense the state of the target workpiece and identify the target hole-making position. The target hole-making position is used to convert it into robot coordinates, thereby driving the end effector to reach the working position. The connecting assembly (5) includes a base plate (5-1) and a flange connecting plate (5-4); wherein, the clamping module (3) and the feed module (2) are mounted on the base plate (5-1), the clamping module (3) is mounted directly below the feed module (2), and the cylindrical axis of the special pressure foot (3-2) coincides with the axis of the drill bit; the three-dimensional camera (4) is mounted on one side of the base plate (5-1) through the camera connector, and the mounting angle of the three-dimensional camera (4) is variable; the flange connecting plate (5-4) is used to install the base plate (5-1) to the end of the robot.

2. The flexible eccentric hole-making end device based on three-dimensional vision according to claim 1, characterized in that, The connecting component (5) includes camera connector one (5-6) and camera connector two (5-7). Camera connector one (5-6) is fixed on the 3D camera (4), and camera connector two (5-7) is fixed on the base plate (5-1). Camera connector two (5-7) has multiple mounting positions at different angles. Camera connector one (5-6) is installed at different mounting positions to change the mounting angle of the 3D camera (4).

3. The flexible eccentric hole-making end device based on three-dimensional vision according to claim 1, characterized in that, The eccentric bend drill is an angular air drill (1), which includes an air drill body (1-1), a bend shaft (1-2), and a drill bit (1-3). The axes of the air drill body (1-1) and the drill bit (1-3) are parallel and spaced apart by a distance, and are connected by the bend shaft (1-2). The air drill body (1-1) is fixed on the slider (2-5).

4. The flexible eccentric hole-making end device based on three-dimensional vision according to claim 1, characterized in that, The connecting assembly (5) includes a first fixed seat (5-8), a second fixed seat (5-9), and an adapter plate (5-10); the adapter plate (5-10) is fixedly mounted on the slider (2-5), and the angular air drill (1) is fixedly mounted on the adapter plate (5-10) through the first fixed seat (5-8) and the second fixed seat (5-9), wherein the first fixed seat (5-8) is mounted on the air drill body (1-1), and the second fixed seat (5-9) is mounted on the elbow shaft (1-2).

5. The flexible eccentric hole-making end device based on three-dimensional vision according to claim 4, characterized in that, The linear ball screw module includes an optical shaft (2-7), a ball screw (2-6), a base one (2-4), a base two (2-8), a slider (2-5), an adapter plate (2-2), and a coupling (2-3). Base 1 (2-4) and base 2 (2-8) are fixed on the base plate (5-1) along the feed direction; The ball screw (2-6) is mounted on base one (2-4) and base two (2-8) at both ends via bearings; two optical shafts (2-7) are respectively arranged parallel to each other on both sides of the ball screw (2-6) and are fixedly connected to base one (2-4) and base two (2-8); the slider (2-5) is mounted on the optical shaft (2-7) and the ball screw (2-6); the end of the ball screw (2-6) is connected to the output shaft of the servo motor (2-1) via a coupling (2-3); the servo motor (2-1) is fixedly connected to the adapter plate (2-2), and the adapter plate (2-2) is fixed on the base plate (5-1); when the servo motor (2-1) rotates, it drives the ball screw (2-6) to rotate, thereby causing the slider (2-5) to translate and drive the drill bit to achieve linear motion.

6. The flexible eccentric hole-making end device based on three-dimensional vision according to claim 1, characterized in that, When in use, the flange connection plate (5-4) is installed on the end of the robot, and the robot moves to different working positions through visual servo. In the process parameters of hole making, the hole making feed speed is changed by adjusting the servo motor speed. The speed can be changed by adjusting the input air pressure. The clamping force of the clamping module (3) is changed by adjusting the input air pressure.

7. The working method of a flexible eccentric hole-making end device based on three-dimensional vision according to any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: The robot drives the flexible eccentric hole-making end device to the predetermined photo-taking position; Step 2: The 3D camera (4) takes pictures of the workpiece to obtain visual information of the workpiece. The shape and position information of the target hole position is calculated by the visual algorithm and converted into robot motion coordinates. Step 3: The robot moves according to the coordinate information obtained in the previous step, so that the flexible eccentric hole-making end equipment reaches the hole-making working position; Step 4: The clamping module (3) operates, the parallel finger cylinder enters the closed state, and the cylindrical jaw clamps the workpiece. Step 5: The drill bit rotates and enters the working state; Step 6: The feed module (2) drives the drill bit to achieve feed motion and perform hole making; Step 7: After the hole-making process is completed, the drill bit stops rotating; the feed module (2) drives the drill bit to exit; the cylinder of the claw opens and the clamping is released; then the robot drives the flexible eccentric hole-making end equipment to return to a safe position or enter the next station.

8. The application of the flexible eccentric hole-making end-effector based on three-dimensional vision as described in any one of claims 1 to 6 in the field of aircraft assembly.

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