用于飞机装配的自动钻铆执行器研究

Research on Automatic Drilling and Eiveting End Effector for Aircraft Assembly

针对大型飞机装配中制孔和铆接的工艺特点,提出了一种具备压紧、制孔、涂胶、供钉和抽铆的多功能自动钻铆执行器结构,构建了基于现场总线的开放式控制系统。结合钻铆执行器的工作流程,分析并得到钻铆执行器加工基准和工作点法向测量方案,为钻铆执行器嵌入至加工设备构成一体化自动钻铆设备提供了必要条件。

As we all know, riveting in aircraft assembly is a tedious and labor-intensive work. A muhifunction end effector （MEE） is developed for this application. The MEE is an integration of the pressure foot, the drill spindle, gummed work head, blind riveting tool and rivet providing mouth. Moreover, varieties of special sensors like the machine vision and normality sensors are integrated into the MEE for acquiring essential data during riveting process. And master-slave architecture control system is designed specially to make sure the riveting work efficient.