用于复材自动钻铆末端执行器的设计及应用

Design and Application of Automatic Drilling and Riveting End Executor Using in Composite Materials Processing

自动钻铆末端执行器是基于工业机器人的飞机柔性装配系统的关键部件之一,其性能直接影响到制孔和铆接的质量。突破面向飞机自动化装配的末端执行器结构设计关键技术具有迫切的实际需求。针对某型高教机复材垂尾段的加工特点,设计一套模块化多功能末端执行器,集成基准检测、法向找正、铆钉检验及插钉、涂胶及废钉收集、钻锪及检测、拉铆等功能模块,并架构相应的控制系统。加工实验验证该末端执行器能很好地适应加工需要,大幅度提高加工效率及质量,工程应用价值显著。

Automatic drilling and riveting end executor is one of the core components of the flexible assembly system for aircraft manufacturing based on robots. The performance of the product determines the quality of drilling and riveting. There is urgent demand to break through the technology of the structure designing about the executor. For the vertical tail of a certain type aircraft which made of composite materials, design a set of modular end execu- tor. Which integrates the modules of the detection scheme of product datum feature, product surface normal vector, the detection of rivets and nail, glue and collection of wrong rivets, drilling and testing and riveting. Also, put for- ward an overall design of control system. Finally, the testing of hardware and software shown us that the system will contribute to robotic drilling and riveting more reliably and efficiently, and bring great value in engineering applica- tion and promotion.