Design Of Automatic Drilling And Riveting End Actuator Based On Robot System

With the continuous development of aircraft digital manufacturing technology and 3D full-scale prototype without paper designing method gradually replace traditional drawings in China major aircraft design institute,how to use digital method to ensure the replacement of aircraft components and the accuracy of theoretical shape in the manufacturing process is an research direction.Automatic drilling and riveting technology is a important method to reduce traditional craft equipment and depend on system accuracy guarantee physical dimension.This paper is based on the inadequacy of position accuracy in the design of automatic drilling and riveting system for robots,the difficulty of guaranteeing the depth of the countersinking,and a series of problems in the design of robot end-effector.I designed a new robot end-effector for drilling and riveting,and used five-degree-of-freedom motion compensation and flexible compaction mechanism to improve position accuracy,respectively.Firstly,this paper analyzed the actual requirements of aircraft assembly,put forward he main functions and overall layout structure of the end effector,divided the system composition and identified the main tasks undertaken by various parts.This chapter provides the theoretical basis for the design of each part.Secondly,this paper defined the detailed structure of each part of the end effector,including(1)X,Y axis motion mechanism,(2)A,B axis rotation mechanism,(3)positioning mechanism,(4)switching mechanism,(5)drilling mechanism,(6)glue coating mechanism,(7)rivet inserting mechanism,(8)rivet feeding mechanism(9)compressing mechanism,(10)connecting base.Thirdly,TwinCAT soft PLC is selected as the controller of the end-effector.The control data of the end-effector,the measurement data of laser tracker,the normal detection data of the surface and the image detection results of the rivets insertion device are communicated with the PC through the EtherCAT bus technology.Combining with the 3D model data extracted from aircraft design,the drilling and riveting positions are calculated by coordinate system transformation and drilling position algorithm.Each part completes its work separately to solve the problems of inadequate position accuracy,normal deviation of drilling holes and difficult to guarantee the depth of holes.Finally,based on the mechanical structure of the end-effector and the riveting process,this paper illustrated the design of the verification craft equipment,and elaborated how to use Delmia to simulate the riveting process is introduced in detail.