Research On Tool Changing Technology Of Robotic Drilling System For Aircraft Panel

Traditional aircraft assembly adopts manual drilling and riveting,whose quality is determined by the ability level of workers.There are defects such as low efficiency and poor quality of drilling,which can not meet the requirements of high safety and high reliability of modern aircraft assembly.Compared with the manual drilling,the robotic drilling system can speed up the drilling procedure,improve the assembly quality and improve the working environment,so the proportion of its application in engineering is becoming higher and higher.Compared with the mature research and application of robotic drilling system abroad,the domestic research on this field is still in the stage of imitation and reference,and has not developed a very mature product.while independently developing the robotic drilling system for aircraft panel,my research group also developed its automatic tool changing system.This paper mainly studies the technology of the robotic automatic tool changing system.Firstly,this paper introduces the research status of the robotic drilling system and the automatic tool changing system at home and abroad.This paper analyzes the structure and function of the robotic drilling system and the compound drilling tool,in order to obtain the design requirements and functional requirements of the robotic automatic tool changing system.Secondly,in order to ensure the clamping stability of the tool,the calculation method of the clamping force is studied and obtained,and an example is also calculated.In order to ensure the stability of the tool changing process,the resistance calculation method of the whole tool changing process is studied and obtained.Meanwhile,the resistance curve of tool changing process is obtained by MATLAB numerical calculation.Thirdly,in order to improve the dynamic performance of the tool changing system,through the reference and improvement of the optimal layout method of blanking parts,the double ring layout of the cutter assemblies on the circular cutterhead is studied,and the double ring layout of the cutter assemblies with the minimum total inertia is obtained.Combined with the engineering application,a layout example with 24 cutters is given.Meanwhile the optimal scheme is further optimized.Finally,overall design and detailed work process of the robotic automatic tool changing system are given out,while modules design and working principles of the tool storage module,the tool selection module and the tool loading and unloading module are introduced respectively.Meanwhile the engineering application example of robotic automatic tool changing system is given.