关键词: 飞机装配, 制孔装备, 压力脚, 法向找正, 工业机器人

Abstract: Riveting is the main connection method of structural parts in the aircraft assembly,the riveting quality is directly related to the service life and safety of the aircraft,and the verticality of the aperture is an important factor affecting the quality of riveting.At present,the automated drilling riveting equipment performs a normal detection before the workpiece is deformed,and the normal adjustment is made after the deformation,resulting in a method of difficulty to achieve a thin,large curvature and weak rigid product.In response to the above problems,a method of detecting the normal detection and normal adjustment of the workpiece based on the deformation compensation was performed.A contact-type pressure foot structure was designed to meet the thin,large curvature,and weak rigid product surface.The improved contact type normal direction detecting and posture adjusting method was proposed correspondingly.The experiment showed that the perforation vertical degree on the 4 mm thick laminate was within 0.07°,the depth deviation of the nest was within 0.03~0mm,and the accuracy was increased by 68%.

Key words: aircraft assembly, drilling equipment, pressure foot, normal alignment, industrial robot