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

摘要： 铆接是飞机装配中结构件的主要连接方式,铆接质量直接关系到飞机的使用寿命和安全性,而制孔垂直度是影响铆接质量的重要因素。目前,自动化钻铆设备在工件受压变形前进行法向检测,变形后再进行法向调整,导致其难以实现壁薄、大曲率、弱刚性产品的法向找正。针对上述问题,本文研究了基于工件受压变形补偿的法向检测和法向调整方法,设计了能够满足壁薄、曲率大、刚性弱产品表面制孔垂直度要求的接触式法向找正压力脚模块,提出了改进的接触式法向检测与调姿算法。在4 mm叠层板上的制孔实验表明,采用相同的钻锪一体式制孔方法,经改进法向找正补偿后,制孔垂直度误差在0.07°以内,锪窝深度偏差在-0.03~0mm以内,相较于未进行法向检测而直接制孔的方式,采用法向姿态补偿后的方式,将锪窝精度提高了68%。

关键词: 飞机装配, 制孔装备, 压力脚, 法向找正, 工业机器人