Study Of Roboticized Automatic Drilling Technology For Fuel Tank Bottom Of Aircraft

The mechanize and robotization of aircraft manufacturing technology arewidely concerned in recent years．Hole machining plays an important role inaerospace manufacture. The drilling mainly relied on the handwork in thetraditional aircraft assembly with low precision, low quality and low efficiency. Therobot drilling technology became the main developing trend of drilling in theaircraft assembly in present by the characteristic of high quality, low cost and highflexibility.The fuel tank bottom of a type aircraft which is located in the central wing isthe most important bearing structural component in the fuselage. It is the titaniumalloy jointing assembly made up of5joints plates,2plates and3skins and19trusses. The bad thermal conduction and large friction coefficient result in the badcutting machining, large drilling difficulty, inefficiency and the uncontrollablequality. The fuel tank plate is used as the main research object in this thesis. By thestudy of the roboticized automatic drilling technology, the automatic drilling oflarge jointing titanium alloy parts comes true. The guide line just like drillingprecision and efficiency can satisfy the design request of the aero plane.The actuality and the key technology of the robotic zed automatic drillingtechnology at home and abroad, the laser tracker measuring techniques, the designof the end—effector, the background and significance of the expatiated at detail.The program flow of the control system of robotic zed drilling was confirmed byresearching of robot off-line programming, simulation analysis and path planning atlast. The cutting torque and cutting force of the end-effectors were confirmed by aseries of titanium cutting experiments, account analysis and key accessory analyses.The scheme of vision inspection module including the whole scheme of orientationand welding line identify, the scheme of hardware model selection, hand-eye visionsystem orientation and the scheme of welding line inspection by the analysis of theidentify and vision system. The efficiency of drilling and reaming, the precision ofthe hole, the orientation precision and the repeat orientation precision of robotic zedautomatic drilling were validated by he practice appliance in project. The importance bottleneck problem of big configuration on the aero plane wasdissolved, the assemble cycle of the components was shorted largely and theassembly precision was enhanced through the research of this thesis with welleconomy and technology benefits. There is capacious application foreground in thepreparation of new type aero plane and the manufacture of big aero plane in China.