Design Study Of The End Effect System Of The Automatic Hole Making Robot

The traditional manual method of hole punching is used in the assembly and manufacture of aerospace vehicle in our country. The efficiency of manual method is very low, which leads to the development of the slow research schedule and the long manufacturing cycle. So the hole punching is the bottleneck of the development. Robot automatic drilling system with good flexibility, high efficiency and high precision, has became the main trend of the development of the field of assembly. The end effector as the actuator of the drilling hole is one of the key technologies in its core. According to actual assembly manufacturing requirements, researching,theoretical analysis, simulation analysis and experimental verification, this topic is aim to design and optimize the structure of the end effector. The main research work is as follows:(1) By consulting a large amount of document and data, the research status of domestic and abroad is studied, and the design of the overall scheme of the end effector is carried out according to the functional requirements.(2) The function of each module of the end effector are designed in detail, including the framework of system module, hole punch module, foot compaction module, the detection of normal module and etc. The foot compaction module was optimized and the pressing force was predicted and controlled through theoretical research, finite element software, MATIAB simulation analysis, data analysis and experiment method. The material of the pressure foot is designed as rubber material, which can effectively increase the contact area of the work piece,improve the quality and precision of the system.(3) In combination with the robot automatic drilling system control platform, controlling of the end effector is studied, including steady-state design, servo system design method, dynamic unit and the control system.(4) The end actuator prototype was manufactured. The hole punching test was verified.The process and the process parameters of robot automatic drilling system was designed.According the statistical analysis to the data of the hole punching, it was showed that the drilling efficiency of the end effector can reach every minute of not less than four. The system can also satisfy the precision of hole drilling of aircraft assembly manufacturing requirements.