Compact hole-forming end executer for shared guide rails of electric spindle and pressure foot

Abstract

The invention discloses a compact hole-forming end executer for shared guide rails of an electric spindle and a pressure foot. The compact hole-forming end executer comprises an installation base, a hole-forming unit, a compression unit and a normal detection unit. A flange connection plate connected with a robot end is installed on the upper surface of an installation base, two parallel guide rails are erected on the end parts of the two sides of the lower surface of the installation base, and the central axes of the two guide rails are superposed with the central axis of the lower surface ofthe installation base. The hole-forming unit and the compression unit are arranged on the two guide rails in parallel in the central axis direction through slide blocks, and the normal detection unitis installed on the compression unit. Rapid switchover with regard to different part surface compression functions can be realized through rapidly changing a pressing sleeve. According to the compacthole-forming end executer disclosed by the invention, the electric spindle of a hole-forming module and the pressure foot of a pressure foot module share one set of guide rails, and one transmissiondevice is reduced, so that the weight of the end executer is greatly reduced.

Description

technical field [0001] The invention belongs to the field of robot end effector design, and relates to a compact hole-making end effector in which an electric spindle and a pressure foot share a guide rail. Background technique [0002] In recent years, the robotic automatic drilling and riveting system has been widely used in the assembly process of aerospace vehicles, which has effectively improved the assembly efficiency and accuracy of aircraft. However, in the field of aerospace, the drilling and riveting operation of aircraft structural parts is still done manually, which is difficult to meet the technical index requirements in terms of efficiency and precision for the development of new aerospace vehicles. The demand for automatic robot drilling and riveting systems is imminent. However, due to the large difference in size between aerospace vehicle structural parts and aerospace vehicles, such as small size, poor opening, and complex structure, it is difficult for the...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the adaptive design problem of the automatic hole-making end effector of a light-load robot with a load no higher than 30kg, and to provide a compact hole-making end effector in which the electric spindle and the pressure foot share a guide rail, which is compatible with the robot Combined to form a robot automatic hole making system, so as to realize the automatic hole making of small and medium parts and improve the efficiency of small and medium parts hole making

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