飞机装配预连接紧固件自动化安装末端执行器设计

摘要

In the aircraft assembly process,two or more than two parts are located on the assembly working device firstly,pre-connected fasteners are installed for pre-connection and then a large batch of holes are made.According to the current development trend of aircraft digital assembly technology,a kind of temporary fastener and an end effector for automated installation are put forward.According to the structural features and installation process requirements for pre-connected fasteners,the corresponding transmission mechanisms in the end effector are designed to achieve the fastener transmission,the outside six angular alignment,the inside six angle alignment,fastener insertion and installation,etc.The end effector can be integrated into the automated equipment or mobile robot system,with the fastener automatic feeding device,to complete the automatic installation of pre-connected fasteners.%飞机装配过程中,在工装上将两个或两个以上零件定位后,先采用预连接紧固件进行预连接,然后再进行大批量制孔.根据目前飞机数字化装配技术的发展趋势,提出了一种适用于自动化安装的预连接紧固件及其自动化安装的末端执行器.针对预连接紧固件结构特点和安装工艺需求,在末端执行器中设计相应的传动机构以完成送钉、外六角对位、内六角对位、插钉、旋转安装等动作.此末端执行器可集成到自动化设备或移动机器人系统中,搭配自动送钉装置完成预连接紧固件的全自动化安装.