Drilling end effector and Drilling device use drilling end effector and Perforation method use drilling device

摘要

The present invention relates to a drilling end effector capable of drilling a pilot hole reliably, a drilling device using the drilling end effector, and a method for effectively drilling a pilot hole using the drilling device. The drilling end effector includes: a drill unit (100) for drilling a pilot hole; a vision camera unit (200) for checking a position of the pilot hole; a sensor unit (300) for checking perpendicularity of the drill unit (100) and a distance between the drill unit (100) and an object; and a driving device (400) for moving the drill unit (100) in vertical and horizontal directions.