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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。
Aircraft assembly process, the tooling will be two or more parts positioned, the first use of pre-connected fasteners for pre-connection, and then a large number of holes. According to the current development trend of aircraft digital assembly technology, a pre-connected fastener suitable for automated installation and an automated end effector are proposed. In view of the structural characteristics of pre-connected fasteners and the installation process requirements, corresponding actuators are designed in the end-effector to complete the operations of feeding the nail, aligning the hexagon socket, aligning the hexagon socket, inserting the nail, and rotating the assembly. This end effector can be integrated into an automation or mobile robot system with a fully automated mounting of pre-attached fasteners with an automatic stapling device.