For the control of aircraft automatic assembly of robot automatic drilling and riveting system

an automatic drilling and riveting equipment used an industrial robot as the carrier and based on Beckhoff control system is designed. The control system brings the industrial robot

extended floor rail

multifunctional end effector

tool magazine and other ancillary equipment together through the core of Beckhoff control software based on fieldbus mode

which can realize the real-time control of the machining site. And through a series of precision compensation measures in many aspects of the error to improve the accuracy of compensation

experiments show that the system can produce any hole with a positioning precision within ±0.5mm

a perpendicular accuracy within 0.3°

a diameter tolerance of H8

a countersink depth tolerance of ±0.01mm.