Normal alignment method applicable to automatic drilling and riveting system of robot

The invention discloses a normal alignment method applicable to an automatic drilling and riveting system of a robot. A laser line scanner is installed on a hole-making end effector and connected witha computer, and the computer controls the motion of the robot through a PLC. Firstly, a robot coordinate system is established, then a tool coordinate system is established on the basis of the robotcoordinate system at the intersection point of a pressure foot section of the hole-making end effector and a tool axis, and the coordinate of a TCP point in the robot coordinate system is calibrated;the distance between a machined surface and the laser line scanner is measured through the laser line scanner, so that the deviation between the normal of a machining point and the current hole makingdirection of the hole making end effector is calculated, and the deviation value is transmitted to the robot to realize normal alignment. According to the method, the normal of the machining point iscalculated by utilizing two