Multifunctional drilling and riveting actuator and working method thereof

Abstract

The invention relates to a multifunctional automatic drilling and riveting actuator based on an autonomous multi-legged mobile platform. According to the multifunctional automatic drilling and riveting actuator, the mobile platform serves as a carrier, product theory information is extracted, a scanning camera and a laser displacement sensor are utilized to establish a drilling and riveting system coordinate system, the relation between the coordinate system and a product coordinate system is established through coordinate conversion, and extracted product theory data are converted to a right-angle three-dimensional coordinate system of the drilling and riveting system; accordingly, the drilling and riveting system can be controlled to conduct drilling and riveting, continuous high-precision and high-efficiency drilling and riveting on products at multiple positions can be achieved.

Description

technical field [0001] The present invention relates to the technical field of automatic assembly in the aviation manufacturing industry, and in particular to a highly integrated and multi-functional terminal for automatically drilling, spot-sinking and riveting the aircraft wing or fuselage frame by using a vacuum suction cup to absorb itself on the surface of the aircraft skin The actuator, specifically, is a multifunctional drilling and riveting actuator and its working method. Background technique [0002] With the development of contemporary aircraft manufacturing and the continuous improvement of people's requirements for aircraft performance, traditional aircraft assembly can no longer meet their needs, and automated assembly technology has been more and more widely used. The aircraft automatic assembly system mainly develops along two directions: one is a large-scale dedicated automatic assembly system with high cost and suitable for mass products, such as MPAC, VPAC...

AI Technical Summary

Problems solved by technology

[0004] 1) At present, most of the end effectors of light-duty automatic assembly systems are not perfect in function. They can only complete the tasks of hole making and countersinking on the workpiece. The riveting task is still done manually, and the production efficiency needs to be improved;

[0005] 2) Although the end-executing machine part of the current automated assembly system can achieve basic functions, the structure of the end part is not compact enough, and the weight and volume are too large, which affects the cost, hole-making quality and hole-making efficiency;

[0006] Most of the current end effectors are mostly based on industrial robot arms or flexible rails to complete the automatic assembly, and the degree of freedom for complex curved surfaces or complex structures on the aircraft needs to be improved.

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