Efficient and high-precise robot automatic milling system in digital assembly process of airplane
An automatic milling and robot technology, applied in the direction of manipulators, positioning devices, maintenance and safety accessories, etc., can solve the problems of uneven allowance, difficult repair, low work efficiency, etc., and achieve reduced labor intensity, high reliability, and improved assembly The effect of precision
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[0044] Example 1
[0045] The specific processing process of large aircraft parts is as follows:
[0046] Step 1: The laser tracker scans the feature points of the front and middle fuselages to be assembled, establishes a global coordinate system, and transmits this global coordinate system information to the measurement system 6 through an interface;
[0047] Step 2: The measurement system 6 is placed on the measurement system quick-change bracket 24, the coordinate tracking system 61 tracks the scan head of the scanning system 62 in real time, and places 4 to 4 on the AGV trolley 1 5 target balls are ready for posture correction;
[0048] Step 3: Control the AGV trolley 1 to enter the first station of the processing area (the processing robot 42 enters first, and the center of the processing robot base 41 is consistent with the central axis of the machine head to be processed) and anchored;
[0049] Step 4: The processing robot 42 assembles the measurement system 6, and the scanning ...
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[0064] Example 2
[0065] The specific processing process of aircraft small parts is as follows:
[0066] Step 1: Determine the layout of the vacuum chuck 74 according to the projection range of the flap onto the flexible positioning tooling system 3. After fixing each vacuum chuck 74, determine the horizontal coordinate of each vacuum chuck 74 relative to the tooling reference point with a measuring ruler ;
[0067] Step 2: Import the theoretical digital model of the flap into the GeoMagic software for simulation calculation. According to the theoretical digital model of the flap and the distribution of each vacuum chuck 74 relative to the fixture reference point, calculate each vacuum chuck in the flexible positioning tooling system 3 74 telescopic height;
[0068] Step 3: Adjust the height of each vacuum suction cup 74;
[0069] Step 4: Correlate the reference point of the flap with the reference point of the tooling and fix it on the flexible positioning tooling system 3;
[0070] ...
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