An autonomous crawling drilling and riveting system and its operating method

Abstract

The invention discloses an autonomous-crawling drilling-riveting system and an operation method thereof. The autonomous-crawling drilling-riveting system comprises a robot adsorption walking device, a robot benchmark detection device, a robot normal direction detection and correction device, an integrated control device and a drilling-riveting device. The adsorption walking device comprises an inner frame, inner legs, an outer frame, outer legs, an X-direction motor and Z-direction motors. The benchmark detection device comprises a plurality of benchmark holes and a main frame body arranged in the middle of the inner frame, wherein the multiple benchmark holes are formed in a workpeice and are not connected into a straight line, and the lower surface of the main frame body is fixedly provided with a rotary camera. The integrated control device comprises a controller, the controller is connected with the X-direction motor, the Z-direction motors and vacuum generators and controls the X-direction motor, the Z-direction motors and the vacuum generators to operate, and the controller is connected with the camera and laser displacement sensors. A robot has the advantages of being high in application flexibility, low in structural weight, sable in assembling quality and the like and meets the requirements of advanced assembling technologies of current airplanes.

Description

technical field [0001] The invention belongs to the technical field of automatic assembly in the aviation manufacturing industry, and particularly relates to an autonomous crawling drilling and riveting system as a carrier, which absorbs itself on the surface of the aircraft skin through a vacuum suction cup, thereby automatically drilling, The digital assembly technology of countersinking and riveting, specifically, relates to an autonomous crawling riveting system and its operating method. Background technique [0002] At present, in the field of assembly, the traditional assembly method combining manual assembly, semi-mechanized assembly and mechanized assembly is mostly used, and a large number of more complicated special frame positioning and clamping non-lean assembly methods are used. The technology is old and backward, and the hole making accuracy and riveting The quality and sealing quality are guaranteed by workers' experience. Future products are entering the era...

AI Technical Summary

Problems solved by technology

[0008] The automated assembly system based on industrial robots is an automated assembly system that uses the general industrial robot (arm) on the market as the equipment body and cooperates with the corresponding end effector. It is currently the most widely used light-duty automated assembly system solution. Industrial robot assembly Although the system has good flexibility, high precision and efficiency, and a wide processing range, it also has the disadvantages of low joint stiffness and low absolute positioning accuracy.

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