Shape-position adaptive automatic drilling and riveting system and its application method

Abstract

The invention discloses a shape and position self-adaptive automatic drilling and riveting system and an application method thereof. A movable platform comprises a matrix and trundles installed at thelower end of the matrix. The movable platform can move on the outer side of a cabin body and a jig in all direction, and a numerical control system, a positioning and navigation system, a visual sensing system, a hand-eye and force hybrid control system and a measurement system are integrated to the movable platform. A movable mechanical arm is fixed to one side of the upper end of the movable platform and comprises a mechanical arm and an end effector. The jig comprises an upper positioning plate, a lower positioning plate, a base, a supporting arm shaft and a rotary supporting arm, whereinthe lower end of the base is fixed to a foundation, the upper end of the base is provided with the lower positioning plate, the lower positioning plate is connected with the upper positioning plate through the supporting arm shaft, and the rotary supporting arm is assembled to the supporting arm shaft. The shape and position self-adaptive automatic drilling and riveting system is not limited by the structural form of the cabin body, can adapt to existing jig foundations, and can complete drilling and riveting assembly works of the cabin body as well as quality evaluation, thereby being high inuniversality and assembly flexibility.

Description

technical field [0001] The invention relates to the technical field of automatic drilling and riveting processing and assembly of launch vehicle cabin sections, in particular to a shape-position self-adaptive automatic drilling and riveting system and a use method thereof, which can realize automatic drilling and riveting processing of cabins with different specifications. Background technique [0002] Carrier rockets are developing towards high-quality, short-cycle, and low-cost research and development. From 1-2 launches a year ten years ago to 10-20 launches per year today, launch vehicles are entering a period of high-density launches. The requirements for quality, precision, and progress are constantly improving; however, the assembly of launch vehicle compartments in my country is still at the level of manual assembly, which restricts the improvement of product quality and cannot meet the needs of aerospace development. At present, the developed countries in the aerospa...

AI Technical Summary

Problems solved by technology

[0004] 1) Restricted by product structure, automatic drilling and riveting is limited to simple cabins; 2) Existing automatic drilling and riveting equipment are all fixed structures, which cannot adapt to existing hardware foundations such as frames, and all hardware parts need to be redesigned and manufactured ; 3) The double-moving manipulator robot requires a lot of space, and special tooling needs to be designed to assist; 4) The cost of fixed drilling and riveting equipment is high and the investment is large

[0005] At present, there is no description or report of the similar technology of the present invention, and no similar data at home and abroad have been collected yet.

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