A robot automatic and precise positioning hole-making device and method for composite material compartment

Abstract

The invention provides a robot automatic accurate positioning hole making device and method oriented to a composite material cabin section. A tail end executor is installed at the tail end of a jointarm robot, and a to-be-machined cabin section is fixedly mounted on an assembling rotary table; an off-line control system sends an instruction to the assembling rotary table, and the assembling rotary table is controlled to drive the to-be-machined cabin section to rotate to the operation position; the off-line control system sends an instruction to the joint arm robot, the tail end executor is driven to reach the initial preset position, a vision measuring system monitors the pose of the tail end executor, the acquired pose information is transmitted to an off-line control system, and the offline control system is used for comparing the acquired pose information with the expected pose, the posture adjusting instruction is determined to be sent to the joint arm robot, and the joint arm robot is used for carrying out posture adjusting according to the posture adjusting instruction; when the tail end executor reaches the expected pose, the offline control system sends a drilling instruction to the end executor, the tail end executor conducts drilling after receiving the drilling instruction, and after the drilling operation is completed, the drilling operation is fed back to the off-line control system, the off-line control system sends an instruction to control the joint arm robot to drive the tail end executor to return to the preset position, and the one-time operation process is completed.

Description

technical field [0001] The invention relates to a robot automatic and precise positioning hole-making device and method for composite material cabins, which are used for positioning and drilling surface hole positions during composite material cabin assembly, and belong to the technical field of composite material cabin assembly and manufacturing. Background technique [0002] The launch vehicle and other rocket body compartment parts are cylindrical or conical thin-walled rotary structures, and parts connection holes and reserved holes need to be drilled in the compartment. The holes on the cabin section have the characteristics of high positioning accuracy, large number, and discrete distribution. At present, there is a lack of targeted automatic drilling devices, and manual scribing and positioning, hand drill drilling and other operations are completely used for hole making operations. The hole making efficiency is low, the precision is poor, and the hole quality is poor...

AI Technical Summary

Problems solved by technology

The holes on the cabin section have the characteristics of high positioning accuracy, large number, and discrete distribution. At present, there is a lack of targeted automatic drilling devices, and manual scribing and positioning, hand drill drilling and other operations are completely used for hole making operations. Low hole making efficiency, poor precision, and poor hole quality

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