Cabin section assembling platform and cabin section assembling method

Abstract

The invention belongs to the field of robot assembling and particularly relates to a cabin section assembling platform. The invention aims to solve the problems in the prior art that a cabin section assembling platform is low in precision, complicated in design, insufficient in reliability, slow in response and difficult to coordinate. The cabin section assembling platform provided by the invention comprises a bearing module, a posture adjusting module, a detection module and a base; the posture adjusting module supports the bearing module to bearing a cabin section; the posture adjusting module comprises a plurality of mechanical arms, a spherical hinge and a controller; the mechanical arms are arranged on the plane of the base in a sliding way; and the controller drives the mechanical arms and the spherical hinge based on the detection module to realize spatial six-degree-of-freedom motion of the bearing module and the cabin section. The cabin section assembling platform has redundancy based on mutual cooperation of a plurality of mechanical arms and can continuously work under the condition of local failure; and the cabin section assembling platform has high bearing capacity, detects internal stress and cabin section stress through distributed force sensing and can complete high-precision and high-efficiency cabin section flexible assembling.

Description

technical field [0001] The invention belongs to the field of robot assembly, and in particular relates to a cabin assembly platform and a cabin assembly method. Background technique [0002] Under the current technical conditions, large-scale systems such as ships, aircraft, missiles, and rockets cannot be directly manufactured at one time. Instead, they are divided into multiple compartments for modular production, and finally the overall manufacturing is completed through docking and assembly. The compartment assembly techniques used largely determine the manufacturing costs, lead times and final quality of these systems. The assembly of traditional compartments usually adopts rigid tooling positioning and manual assembly. This assembly method is labor-intensive, cumbersome, low-efficiency, and error rate is large. It cannot meet the needs of high-precision, high-efficiency, and high-reliability production of defense industry equipment. . [0003] Assembly by multi-manip...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above problems in the prior art, that is, in order to solve the problems of low precision, complex design and insufficient reliability of the single robot assembly platform of the existing assembly technology, low force feedback precision, slow response and difficult coordination of the multi-robot platform, the present invention provides A cabin assembly platform based on multi-arm cooperation and distributed force sensing

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